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Given are two unnormalized, non-parallel vectors, the rotation axis '''n''' and the vector '''r''' to be rotated.
{{Image|Complex number.png|right|350px| Complex number ''z'' &equiv; ''r'' exp(''i''&theta;) multiplied by ''i'' gives <i>z'</i> <nowiki>=</nowiki> <i>z</i>&times;''i''
Decompose '''r''' into two orthogonal components:
<nowiki>=</nowiki> ''z'' exp(''i''&thinsp;&pi;/2) (counter clockwise rotation over 90°). Division of ''z'' by ''i'' gives ''z''". Division by ''i'' is multiplication by &minus;''i'' <nowiki> = </nowiki> exp(&minus;''i''&thinsp; &pi;/2) (clockwise rotation over 90°).}}
 
==Complex numbers in physics==
===Classical physics===
Classical physics consists of [[classical mechanics]], [[Maxwell's equations|electromagnetic theory]], and phenomenological [[thermodynamics]]. One can add Einstein's special and general theory of [[relativity]] to this list, although this theory, being formulated in the 20th century, is usually not referred to as "classical". In these four branches of physics the basic quantities and equations governing the behavior of the quantities are real.
 
Classical mechanics has three different, but equivalent, formulations. The oldest, due to [[Isaac Newton|Newton]], deals with masses and  position vectors of particles, which are real, as is time ''t''. The first and second time derivatives of the position vectors enter Newton's equations and these are obviously real, too. The same is true for [[Lagrange formalism|Lagrange's formulation]] of classical mechanics in terms of position vectors and velocities of particles and for [[Hamilton formalism|Hamilton's formulation]] in terms of [[momentum|momenta]] and positions.
 
Maxwell equations, that constitute the basis of electromagnetic theory, are in terms of real vector operators ([[gradient]], [[divergence]], and [[curl]]) acting on real [[electric field|electric]] and [[magnetic field|magnetic]] fields.
 
Thermodynamics is concerned with concepts as [[internal energy]], [[entropy]], and [[work]]. Again, these properties are real.
 
The special theory of relativity is formulated in [[Minkowski space]]. Although this space is sometimes described as a 3-dimensional [[Euclidean space]] to which the axis ''ict'' (''i'' is the imaginary unit, ''c'' is speed of light, ''t'' is time) is added as a fourth dimension, the role of ''i'' is non-essential. The imaginary unit is introduced as a pedestrian way to the  computation of the indefinite, real, inner product that in Lorentz coordinates has the metric
:<math>
:<math>
\mathbf{r} = \mathbf{n} \frac{\mathbf{n}\cdot\mathbf{r}}{n^2} + \underbrace{(\mathbf{r} -\mathbf{n}
\begin{pmatrix}
\frac{\mathbf{n}\cdot\mathbf{r}}{n^2} )}_{ \equiv\; \mathbf{x}} \quad\hbox{with}\quad n^2 \equiv\; \mathbf{n}\cdot\mathbf{n}
-1 & 0 & 0 & 0 \\
0  & 1 & 0 & 0 \\
0  & 0 & 1 & 0 \\
0  & 0 & 0 & 1 \\
\end{pmatrix},
</math>
</math>
Clearly, '''n''' and '''x''' are orthogonal. Define further '''y''' as a [[cross product]], a vector orthogonal to the plane containing '''n''', '''r''', and '''x''',
which obviously is real. In other words, Minkowski space is a space over the real field ℝ.
The general theory of relativity is formulated over  real [[differentiable manifold]]s that  are  locally Lorentzian. Further, the Einstein field equations contain mass distributions that are real.
 
