EEE 201 Engineering Mathematics

Coordinate Systems
Prof. Dr. Saffet AYASUN
Introductor: Dr. Bülent Dağ
 Coordinate Systems
 Two dimensional coordinate systems
 Cartesian Coordinate System
 Polar Coordinate System
 Three dimensionaal coordinate systems
 Cartesian Coordinate System
 Cylindirical Coordinate System
 Spherical Coordinate System
 TWO-DIMENSIONAL (2-D) COORDINATE
SYSTEMS: Cartesian Coordinates
 To locate a point in a plane, two numbers are necessary.
 We know that any point in the plane can be represented
as an ordered pair (a, b) of real numbers—where a is the
x-coordinate and b is the y-coordinate.
 For this reason, a plane is called two-dimensional.
DISTANCE FORMULA IN THREE DIMENSIONS

 The distance |P1P2| between the points P1(x1,y1) and

P2(x2, y2) is:

d  PP
1 2  ( x2  x1 )  ( y2  y1 )
2 2
POLAR COORDINATE SYSTEM

The center of the graph is

called the pole.

Points are represented

by a radius and an
angle

(r, )
Angles are measured
from the positive x axis.
.6

The polar coordinate system is formed by fixing a point, O,

which is the pole (or origin).
The polar axis is the ray constructed from O.
Each point P in the plane can be assigned polar coordinates (r, ).
P = (r, )

O  = directed angle Polar

Pole (Origin) axis

r is the directed distance from O to P.

 is the directed angle (counterclockwise) from the polar
axis to OP.
C
7
o
p
y
r
i
g
h
The relationship between rectangular and
t
© polar coordinates is as follows.
b
y
H
o y The point (x, y) lies on a
u
g
h
circle of radius r,
t
o
therefore, r2 = x2 + y2.
n
M
i
f
f (x, y)
Definitions of
l
i (r, ) trigonometric functions
n
C
o r
y
m
p y sin  
a r
n
y
Pole  cos   x
,
x r
y
tan  
I
n
c (Origin) x x
.
A
l Recall that some angles require the angle to be
l converted to the appropriate quadrant.
r
i
g
Converting from Rectangular to Polar

 On your own, find polar form for the point (-2, 3).
3
tan  
(-2, 3)
r2 = (-2)2 + 32 2
 3
r2 = 4 + 9
  tan 1  
r2 = 13  2 
r = 13
  56.31o
 However, the angle must be in the
second quadrant, so we add 180o to
the answer and get an angle of
123.70o.
 The polar form is ( 13 , 123.70o)
 3-D CARTESIAN COORDINATE SYSTEMS
 The three lines are called the coordinate axes.
 They are labeled:
 x-axis
 y-axis
 z-axis
 Usually, we think of:
 The x- and y-axes as being horizontal
 The z-axis as being vertical
 COORDINATE PLANES
 The three coordinate axes determine the three
coordinate planes.

 The xy-plane contains

the x- and y-axes.
 The yz-plane contains
the y- and z-axes.
 The xz-plane contains
the x- and z-axes.
 CYLINDRICAL COORDINATES
 The circular cylindrical coordinate system is very
convenient whenever we are dealing with problems having
cylindrical symmetry.
CYLINDRICAL COORDINATES
Representing 3D points in Cylindrical
Coordinates
(r,f,z)
r f

r f

Cylindrical coordinates just adds a z-coordinate to

the polar coordinates (r,f).
 Converting between rectangular and
Cylindrical Coordinates
No real surprises here! Cylindrical to rectangular
(r,f,z) x  r cos(f )
r y  r sin(f )
f zz

Rectangular to Cylindrical
r f
r 2  x2  y 2
y
tan(f ) 
x
zz
 CYLINDRICAL COORDINATES
 A vector A in cylindrical coordinates can be written as

 ar, af, and az are unit vectors in the r, f, and z-directions.

 Note that unit vectors ar, af, and az are mutually
perpendicular because our coordinate system is orthogonal.

 ar points in the direction of increasing r, af in the

direction of increasing f, and az in the positive z-
direction.
 CYLINDRICAL COORDINATES

A vector A in cylindrical coordinates can be written as

Relationship between points (x, y, z) and (r, f, z)

x  r cos(f )
y  r sin(f )
zz

r 2  x2  y 2
y
tan(f ) 
x
zz
Transformation Between Unit Vectors
From (ar, af, az) to (ax, ay, az)
 Transformation Between Unit Vectors
From (ax , ay , az) to (ar , af , az)
 If we multiply ax and ay by cos(f) and sin(f), respectively
and add the up, we obtain
ax cos(f )  ar cos 2 (f )  af sin(f ) cos(f ) and a y sin(f )  ar sin 2 (f )  af cos(f )sin(f ) 
ar cos 2 (f )  sin 2 (f )   ax cos(f )  a y sin(f )  ar  ax cos(f )  a y sin(f )

 If we multiply ax and ay by -sin(f) and cos(f), respectively

and add the up, we obtain

ax sin(f )  ar cos(f )sin(f )  af sin 2 (f ) and a y cos(f )  ar sin(f ) cos(f )  af cos 2 (f ) 
af cos 2 (f )  sin 2 (f )    ax sin(f )  a y cos(f )  ar  ax sin(f )  a y cos(f )
Relationship Between (Ax , Ay , Az) and (Ar , Af , Az)

 Finally, substituting

into we obtain
 Transformation in Matrix
from (Ax , Ay , Az) to (Ar , Af , Az) or vice versa
 Alternative Transformation in Matrix
from (Ax , Ay , Az) to (Ar , Af , Az) or vice versa in terms
of dot product

