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Coordinate Systems: Continue

The document discusses different coordinate systems used in physics including Cartesian, cylindrical, and spherical polar coordinates. It provides the key properties of each system, such as the unit vectors used and how to locate a point in 3D space using the corresponding coordinates. Transformation equations are also presented to convert between the coordinate systems.

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0% found this document useful (0 votes)
223 views18 pages

Coordinate Systems: Continue

The document discusses different coordinate systems used in physics including Cartesian, cylindrical, and spherical polar coordinates. It provides the key properties of each system, such as the unit vectors used and how to locate a point in 3D space using the corresponding coordinates. Transformation equations are also presented to convert between the coordinate systems.

Uploaded by

Vaijanti
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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PH 101: PHYSICS 1 Lecture 03 [1]

Lecture 03

Coordinate systems
Continue…
PH 101: PHYSICS 1 Lecture 03 [2]

Cartesian co-ordinate system in 3D


Z • In Cartesian coordinate system, one
can define three unit vectors 𝑥ො ,
𝒛ො 𝑦ො and 𝑧Ƹ at every point.
P(x, y, z) • 𝒙ෝ, 𝒚ෝ and 𝒛ෝ are unit vectors in the

𝒚 increasing direction of x, y and z.
• 𝒙
ෝ⊥𝐭𝐨 𝐭𝐡𝐞 𝐘𝐙 𝐩𝐥𝐚𝐧𝐞 ,ෞ𝒚 ⊥𝐭𝐨 𝐭𝐡𝐞 𝐗𝐙 𝐩𝐥𝐚𝐧𝐞

𝒙
and 𝒛ෝ ⊥𝐭𝐨 𝐭𝐡𝐞 𝐗𝐘 𝐩𝐥𝐚𝐧𝐞
Y
• 𝑥ො , 𝑦ො and 𝑧Ƹ are orthogonal, and directed
X

𝒙 in the same direction at every points.
𝒛ෝ ෝ × 𝒚ෝ = 𝒛ෝ ; 𝒚
𝒙 ෝ × 𝒛ෝ = 𝒙ෝ ; 𝒛ෝ × 𝒙ෝ = 𝒚
ෝ;
𝒚ෝ
PH 101: PHYSICS 1 Lecture 03 [3]

Cylindrical Coordinate System


z How to locate a point ‘P’ in space ?

𝒛ො 𝒓, 𝜽, 𝒛 coordinates system is known


as cylindrical coordinate system

𝜽
(𝒓, 𝜽) Coordinate of the foot of the
P(r,,z) point in XY plane
𝒓ො
𝒛-Height from the XY plane
z ෡ , and 𝒛ො are unit vectors along
𝒓ො , 𝜽
increasing direction of 𝒓, 𝜽, and 𝒛.
y
 r
y=rsin

x
PH 101: PHYSICS 1 Lecture 03 [4]

Cylindrical Coordinate System


z Note that point (𝑟, 𝜃, 𝑧) is at the
intersection of three surfaces:
The surface with 𝒓 =Constant; Cylinder

Surface with 𝜽 = Constant; Plane containing Z-axis

𝒓
Surface 𝒛 = Constant. Plane Perpendicular Z-axis

y
𝜽

x
The three orthogonal components, r (green),  (red), and z (blue), each increasing at
a constant rate. The point is at the intersection between the three colored surfaces.
PH 101: PHYSICS 1 Lecture 03 [5]

Cylindrical Coordinate System


z Transformation equation is very
𝒛ො similar to polar coordinate with
additional 𝒛-coordinate.