So, although the classical branches of physics do not need complex numbers, this does not mean that these numbers cannot be useful. A very important mathematical technique, especially for those branches of physics where there is flow (of electricity, heat, or mass) is [[Fourier analysis]]. The Fourier series is most conveniently formulated in complex form. Although it would be possible to formulate it in real terms (expansion in terms of sines and cosines) this would be cumbersome, given the fact that the application of the usual trigonometric formulas for the multiplication of sines and cosines is so much more difficult than the corresponding multiplication of complex numbers. Especially electromagnetic theory makes heavy use of complex numbers, but it must be remembered that the final results, that are to be compared with observable quantities, are real.
===Quantum physics===
In quantum physics complex numbers are essential. In the oldest formulation, due to [[Heisenberg]] the imaginary unit appears in an essential way through the canonical commutation relation
:<math>
:<math>
\mathbf{y} = \mathbf{n}\times \mathbf{r}.
[p_i,q_j] \equiv p_i q_j - q_j p_i = -i\hbar \delta_{ij},
</math>
</math>
As is shown [[vector product#Cross product as linear map|here]] the cross product can be written as a matrix-vector product
''p''<sub>''i''</sub> and ''q''<sub>''j''</sub> are linear operators (matrices) representing the ''i''th and ''j''th component of the momentum and position  of a particle, respectively,.
 
The time-dependent [[Schrödinger equation]] also contains ''i'' in an essential manner. For a free particle of mass ''m'' the equation reads
:<math>
:<math>
\mathbf{y} = \mathbf{n}\times \mathbf{r}  
\frac{\hbar}{2m} \nabla^2 \Psi(\mathbf{r},t) = -i \frac{\partial}{\partial t} \Psi(\mathbf{r},t) .
= \begin{pmatrix} n_y r_z - n_z r_y \\ n_z r_x - n_x r_z \\ n_x r_y - n_y r_x \end{pmatrix}
= \underbrace{
\begin{pmatrix}  
0  & -n_z & n_y \\
n_z& 0    & -n_x \\
-n_y& n_x  & 0
\end{pmatrix}}_{\mathbf{N}} \begin{pmatrix}  r_x \\ r_y \\ r_z \end{pmatrix}
</math>
</math>
The matrix '''N''' has as general element
This equation may be compared to the [[wave equation]] that appears in several branches of classical physics
:<math>
:<math>
N_{\alpha \beta} = - \epsilon_{\alpha \beta \gamma} n_\gamma \,
v^2 \nabla^2 \Psi(\mathbf{r},t) = \frac{\partial^2}{\partial t^2} \Psi(\mathbf{r},t),  
</math>
</math>
where &epsilon;<sub>&alpha;&beta;&gamma;</sub> is the antisymmetric [[Levi-Civita]] tensor.
where ''v'' is the [[phase velocity|velocity]] of the wave.  It is clear from this similarity why
Schrödinger's equation is sometimes called the wave equation of quantum mechanics. It is also clear that the essential difference between quantum physics and classical physics is the first-order time derivative including the imaginary unit. The classical equation is real and has on the right hand side a second derivative with respect to time.


