COORDINATE SYSTEMS: the physical quantities dealing with EM are functions of time

and space. These quantities may be well represented in any curvilinear coordinate system
which may be orthogonal or non-orthogonal. An orthogonal system is one in which the
coordinates are mutually perpendicular. The non-orthogonal systems are hard to work with
and they are little or no practical use. Some examples of orthogonal coordinate systems are:
(1) Cartesian (rectangular)
(2) Cylindrical
(3) Spherical
(4) Conical
(5) Elliptical
(6) Elliptic cylindrical
(7) Parabolic cylindrical
(8) Prolate spheroidal
(9) Oblate spheroidal etc.

Cartesian Coordinate System:

ax . ⃗
⃗ a x =⃗
a y.⃗
a y =⃗
az . ⃗
az =1

ax × ⃗
⃗ a x =⃗
a y ×⃗
a y =⃗
az × ⃗
az =0

ax × ⃗
⃗ a y =⃗
a z ,⃗
ay× ⃗
a z=⃗
ax , ⃗
az × ⃗
ax =⃗
ay
 P=P x ⃗
⃗ ax + P y ⃗
ay + Pz ⃗
az

|P|=√ P 2x + P2y + P2z

P
a P=
⃗
Px ⃗
a x+ P y ⃗
a y+ P z ⃗
az
¿ P∨¿= 2
¿
√P x + P2y + P2z
P x =P. ⃗
⃗ ax

P y =P . ⃗
⃗ ay

P z=P . ⃗
⃗ az

Differential length (Δl), Area (ΔA) and Volume (Δv) in Cartesian Coordinate System:

Differential length (Δl):

Δl=dl=d x ⃗
ax +d y ⃗
a y +d z ⃗
az

Differential area (ΔA):

ΔA =dA=d x d y ⃗
az

d y dz ⃗
ax

d z dx ⃗
ay

Differential volume (Δv):

Δv=dv=d x d y d z
Cylindrical Coordinate System:

aρ . ⃗
⃗ aρ =⃗
aφ .⃗
a φ =⃗
a z .⃗
a z =1

a ρ ×⃗
⃗ a ρ=⃗
aφ × ⃗
aφ =⃗
a z ×⃗
a z =0

a ρ ×⃗
⃗ a φ=⃗
az, ⃗
aφ × ⃗
az =⃗
a ρ ,⃗
a z ×⃗
aρ =⃗
aφ

P=P ρ ⃗
⃗ a ρ+ P φ ⃗
aφ + P z ⃗
az

|P|=√ P 2ρ + P2φ + P2z

P
a P=
⃗
¿ P∨¿ ¿
P ρ=P .⃗
⃗ aρ

Pφ =P . ⃗
⃗ aφ

P z=P . ⃗
⃗ az

Cartesian-Cylindrical Coordinate Relationship:

x=ρ cos φ , y =ρ sin φ , z= z

ρ=√ x 2 + y 2 , φ=tan−1 ( xy ) , z =z
a x ,⃗
Relationship between (⃗ a y ,⃗
a z ) and (⃗
aρ , ⃗
aφ , ⃗
a z)

a ρ on ⃗
Effect of ⃗ ax = ⃗
a ρ cos φ

a ρ on ⃗
Effect of ⃗ ay = ⃗
a ρ sin φ

a φ on ⃗
Effect of ⃗ a x = −⃗
a φ cos ( 90−φ ) =−⃗
a φ sin φ

a φ on ⃗
Effect of ⃗ a y = +⃗
a φ cos φ

Net effect
a x =⃗
⃗ a ρ cos φ−⃗
a φ sin φ

a y =⃗
⃗ a ρ sin φ+⃗
a φ cos φ

a z=⃗
⃗ az

Or,

a⃗x cos φ −sin φ 0 aρ

⃗

[ ][
a y = sin φ cos φ 0 = a⃗φ
⃗
az
⃗ 0 0 1 az
⃗
][]
a⃗ρ cos φ sin φ 0 ax
⃗

[ ][
aφ −sin φ cos φ 0
⃗
az
⃗
=
0 0 1
= a⃗y
az
⃗
][ ]
Similarly,

Px
⃗ cos φ −sin φ 0 Pρ
⃗

[ ][
Py
⃗
Pz
⃗
= sin φ cos φ 0
0 0 1
= Pφ
⃗
Pz
⃗ ][ ]
Pρ
⃗ cos φ sin φ 0 Px
⃗

[ ][
Pφ −sin φ cos φ 0
⃗
Pz
⃗
=
0 0 1
= Py
⃗
Pz
⃗ ][ ]
Differential length (dl), Area (dA) and Volume (dv) in Cylindrical Coordinate System:

Differential Length (dl):

dl=dρ ⃗
a ρ+ ρdφ⃗
a φ +dz ⃗
az

Differential Area (dA):

dA=dρρdφ ⃗
az

ρdφdz ⃗
aρ

dzdρ ⃗
aφ

Differential Volume (dV):

dV =dρρdφdz
Spherical Coordinate System:

P=P r ⃗
⃗ ar + P θ ⃗
aθ + P φ ⃗
aφ

|P|=√ P 2r + P2θ + P2φ

P
a P=
⃗
¿ P∨¿ ¿
Relationship among (x,y,z), (ρ,φ,z) and (r,θ,φ):

x=ρ cos φ , y =ρ sin φ , z=¿

But, ρ=r sinθ , z=ρ=r cos θ

x=r sin θ cos φ , y=r sin θ sin φ , z=r cos θ

z y
r =√ x 2 + y 2 + z 2 , θ=cos−1 , φ=tan−1
r x
a⃗x sin θ cos φ cos θ cos φ −sin φ ar
⃗

[ ][
ay
⃗
az
⃗
= sin θ sin φ cos θ sin φ cos φ
cos θ −sin θ 0
=
][ ]
a⃗θ
aφ
⃗

a⃗r sin θ cos φ sin θ sin φ cos θ ax

⃗

[ ][
a θ = cos θ cos φ cos θ sin φ −sin θ = ⃗
⃗
aφ
⃗ −sin φ cos φ 0
ay
][ ]
a⃗z

Differential Length (dl):

dl=dr ⃗
ar +rdθ ⃗
aθ +r sin θ dφ

Differential Area (dA):

dA=dr rdθ ⃗
aφ =rdrdθ ⃗
aφ

ar=r 2 sin θ dθdφ ⃗

rdθ r sinθ dφ ⃗ ar
r sin θ dφ dr ⃗
aθ

Differential Volume (dV):

dV =r 2 sinθ drdθdφ
Problem 1. Given point p (-2, 6, 3) and vector A= y ⃗
ax +( x+ z )⃗
ay

(a) Express P and A in cylindrical and spherical coordinate system

(b) Evaluate A at P in Cartesian, cylindrical and spherical coordinates
Solution:
(a) P(-2,6,3) = P(6.32, 108.4o, 3) = P(7, 64.62o, 108.43o)
−6 38
(b) A= a ρ−
⃗ aφ =−0.857 ⃗
⃗ a r−0.4066 ⃗
aθ−6.008 ⃗aφ
√ 40 √ 40
Aρ
⃗ cos φ sin φ 0 Ax
⃗
⃗
[ ][
A φ = −sin φ cos φ 0 = ⃗
Az
⃗ 0 0
A ρ= y cos φ+( x + z)sin φ
⃗
1 ][ ]
Ay
Az
⃗

Aφ =− y sin φ+(x + z) cos φ

⃗
A z=0
⃗
But, x=ρ cos φ , y =ρ sin φ , ρ=6.32 , φ=108.40 , z=3
−6 38
A= a ρ−
⃗ aφ
⃗
√ 40 √ 40
Similarly,

Ar
⃗ sin θ cos φ sin θ sin φ cos θ Ax
⃗

[ ][
Aθ = cos θ cos φ cos θ sin φ −sin θ = A y
⃗
Aφ
⃗ −sin φ cos φ 0
⃗
Az
⃗ ][ ]
A=−0.857 ⃗
ar −0.4066 ⃗
a θ−6.008 ⃗
aφ

Problem 2. (a). Express the given vector in Cartesian and cylindrical coordinate system.
10
B= ⃗ a +r cos θ ⃗
aθ + ⃗
aφ
r r
(b). Find B (-3, 4, 0) and B (5, π/2, -2)
Solution:
10
Bx = sinθ cos φ+r cos 2 θ cos φ
r
10
B y= sin θ sin φ+ r cos 2 θ sin φ+ cos φ
r
10
Bz = cos θ−r cos θ sin θ
r

x2 + y2
But, r =√ x 2 + y 2 + z 2 , θ=tan −1 √
y
, φ=tan −1
z x
sin θ= √ x 2+ y 2 , cos θ=
z
2 2 2 2
√ x + y +z √x + y2 + z2
y x
sin φ= 2 2
, cos φ= 2
√x +y √x + y2
B=B x ⃗
⃗ a x +B y ⃗
a y+ B z ⃗
az

At B (-3, 4, 0) Bx =−2 , B y =1 , B z =0
B=−2 ⃗
⃗ a x +⃗
ay

10 10
B ρ= sin θ+r cos2 θ , B φ=1 , Bz = cos θ+r sin θ cos φ
r r
2 2 ρ
But, r =√ ρ + z ,θ=tan
−1
z
ρ z
sin θ= 2 2
, cos θ=
√ ρ +z √ ρ + z2
2