𝜽
P(r,,z) 𝒙 = 𝒓 𝐜𝐨𝐬 𝜽
𝒓ො 𝒚 = 𝒓 𝐬𝐢𝐧 𝜽
𝒛=𝒛
z
Reverse transformation
y 𝟏ൗ
 r 𝒓= 𝒙𝟐 + 𝒚𝟐 𝟐
𝒚
y=rsin 𝜽= 𝐭𝐚𝐧−𝟏
𝒙
𝒛=𝒛
x
Note: Instead of (𝑟, 𝜃), many
books use notation (𝜌, 𝜑).
PH 101: PHYSICS 1 Lecture 03 [6]

Cylindrical Coordinate System


z Polar coordinate unit vectors (𝑟,Ƹ 𝜃) መ + additional
unit vector in the 𝑧 −direction.
𝒛ො ෡ and 𝒛ො are unit vectors along increasing
𝒓ො , 𝜽
෡ direction of coordinates 𝒓, 𝜽 and 𝒛.
𝜽
P(r,,z) 𝒓ො = 𝐜𝐨𝐬 𝜽 𝒙ෝ+ 𝐬𝐢𝐧 𝜽 𝒚

෡ = - 𝐬𝐢𝐧 𝜽 𝒙
𝜽 ෝ+ 𝐜𝐨𝐬 𝜽 𝒚

𝒓ො
𝒛ො = 𝒛ො
z መ and 𝒛ො are orthogonal, the directions of
𝑟,Ƹ 𝜃,
መ depend on location but 𝒛ො is fixed
𝑟,Ƹ 𝜃,
y
 r
𝑟,Ƹ 𝜃መ and 𝒛ො are perpendicular to surfaces 𝒓 = 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕;
y=rsin 𝜽 = 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕 and 𝒛 = 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕, respectively.

𝒓ො
x ෡ = 𝒛ො ; 𝜽
𝒓ො × 𝜽 ෡ × 𝒛ො = 𝒓ො ; 𝒛ො × 𝒓ො = 𝜽

𝒛ො

𝜽
PH 101: PHYSICS 1 Lecture 03 [7]

Position, Velocity, Acceleration, Newton’s law in


cylindrical coordinate system
Vector components are very similar to polar coordinate + 𝑧 component

Position vector 𝑟Ԧ = 𝑟𝑟Ƹ + 𝒛ො𝒛


𝑑ො𝒛
=0
Velocity 𝑣Ԧ = 𝑟ሶ 𝑟Ƹ + 𝑟𝜃ሶ 𝜃መ + 𝒛ො
ሶ𝒛 𝑑𝑡

Acceleration Ԧ 𝑟ሷ − 𝑟𝜃ሶ 2 )𝑟Ƹ + (2𝑟ሶ 𝜃ሶ + 𝑟𝜃ሷ )𝜃መ + 𝒛ො


𝑎=( ሷ𝒛

Newton’s law 𝐹Ԧ = 𝐹𝑟 𝑟Ƹ + 𝐹𝜃 𝜃መ + 𝑭𝒛 𝒛ො
= 𝑚 𝑟ሷ − 𝑟𝜃ሶ 2 𝑟Ƹ + 2𝑟ሶ 𝜃ሶ + 𝑟𝜃ሷ 𝜃መ + 𝒛ො
ሷ𝒛
PH 101: PHYSICS 1 Lecture 03 [8]

Spherical polar coordinate


PH 101: PHYSICS 1 Lecture 03 [9]

Spherical polar coordinate system


z
𝒓 → Radial distance from origin
𝜽 → Angle with 𝑧-axis.
𝑷 𝒙, 𝒚, 𝒛
rsin
𝝋 → Angle between x-axis and
rcos

rcos the projection of radial vector in


𝒓 xy plane
𝜽
𝒓, 𝜽, 𝝋 is known as
spherical polar coordinate

𝜑 y
Be careful, notations are different.
𝒓 and 𝜽 are not planer coordinate.
x
PH 101: PHYSICS 1 Lecture 03 [10]

Spherical polar coordinate system


𝒁
Note that point (𝑟, 𝜃, 𝜑) is at the
intersection of three surfaces:
The surface with 𝒓 =Constant; Sphere

Surface with 𝜽 = Constant; Cone

(𝒓, 𝜽, 𝝋)
𝜽
𝒓 Surface 𝝋 = Constant. Plane containing Z-
𝒀
axis

𝑿
PH 101: PHYSICS 1 Lecture 03 [11]