For further use we compute normalization constants of '''x''' and '''y''',
The more general form of the Schrödinger equation is
:<math>
:<math>
x^2 = \mathbf{x}\cdot \mathbf{x} = \left(\mathbf{r} -\mathbf{n} \frac{\mathbf{n}\cdot\mathbf{r}}{n^2} \right) \cdot
H \Psi(t) = i \hbar \frac{\partial}{\partial t} \Psi(t) ,
\left(\mathbf{r} -\mathbf{n} \frac{\mathbf{n}\cdot\mathbf{r}}{n^2}\right ) = r^2 - \frac{(\mathbf{n}\cdot\mathbf{r})^2}{n^2}
</math>
</math>
where ''H'' is the operator representing the energy of the quantum system under consideration. If this energy is time-independent (no time-dependent external fields interact with the system), the equation can be separated, and the imaginary unit enters fairly trivially through a so-called phase factor,
:<math>
:<math>
y^2 = (\mathbf{n}\times \mathbf{r})\cdot(\mathbf{n}\times \mathbf{r}) = n^2\,r^2 - (\mathbf{n}\cdot\mathbf{r})^2,
\Psi(t) = e^{-iEt/\hbar} \Phi\quad\hbox{with}\quad H\Phi = E\Phi.
</math>
</math>
and divide the two
The second equation has the form of an operator [[eigenvalue equation]]. The eigenvalue ''E'' (one of the possible observable values of the energy) is real, which is a fairly deep consequence of the quantum laws.<ref>If ''E'' were complex, two separate measurements would be necessary to determine it. One for its real and one for its imaginary part. Since quantum physics states that a measurement gives a collapse of the wave function to an undetermined state, the measurements, even if they would be made in quick succession, would interfere with each other and energy would be unobservable.</ref>  The time-independent function &Phi; can very often be chosen to be real. The exception being the case that ''H'' is not invariant under [[time-reversal]]. Indeed, since the time-reversal operator &theta; is [[anti-unitary]], it follows that
:<math>
:<math>
\frac{x^2}{y^2} =  \frac{r^2 - \frac{(\mathbf{n}\cdot\mathbf{r})^2}{n^2}}{n^2\,r^2 - (\mathbf{n}\cdot\mathbf{r})^2} = \frac{1}{n^2}.
\theta H \theta^\dagger \bar{\Phi} =  E \bar{\Phi}
</math>
</math>
When we rotate '''r''' over an angle &phi; around '''n''', the component of '''r''' along '''n''' is unchanged, while the component '''x''' of '''r''' perpendicular to '''n''' becomes '''x'''&prime;
where the bar indicates [[complex conjugation]]. Now, if ''H'' is invariant,
:<math>
:<math>
\mathbf{x}' = \cos\phi\; \mathbf{x} + \frac{x}{y} \sin\phi \;\mathbf{y} =  \cos\phi \;\mathbf{x} + \frac{1}{n} \sin\phi \;\mathbf{y}
\theta H \theta^\dagger = H \Longrightarrow H\bar{\Phi} = E\bar{\Phi}\quad\hbox{and}\quad
H\Phi = E\Phi,
</math>
</math>
Hence the rotated vector '''r'''&prime; is
then also the real linear combination <math>\Phi+\bar{\Phi}</math> is an eigenfunction belonging to ''E'', which means that the wave function may be chosen real. If ''H'' is not invariant, it usually is transformed into minus itself. Then <math>\Phi\;</math> and <math>\bar{\Phi}</math> belong to ''E'' and &minus;''E'', respectively, so that they are essentially different and cannot be combined to real form. Time-reversal symmetry is usually broken by magnetic fields, which give rise to interactions linear in spin or orbital [[angular momentum]].
:<math>
 