10 ρ ρz 10 z ρz
B ρ= 2 2
+ 2 2 , B z= 2 2 − 2 2
ρ +z √ ρ +z ρ +z √ρ +z
Similarly, at B (5, π/2, -2)
B ρ=2.467 , B φ=1 , Bz =1.167

Problem 3. Convert P (1, 3, 5), T (0, -4, 3) and S (-3, 4, -10) into cylindrical and spherical
coordinates.
Solution: P (1, 3, 5) = P (3.162, 71.56o, 5) = P (5.916, 32.31o, 71.56o)
T (0, -4, 3) = T (4, 270o, 3) = T (5, 53.13o, 270o)
S (-3, 4, -10) = S (5, 233.1o, -10) =S (11.18, 153.43o, 233.1o)

Problem 4. Transform the given vector into cylindrical and spherical coordinates.

Q= √ x2 + y 2 a x−
⃗
yz
az
⃗
2 2 2
√x +y +z √ x + y2 + z2
2

Solution:
ρ
(cos φ ⃗
a ρ −sin φ ⃗
aφ −z sin φ ⃗
a z)
√ ρ + z2
2

sin θ ( sin θ cos φ−r cos2 θ sin φ ) ⃗

a r +sin θ cos θ ( cos φ+ r sin θ sin φ ) ⃗
a θ−sin θ sin φ ⃗
aφ

Problem 5. Consider an object shown in the Fig. given below

Calculate (a). The length BC, (b). The length CD, (c). Surface area ABCD, (d). Surface area
ABO (e). Surface area AOED, and (f). Volume ABDCEO
Solution:
A (5, 0, 0) →A (5, 0, 0)
B (0, 5, 0) →B (5, π/2, 0)
C (0, 5, 10) →C (5, 5/2, 10)
D (5, 0, 10) →D (5, 0, 10)
(a) length BC = 10
(b) length
π π
2 2
π
CD=∫ ρdφ=∫ 5 dφ=5
0 0 2
(c) Surface area
π
2 10

S ABCD = ∫ ∫ ρ dφ dz=25 π
φ=0 z =0
(d) Surface area
π
2 5

S ABO= ∫ ∫ ρ dρ dφ=6.25 π
φ=0 ρ=0

(e) Surface area

5 10
S AOED= ∫ ∫ dρ dz=50
ρ=0 z=0
(f) Volume
 π
5 2 10

V ABDCEO= ∫ ∫ ∫ ρ dρ dφ dz=62.5 π
ρ=0 φ=0 0

Problem 6. Consider a cross-sectional view of a spherical shell shown in Fig. below.

3 ≤ r ≤ 5 , 60° ≤ θ≤ 90 ° , 45 ° ≤ φ ≤ 60 °
Here, surface r = 3 is the same as AEHD, surface θ = 60o is AEFB and surface φ = 45o is
ABCD. Calculate
(a) Distance DH (0.7854)
60
dl=r sinθ dφ ,l= ∫ r sin θ dφ
φ=45

(b) Distance FG (2.618)

(c) Surface area AEHD (1.179)
(d) Surface area ABDC (4.189)
(e) Volume of object (4.276)

Problem 7. Express the following vectors in cartesian coordinates:

(a) A=ρz sin φ ⃗
a ρ +3 ρ cos φ ⃗
a φ + ρ cos φ sin φ ⃗
az
2
(b) B=r ⃗ar +sin φ ⃗
aφ

Solution:
(a)
1
A= 2 2
a x + ( z y 2+ 3 x 2 ) ⃗
[ ( xyz−3 xy ) ⃗ a y + xy ⃗
az]
√x + y
(b)
1
B= ¿
√ x + y2 + z2
2

+ z (x 2+ y 2+ z 2 ) ⃗
az ¿
 PROBLEM
1.1. Given three vectors
A=2 ax +2 a y −a z
B=ax −3 a y + 4 az
C=a x −a y + a z

