The Lorentz force law of classical electrodynamics states that the force 𝑭𝑭 exerted by the magnetic induction 𝑩𝑩 on a particle of charge 𝑞𝑞 moving with velocity 𝑽𝑽 is given by 𝑭𝑭 = 𝑞𝑞𝑽𝑽 × 𝑩𝑩. Since this force is orthogonal to the direction of motion, the magnetic field is said to be incapable of performing mechanical work. Yet there is no denying that a permanent magnet can readily perform mechanical work by pushing/pulling on another permanent magnet or by attracting pieces of magnetizable material such as scrap iron or iron filings. We explain this apparent contradiction by examining the magnetic Lorentz force acting on an Amperian current loop, which is the model for a magnetic dipole. We then extend the discussion by analyzing the Einstein-Laub model of magnetic dipoles in the presence of external magnetic fields.
Masud Mansuripur, "Nature of the electromagnetic force between classical magnetic dipoles," Proc. SPIE 10357, Spintronics X, 103570R (Presented at SPIE Nanoscience + Engineering: August 07, 2017; Published: 7 September 2017); https://doi.org/10.1117/12.2273216.
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