\mathbf{r}' = \mathbf{n} \frac{\mathbf{n}\cdot\mathbf{r}}{n^2} +
==Note==
\cos\phi(\mathbf{r} -\mathbf{n} \frac{\mathbf{n}\cdot\mathbf{r}}{n^2} )
<references />
+\frac{1}{n} \sin\phi \;\mathbf{N}\; \mathbf{r}
</math>
We may introduce the [[dyadic product]] of the vector '''n''' with itself, which has the form of a 3 &times; 3 symmetric matrix, and write
:<math>
\mathbf{n} \frac{\mathbf{n}\cdot\mathbf{r}}{n^2}  =
\frac{1}{n^2} \; \big(\mathbf{n}\otimes\mathbf{n}\big) \; \mathbf{r} \quad\hbox{with}\quad
\big(\mathbf{n}\otimes\mathbf{n}\big)_{\alpha \beta} \equiv n_\alpha\; n_\beta.
</math>
Now,
:<math>
\mathbf{r}' = \left[ \cos\phi\; \mathbf{E} + \frac{(1-\cos\phi)}{n^2} \; \big(\mathbf{n}\otimes\mathbf{n}\big)
+ \frac{1}{n} \sin\phi \;\mathbf{N} \right] \mathbf{r} ,
</math>
where '''E''' is the identity matrix. The quantity between square brackets is the matrix '''R''' that rotates '''r''' around '''n''' over an angle &phi;. This equation is very well-known and was first derived by Leonhard Euler [check].
A general element of '''R''' is
:<math>
R_{\alpha \beta} = \cos\phi\; \delta_{\alpha \beta} + \frac{(1-\cos\phi)}{n^2} n_\alpha n_\beta - \frac{\sin\phi}{n} \epsilon_{\alpha \beta\gamma} n_\gamma =
\cos\phi\; \delta_{\alpha \beta} + (1-\cos\phi)\hat{n}_\alpha \hat{n}_\beta - \sin\phi\; \epsilon_{\alpha \beta\gamma}\; \hat{n}_\gamma,
</math>
where the unit vector is
:<math>
\hat\mathbf{n} \equiv \frac{\mathbf{n}}{n}.
</math>
Möller and Hughes (1999) refer to this century-old equation for the elements of '''R''' as the "Foley (1990) equation".
For normalized '''n''' the rotated vector may be written as:
:<math>
r'_{\alpha} = \sum_\beta R_{\alpha \beta} r_\beta =
\sum_\beta \left[\cos\phi\; \delta_{\alpha \beta} + (1-\cos\phi)\hat{n}_\alpha \hat{n}_\beta - \sin\phi\; \epsilon_{\alpha \beta\gamma}\; \hat{n}_\gamma\right] r_\beta \quad \Rightarrow\quad
\mathbf{r}' = \mathbf{r}\;\cos\phi +  \hat{\mathbf{n}}\;\big(\hat{\mathbf{n}}\cdot \mathbf{r}\big)\big(1-\cos\phi\big)
+ (\hat{\mathbf{n}}\times\mathbf{r} )\;\sin\phi.
</math>
Consider now two non-parallel unit vectors '''f''' and '''t''' making an angle &phi;
:<math>
\mathbf{f} \cdot \mathbf{t} = \cos\phi \quad \hbox{and}\quad |\mathbf{f} \times \mathbf{t}| = \sin\phi
</math>
We want to find the matrix that rotates '''f''' (the "from" vector) to '''t''' (the "to" vector). An obvious  way is using the cross product '''f'''&times;'''t''' as a rotation axis and rotating '''f''' over &phi;. We can use the equation just derived by substituting
:<math>
\mathbf{n} \rightarrow \mathbf{f} \times \mathbf{t} \quad\hbox{and}\quad n \rightarrow \sin\phi.
</math>
Hence
:<math>
\frac{(1-\cos\phi)}{n^2} = \frac{(1-\cos\phi)}{1-\cos^2\phi} = \frac{1}{1+\cos\phi}
</math>
so that an element of the rotation matrix takes the form
:<math>
R_{\alpha \beta} = \cos\phi\; \delta_{\alpha \beta} + \frac{1}{1+\cos\phi} n_\alpha n_\beta -  \epsilon_{\alpha \beta\gamma} n_\gamma,
</math>
which is Eq. (1) of Möller and Hughes (1999) modified by dividing out (1 - cos&phi;) in the second term, which M and H don't do.

Latest revision as of 09:21, 15 February 2010

PD Image
Complex number zr exp(iθ) multiplied by i gives z' = z×i = z exp(i π/2) (counter clockwise rotation over 90°). Division of z by i gives z". Division by i is multiplication by −i = exp(−i  π/2) (clockwise rotation over 90°).

Complex numbers in physics

Classical physics

Classical physics consists of classical mechanics, electromagnetic theory, and phenomenological thermodynamics. One can add Einstein's special and general theory of relativity to this list, although this theory, being formulated in the 20th century, is usually not referred to as "classical". In these four branches of physics the basic quantities and equations governing the behavior of the quantities are real.