Find: (a) A−B+ 2C (b) the unit vector along A−2C (c) B.C (d) A˟B and (e) A˟B.C

Ans. (a) 5.196 (b) 0.8 a y −0.6 a z, (c) 8, (d) 5 a x −9 a y −8 a z, (e) 6

1.2. Three points P1, P2 and P3 are given by (2, 3, -2), (5, 8, 3), and (7, 6, 2), respectively.
Obtain: (a) the vector drawn from P1 to P2 (b) the unit vector along the line from P1 to P3.
1
Ans. (a) 3 a x + 5 a y +5 a z, (b) (a x +0.6 a y +0.8 az )
√2
1.3. A vector field is given by E= y ax −2.5 x a y +3 a z at a point P (4, 5, 2). Calculate
(a) The field E at P
(b) A scalar component of E in the direction of vector A=(2 a x + a y −2 a z )/ 3 at point P.
(c) The angle between E and A at P.
Ans. (a) 5 a x −10 a y +3 a z (b) -2, and (c) 99.9o.
1.4. Express the unit vector which is directed from the point (x, y-4) to the origin.
Ans.
−x a x − y a y + 4 a z
√ x 2 + y 2 +16
1.5. Given the points P (r =5 , φ=60 ° , z =2) and Qr =2 ,φ=110 ° , z=−1:
(a) Find the distance from P to Q
(b) Find the unit vector towards the direction P to Q
Ans. (a) 5.01, (b) −0.635 a x −0.489 a y −0.598 a z
1.6. Two points are given as P (2, -1, -3) and Q (1, 3, 4). Given the vector that extends
from P to Q in (a) cartesian coordinates (b) cylindrical coordinates, and (c) spherical
coordinates.
Ans. (a) −a x +4 a y +7 a z, (b) −2.69 ar + 3.13 aφ +7 az , (c) −7.22 ar −2.03 aθ +3.13 aφ

1.7. Express the field E=2 xyz a x −5(x + y + z) a z in cylindrical coordinates and calculate |
E| at point P (r =2 ,φ=60 ° , z=3).
2
Ans. E=r z sin 2 φ ( cos φ a r−sin φ a φ ) −5 ( r cos φ+r sin φ+ z ) a z ,| E|=30.5

1.8. Convert the vector field E=2 cos θ ar +sin θ a θ into Cartesian coordinates.

3 xz a x +3 yz a y +(2 z 2−x 2− y 2 ) az
Ans. E=
x2 + y2 + z2
1.9. Given the plane 4x + 3y + 2z = 10, find the unit vector normal to the surface in the
direction away from the origin. Ans. 4 a x +3 a y + 2 az ¿ / √ 29.
1.10. A scalar function is given by V (x, y, z) = xy. Find a unit vector normal to constant V
surface of value 2 at the point (2, 1, 0).
Ans.
1 2
1n= ax + ay
√5 √5
1.11. An electric field intensity is given as
100 cos θ 50 sin θ
E= 3
ar + aθ
r r3
Calculate |E| and a unit vector in Cartesian coordinates in the direction of E at a point
(r =2 ,θ=60 ° , φ=20 °)
Ans. 8.27, 0.923 a x + 0.336 a y −0.189 az

1.12. For a vector field F=x y 2 a x + y z 2 a y +2 xz a z; calculate the line integral ∫ F .dl, where
c is a straight line between points (0, 0, 0) and (1, 2, 3).
Ans. 9
1.13. A closed surface is defined in spherical coordinates by 3<r <5, 0.1 π < θ<0.3 π,
1.2 π < φ<1.6 π. find the distance from P (r =3 ,θ=0.1 π , φ=1.2 π) to P(
r =5 ,θ=0.3 π ,φ=1.6 π).
Ans. 3.86

1.14. A volume charge density is expressed as ρ v =10 z 2 e−0.1x sin πy. find the total charge
inside the volume (−1 ≤ x ≤2), (0 ≤ y ≤ 1), and (3 ≤ z ≤3.6).
Ans. 119.5 coulombs
1.15. In cylindrical coordinates 4 <r <6, 30 ° <θ<60 °, 2< z <5; find:
(a) The volume defined by these parameters
(b) The length of longest straight line that lies entirely within the volume, and
(c) The total surface area.
Ans. (a) 15.71, (b) 4.41, (c) 38.18

1.16. Given A=r 2 ar +r sin θ aθ in spherical coordinates. Evaluate ∮ A . ds over the

following:
(a) The surface of that part of spherical volume of radius unity lying in the first octant,
(b) The surface of solid spherical shell lying between r = a and r = b where a > b,
(c) Verify your answers in (a) and (b) by appropriate volume integral using divergence
theorem.
Ans. 2π/3, 4π (a4-b4)
1.17. A vector field A ( r , φ , z ) =30 e−r ar −2 z a z. Verify the divergence theorem for the
volume enclosed by r =2, z = 0, z = 5.
Ans. 129.44
1.18. Given a function V =4 x y 2 z 3; integrate throughout the plane sided volume with the
corners at (x, y, z) = (2, -2, 1); (6, -2, 1); (2, 2, 1); (6, 2, 1); (2, -2, 5); (6, -2, 5); (2, 2, 5); (6,
2, 5).
1.19. Integrate vector D=x 2 y 3 z 4 a z over the plane square surface bounded by the points (x,
y, z) = (1, 1, 2); (5, 1, 2); (1, 5, 2); (5, 5, 2).
Ans. 1.03*105

5 r3
1.20. Given that A=
4( )ar C/m2 in cylindrical coordinates, evaluates both sides of

divergence theorem for the volume enclosed by r = 1m, r = 2m, z = 0 and z =10m.
Ans. 375π C