Spherical polar coordinate system


So the point (𝑟, 𝜃, 𝜑) is at the intersection of three surfaces:

(𝒓, 𝜽, 𝝋)
𝜽 (𝒙, 𝒚, 𝒛)
𝒓
𝝋 𝒀

𝑿
PH 101: PHYSICS 1 Lecture 03 [12]

Spherical polar coordinate system


z Transformation relations
𝒙 = 𝒓 𝐬𝐢𝐧 𝜽 𝐜𝐨𝐬 𝝋
𝒚 = 𝒓 𝐬𝐢𝐧 𝜽 𝐬𝐢𝐧 𝝋
𝑷 𝒙, 𝒚, 𝒛 𝒛 = 𝒓 𝐜𝐨𝐬 𝜽
rcos

Hence
𝟏ൗ
𝒓 𝒓= 𝒙𝟐 + 𝒚𝟐 + 𝒛𝟐 𝟐
𝟏ൗ
𝜽 𝒙𝟐 + 𝒚𝟐 𝟐
𝜽= 𝐭𝐚𝐧−𝟏
𝒛
𝒚
y 𝝋 = 𝐭𝐚𝐧−𝟏
𝜑 𝒙

Position vector in terms of 𝒙, 𝒚 and 𝒛


x components

𝑟Ԧ = 𝒓 𝐬𝐢𝐧 𝜽 𝐜𝐨𝐬 𝝋 𝑥ො + 𝒓 𝐬𝐢𝐧 𝜽 𝐬𝐢𝐧 𝝋 𝑦ො + 𝒓 𝐜𝐨𝐬 𝜽 𝑧Ƹ


PH 101: PHYSICS 1 Lecture 03 [13]

Unit vectors: Spherical polar coordinate system


𝒁 Position vector
𝑟Ԧ = 𝑟 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑟 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො + 𝑟 cos 𝜃 𝑧Ƹ
Ԧ
𝜕𝑟/𝜕𝑟 Ԧ
𝜕𝑟/𝜕𝜃 Ԧ
𝜕𝑟/𝜕𝜑
Unit vectors: 𝑟Ƹ = Ԧ
, 𝜃መ = Ԧ
, 𝜑ො = Ԧ
𝜕𝑟/𝜕𝑟 𝜕𝑟/𝜕𝜃 𝜕𝑟/𝜕𝜑

𝑟Ƹ = 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො + cos 𝜃 𝑧Ƹ

𝜽 (𝒙, 𝒚, 𝒛) 𝜃መ = 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො − sin 𝜃 𝑧Ƹ


𝒓
𝝋 𝒀 𝜑ො = − 𝑠𝑖𝑛 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜑 𝑦ො

መ and 𝜑ො are perpendicular to 𝑟 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡,


𝑟,Ƹ 𝜃,
𝜃 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝜑 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡.
𝑿
𝒓ො
We can also get the unit vectors

𝝋 ෡×𝝋
𝒓ො = 𝜽 ෝ; 𝜽෡=𝝋 ෝ × 𝒓ො ; 𝝋 ෡
ෝ = 𝒓ො × 𝜽

𝜽
PH 101: PHYSICS 1 Lecture 03 [14]

Unit vectors Spherical coordinate & Partial derivatives


Unit vectors in spherical 𝑟Ƹ = 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො + cos 𝜃 𝑧Ƹ
polar coordinate are 𝜃መ = 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො − sin 𝜃 𝑧Ƹ
function of 𝜽 and 𝝋 only. 𝜑ො = − 𝑠𝑖𝑛 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜑 𝑦ො
Thus, 𝜕 𝑟Ƹ 𝜕
𝝏ො𝒓 = 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො + 𝑐𝑜𝑠 𝜃 𝑧Ƹ
=𝟎 𝜕𝜃 𝜕𝜃
𝝏𝒓 𝜕 𝑟Ƹ
= 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො − 𝑠𝑖𝑛 𝜃 𝑧Ƹ = 𝜃መ
𝜕𝜃
𝜕𝑟Ƹ 𝜕
= 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො + 𝑐𝑜𝑠 𝜃 𝑧Ƹ
𝜕𝜑 𝜕𝜑
𝜕𝑟Ƹ
= − 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑥ො + 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑦ො + 0 = 𝑠𝑖𝑛 𝜃 𝜑ො
𝜕𝜑