Classical mechanics has three different, but equivalent, formulations. The oldest, due to Newton, deals with masses and position vectors of particles, which are real, as is time t. The first and second time derivatives of the position vectors enter Newton's equations and these are obviously real, too. The same is true for Lagrange's formulation of classical mechanics in terms of position vectors and velocities of particles and for Hamilton's formulation in terms of momenta and positions.

Maxwell equations, that constitute the basis of electromagnetic theory, are in terms of real vector operators (gradient, divergence, and curl) acting on real electric and magnetic fields.

Thermodynamics is concerned with concepts as internal energy, entropy, and work. Again, these properties are real.

The special theory of relativity is formulated in Minkowski space. Although this space is sometimes described as a 3-dimensional Euclidean space to which the axis ict (i is the imaginary unit, c is speed of light, t is time) is added as a fourth dimension, the role of i is non-essential. The imaginary unit is introduced as a pedestrian way to the computation of the indefinite, real, inner product that in Lorentz coordinates has the metric

which obviously is real. In other words, Minkowski space is a space over the real field ℝ. The general theory of relativity is formulated over real differentiable manifolds that are locally Lorentzian. Further, the Einstein field equations contain mass distributions that are real.

So, although the classical branches of physics do not need complex numbers, this does not mean that these numbers cannot be useful. A very important mathematical technique, especially for those branches of physics where there is flow (of electricity, heat, or mass) is Fourier analysis. The Fourier series is most conveniently formulated in complex form. Although it would be possible to formulate it in real terms (expansion in terms of sines and cosines) this would be cumbersome, given the fact that the application of the usual trigonometric formulas for the multiplication of sines and cosines is so much more difficult than the corresponding multiplication of complex numbers. Especially electromagnetic theory makes heavy use of complex numbers, but it must be remembered that the final results, that are to be compared with observable quantities, are real.

Quantum physics

In quantum physics complex numbers are essential. In the oldest formulation, due to Heisenberg the imaginary unit appears in an essential way through the canonical commutation relation

pi and qj are linear operators (matrices) representing the ith and jth component of the momentum and position of a particle, respectively,.

The time-dependent Schrödinger equation also contains i in an essential manner. For a free particle of mass m the equation reads

This equation may be compared to the wave equation that appears in several branches of classical physics

where v is the velocity of the wave. It is clear from this similarity why Schrödinger's equation is sometimes called the wave equation of quantum mechanics. It is also clear that the essential difference between quantum physics and classical physics is the first-order time derivative including the imaginary unit. The classical equation is real and has on the right hand side a second derivative with respect to time.

The more general form of the Schrödinger equation is

where H is the operator representing the energy of the quantum system under consideration. If this energy is time-independent (no time-dependent external fields interact with the system), the equation can be separated, and the imaginary unit enters fairly trivially through a so-called phase factor,

The second equation has the form of an operator eigenvalue equation. The eigenvalue E (one of the possible observable values of the energy) is real, which is a fairly deep consequence of the quantum laws.[1] The time-independent function Φ can very often be chosen to be real. The exception being the case that H is not invariant under time-reversal. Indeed, since the time-reversal operator θ is anti-unitary, it follows that

where the bar indicates complex conjugation. Now, if H is invariant,

then also the real linear combination is an eigenfunction belonging to E, which means that the wave function may be chosen real. If H is not invariant, it usually is transformed into minus itself. Then and belong to E and −E, respectively, so that they are essentially different and cannot be combined to real form. Time-reversal symmetry is usually broken by magnetic fields, which give rise to interactions linear in spin or orbital angular momentum.

Note

  1. If E were complex, two separate measurements would be necessary to determine it. One for its real and one for its imaginary part. Since quantum physics states that a measurement gives a collapse of the wave function to an undetermined state, the measurements, even if they would be made in quick succession, would interfere with each other and energy would be unobservable.