A unified semiclassical treatment of Bragg scattering from Bose-Einstein co
ndensates is presented. The formalism is based on Gross-Pitaevskii equation
s driven by a classical light field, and leads to a single-component equati
on incorporating the effects of mean-field nonlinearity and spatial inhomog
eneity. Three-dimensional numerical simulations of this equation in cylindr
ical symmetry are used to investigate Bragg scattering for a number of case
s. Scattering from a condensate released from a trap produces characteristi
c cycling of the atomic momentum, and an analytic description is given usin
g a linear model incorporating spatial non-uniformity Simple expressions ob
tained for the momentum packet cycling are shown to accurately describe the
full nonlinear behaviour within a well specified validity range and a tran
sition linewidth is derived. For the case of a trapped condensate, a numeri
cal study of momentum spectroscopy is carried out and the shift of the Brag
g resonance condition due to mean-field nonlinearity is investigated.