𝝏𝜽 𝜕𝜃መ 𝜕
=𝟎 = 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො − 𝑠𝑖𝑛 𝜃 𝑧Ƹ
𝝏𝒓 𝜕𝜃 𝜕𝜃
𝜕𝜃መ
= − 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො − 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො − 𝑐𝑜𝑠 𝜃 𝑧Ƹ = −𝑟Ƹ
𝜕𝜃
PH 101: PHYSICS 1 Lecture 03 [15]

Unit vectors Spherical coordinate & Partial derivatives


Unit vectors in spherical 𝑟Ƹ = 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො + cos 𝜃 𝑧Ƹ
polar coordinate are 𝜃መ = 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො − sin 𝜃 𝑧Ƹ
function of 𝜽 and 𝝋 only. 𝜑ො = − 𝑠𝑖𝑛 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜑 𝑦ො
𝜕 𝜃መ 𝜕
= 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො − 𝑧Ƹ 𝑠𝑖𝑛 𝜃
𝜕𝜑 𝜕𝜑
𝜕𝜃መ
= − 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜃 cos 𝜑 𝑦
ෝ − 0 = 𝑐𝑜𝑠 𝜃 𝜑

𝜕𝜑
𝝏ෝ
𝝋 𝜕𝜑ො 𝜕
=𝟎 = − 𝑠𝑖𝑛 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜑 𝑦ො = 0
𝝏𝒓 𝜕𝜃 𝜕𝜃
𝜕𝜑ො 𝜕
= − 𝑠𝑖𝑛 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜑 𝑦ො
𝜕𝜑 𝜕𝜑
𝜕𝜑ො
= − cos 𝜑 𝑥ො − sin 𝜑 𝑦ො = − cos 𝜑 𝑥ො + sin 𝜑 𝑦ො
𝜕𝜑
𝜕𝜑ො
= − 𝑟Ƹ sin 𝜃 + 𝜃መ cos 𝜃
𝜕𝜑
PH 101: PHYSICS 1 Lecture 03 [17]

Unit vectors Spherical coordinate & Partial derivatives


Unit vectors in spherical 𝑟Ƹ = 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො + cos 𝜃 𝑧Ƹ
polar coordinate are 𝜃መ = 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො − sin 𝜃 𝑧Ƹ
function of 𝜽 and 𝝋 only. 𝜑ො = − 𝑠𝑖𝑛 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜑 𝑦ො
𝝏ො𝒓 𝜕 𝑟Ƹ 𝜕 𝑟Ƹ Z
=𝟎 = 𝜃መ = 𝑠𝑖𝑛 𝜃 𝜑ො
𝝏𝒓 𝜕𝜃 𝜕𝜑 𝑟Ƹ

𝝏𝜽 𝜕𝜃መ
=𝟎 = −𝑟Ƹ 𝜕𝜃መ 𝜃 90 − 𝜃
𝝏𝒓 𝜕𝜃 = 𝑐𝑜𝑠 𝜃 𝜑ො
𝜕𝜑 𝜃
𝜃መ
𝝏ෝ
𝝋 𝜕𝜑ො 𝜕𝜑ො A line in XY plane at
=𝟎 =0 = − 𝑟Ƹ sin 𝜃 + 𝜃መ cos 𝜃 angle 𝜑 with x-axis
𝝏𝒓 𝜕𝜃 𝜕𝜑