 Ar   ar  ax ar  a y ar  az   Ax 
 A   a  a af  a y
  
af  az    Ay 
 f  f x
 Az   az  ax az  a y az  az   Az 
 Example 1
Transform the vector, A  yax  xa y  zaz into cylindrical coordinates:

A   r af  zaz
 Example 2
(It will be solved on the board

 P1 (3, 4, 3) and A  2ax  3a y  4az are defined in

cartesian coordinates. Define P1 and A in cylindrical
coordinates.
Representing 3D points in Spherical
Coordinates
 r is defined as the distance
from the origin to point P or
the radius of a sphere
centered at the origin and
passing through P.
  (called the colatitude) is the
angle between the z-axis and
the position vector of P.
 f is measured from the x-
axis (the same azimuthal
angle in cylindrical
coordinates).
Spherical Coordinates
Transformation of points from (r, , f) to (x , y , z)

x  r cos(f ) and r  r sin( )  x  r sin( ) cos(f )

y  r sin(f ) and r  r sin( )  y  r sin( )sin(f )
z  r cos( )
Transformation of points from (x , y , z) to (r, , f)

Point P has coordinates

Specified by P(r,,f)
 Transformation of points From Cylindrical to
Spherical
z r
O P

z
 r
P

Q
r y
O

x
 Transformation Between Unit Vectors
From (ax , ay , az) to (ar , a , af)
ar  ax sin  cos f  a y sin  sin f  az cos 
a  ax cos  cos f  a y cos  sin f  az sin 
af  ax sin f  a y cos f
Transformation Between Unit Vectors
From (ar , a , af) to (ax , ay , az)

ax  ar sin  cos f  a cos  cos f  af sin f

a y  ar sin  sin f  a cos  sin f  af cos f
az  ar cos   a sin 
 Transformation in Matrix
from (Ax , Ay , Az) to (Ar , A , Af ) or vice versa
A  Ax ax  Ay a y  Az az
A  Ax (ar sin  cos f  a cos  cos f  af sin f )  Ay (ar sin  sin f  a cos  sin f  af cos f )
 Az (ar cos   a sin  )
A  ( Ax sin  cos f  Ay sin  sin f  Az cos   ar + ( Ax cos  cos f  Ay cos  sin f  Az sin   a
 (  Ax sin f  Ay cos f  af
Ar  ( Ax sin  cos f  Ay sin  sin f  Az cos   , A  ( Ax cos  cos f  Ay cos  sin f  Az sin  
Af  (  Ax sin f  Ay cos f 
 Ar   sin  cos f sin  sin f cos    Ax 
  
 A   cos  cos f cos  sin f  sin    Ay 
 Af    sin f cos f 0   Az 
 
 Transformation in Matrix
from (Ax , Ay , Az) to (Ar , A , Af ) or vice versa

 Ar   sin  cos f sin  sin f cos    Ax 

     
 A   cos  cos f cos  sin f  sin    Ay 
 Af    sin f cos f 0   Az 
 

 Ax  sin  cos f cos  cos f  sin f   Ar 

 A    sin  sin f   
 y  cos  sin f cos f   A 
 Az   cos   sin  0   Af 
Transformation in terms of dot product

 Ax   ax  ar ax  a ax  af   Ar 
 A   a  a a y  a
  
a y  af    A 
 y  y r
 Az   az  ar az  a az  af   Af 
 Distance Between Two Points
 Note that in point or vector transformation the point or
vector has not changed; it is only expressed differently.
 Thus, for example, the magnitude of a vector will remain
the same after the transformation and this may serve as a
way of checking the result of the transformation
 The distance between two points is usually necessary in
EM theory.
 The distance between two points with position vectors rl
and r2 is generally given by:
 Distance Between Two Points
 The distance between two points with position vectors rl
and r2 is generally given by:
Example 1
Example 1
Example 1
Example 1
Example 2
 CONSTANT-COORDINATE SURFACES
If a coordinate component is kept constant and the others vary, an infinite
plane is generated.

Cartesian
Cylindrical

Spherical
 CONSTANT-COORDINATE SURFACES
A line is formed by the intersection of two surfaces. For example:

is a semicircle passing through Q and P. The intersection of three surfaces

gives a point. Thus,
is the point P(5, 30°, 60°).
 2-D VS. 3-D ANALYTIC GEOMETRY
 In 2-D analytic geometry, the graph of an equation
involving x and y is a curve in R2.
 In 3-D analytic geometry, an equation in x, y, and z
represents a surface in R3.
EXAMPLE : 3-D COORDINATE SYSTEMS
 Describe and sketch the surface in R3 represented by the
equation y = x
 The equation represents the set of all points in R3 whose x-
and y-coordinates are equal, that is,
{(x, x, z) | xR, zR}.
 This is a vertical plane that intersects the xy-plane in the
line y = x.
 EXAMPLE : 3-D COORDINATE SYSTEMS
 Find an equation of a sphere with radius r and center C(h, k, l).
 By definition, a sphere is the set of all points P(x, y ,z) whose
distance from C is r.
 Thus, P is on the sphere if and only if |PC| = r

 Squaring both sides, we have

|PC|2 = r2
or
 (x – h)2 + (y – k)2 + (z – l)2 = r2
3-D COORDINATE SYSTEMS: EQUATION OF
A SPHERE
 The result of this example is worth remembering.
 An equation of a sphere with center C(h, k, l) and radius r
is:
(x – h)2 + (y – k)2 + (z – l)2 = r2

 In particular, if the center is the origin O, then an

equation of the sphere is:

x2 + y2 + z2 = r2
EXAMPLE:
EXAMPLE:
EXAMPLE:
EXAMPLE:
Homework 1
Homework 2
 Homework 3

 Ans:
 Homework #4

 Ans:
 Homework #5

 Ans:
 Homework #6

 Ans:
 Homework 7

 Ans: