 Solution

With Cartesian Minkowski spacetime coordinates $x^{\mu }=(ct,x,y,z)$, introduce the four-current $J^{\mu }=(c\rho ,\mathbf{J})$ and electromagnetic four-potential ${\mathcal{A}}^{\mu }=(\varphi /c,\mathbf{A})$. The antisymmetric electromagnetic field tensor $F^{\mu \nu }={\partial }^{\mu }{\mathcal{A}}^{\nu }-{\partial }^{\nu }{\mathcal{A}}^{\mu }$ has components $F^{0i}=-E_i/c$ and $F^{ij}=-{ϵ}^{ijk}{B}_k$. Maxwell equations becomeThe time and space components reproduce Gauss's law and the Ampère-Maxwell equation; the dual equation gives absence of magnetic monopoles and Faraday's law of induction. Antisymmetry gives charge conservation ${\partial }_{\nu }{J}^{\nu }=0$. The relativistic Lorentz force is $d{p}^{\mu }/d\tau =q{F}^{\mu \nu }{u}_{\nu }$. Every displayed equation transforms tensorially under a Lorentz transformation; the electric field and magnetic field are different components of the same object.

Two independent algebraic electromagnetic field invariants areThe second is a pseudoscalar: it is invariant under proper Lorentz transformations but changes sign under spatial reflection. For perpendicular fields, the sign of the first distinguishes a frame with purely magnetic field from one with purely electric field. Both invariants vanish for a plane electromagnetic wave with $\mathbf{E}\perp \mathbf{B}$ and $E=cB$, although the field itself is nonzero.