−𝑠𝑖𝑛 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜑 𝑦ො = 𝜑ො

𝑐𝑜𝑠 𝜑 𝑥ො + 𝑠𝑖𝑛 𝜑 𝑦ො = 𝑠𝑖𝑛 𝜃 𝑟Ƹ + 𝑐𝑜𝑠 𝜃 𝜃መ


𝑥ො = 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑟Ƹ + 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝜃መ − 𝑠𝑖𝑛 𝜑 𝜑ො
𝑦ො = 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑟Ƹ + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝜃መ + 𝑐𝑜𝑠 𝜑 𝜑ො
𝑧Ƹ = 𝑐𝑜𝑠 𝜃 𝑟Ƹ − 𝑠𝑖𝑛 𝜃 𝜃መ
PH 101: PHYSICS 1 Lecture 03 [18]

Velocity in Spherical coordinate


𝑟Ƹ = 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො + cos 𝜃 𝑧Ƹ
𝑑 𝑟Ԧ 𝑑
𝑣Ԧ = = 𝑟𝑟Ƹ 𝜃መ = 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො − sin 𝜃 𝑧Ƹ
𝑑𝑡 𝑑𝑡
𝜑ො = − 𝑠𝑖𝑛 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜑 𝑦ො
𝑑𝑟 𝑑 𝑟Ƹ
= 𝑟Ƹ + 𝑟 𝜕𝑟Ƹ 𝜕𝑟Ƹ
𝑑𝑡 𝑑𝑡 = 𝜃መ = 𝑠𝑖𝑛 𝜃 𝜑ො
𝜕𝜃 𝜕𝜑
𝜕𝑟Ƹ 𝑑𝜃 𝜕𝑟Ƹ 𝑑𝜑
= 𝑟ሶ 𝑟Ƹ + 𝑟 + Chain rule
𝜕𝜃 𝑑𝑡 𝜕𝜑 𝑑𝑡

𝑣Ԧ = 𝑟ሶ 𝑟Ƹ + 𝑟 𝜃ሶ 𝜃መ + sin 𝜃𝜑ሶ 𝜑ො

ሶ 𝒓 + 𝒓𝜽ሶ 𝜽
𝒗 = 𝒓ො ෡ + 𝒓 𝐬𝐢𝐧 𝜽𝝋ሶ 𝝋

You need to try this out?
Can you obtain Acceleration??
𝑎Ԧ
= 𝑟ሷ − 𝑟𝜃ሶ 2 − 𝑟𝜑ሶ 2 𝑠𝑖𝑛2 𝜃 𝑟Ƹ + (𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ
− 𝑟𝜑ሶ 2 sin 𝜃 cos 𝜃)𝜃መ + 𝑟𝜑ሷ sin 𝜃 + 2𝑟𝜃ሶ 𝜑ሶ cos 𝜃 + 2𝑟ሶ 𝜑ሶ sin 𝜃 𝜑ො
PH 101: PHYSICS 1 Lecture 03 [19]

Velocity in Spherical coordinate


𝑎Ԧ
= 𝑟ሷ − 𝑟𝜃ሶ 2 − 𝑟𝜑ሶ 2 sin2 𝜃 𝑟Ƹ + (𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ
− 𝑟𝜑ሶ 2 sin 𝜃 cos 𝜃)𝜃መ + 𝑟𝜑ሷ sin 𝜃 + 2𝑟𝜃ሶ 𝜑ሶ cos 𝜃 + 2𝑟ሶ 𝜑ሶ sin 𝜃 𝜑ො

𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 − 𝑟sin𝜃𝜑ሶ 2 sin𝜃 Z


𝑟Ƹ
Centripetal part due to angular motion Centripetal part due to angular
in a plane containing Z- axis motion in xy plane
𝜃 90 − 𝜃
𝜃 A line in XY plane
𝑎𝜃 = (𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ − 𝑟sin𝜃𝜑ሶ 2 cos𝜃) መ
𝜃 at angle 𝜑 with x-
axis
Coriolis part due to angular motion Centripetal part due to angular
in a plane containing Z- axis motion in xy plane


𝑎 φ = 𝑟𝜑ሷ sin 𝜃 + 2𝑟𝜃𝑐𝑜𝑠θ 𝜑ሶ + 2𝑟𝑠𝑖𝑛θ
ሶ 𝜑ሶ

Coriolis part due to angular


motion in xy plane

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