Coordinate Systems

To define all points in space in a suitable manner →we need

coordinate systems.
Orthogonal Systems: Coordinates are mutually perpendicular.
Examples: Cartesian (or Rectangular), Circular Cylindrical,
Spherical.

Non-orthogonal Systems: Coordinates not mutually

perpendicular.
→ Hard to work with.
→ Little or no practical use.
2
 Cartesian Coordinates

Range of coordinate variables:

-∞<x< ∞
-∞<y< ∞
-∞<z< ∞

Vector A in Cartesian coordinates:

(Ax, Ay, Az) or Ax ax+Ay ay+Az az
3
 Circular Cylindrical coordinates
Convenient when dealing
with problems having
Cylindrical symmetry.
Point P(ρ,ϕ,z)
ρ→radial distance from z-
axis.
ϕ →measured from x-
axis in x-y plane.
z→like Cartesian.
0≤ ρ<∞
0 ≤ ϕ < 2π
-∞ < z < ∞

4
 Circular Cylindrical coordinates
Vector A in cylindrical coordinates
A ,A ,A 
  z or A a  A a  Az az
where
a , a , az  unit vectors (mutually perpendicular)
A  A2  A2  Az2
Notes :
a  a  a  a  az  az  1
a  a  a  az  az  a  0

a  a  az , a  az  a , az  a  a 5
 Cylindrical coordinates - Transformation
Point P( x, y, z )  P(  ,  , z )

= x  y ,
2 2

y
 =tan ,
-1

x
zz
or
x   cos  ,
y   sin  ,
zz
6
 Cylindrical coordinates - Transformation
A  Ax ax  Ay a y  Az az
Vectors :
A  A a  A a  Az az
A  component of A along  :
A  A  a   Ax ax  Ay a y  Az az   a
A  Ax (ax  a )  Ay (a y  a )  Az (az  a )
but  ax  a  cos 
a y  a  cos(90   )  sin 
az  a  cos 90  0
 A  Ax cos   Ay sin 
7
 Cylindrical coordinates - Transformation
The component A 
A  A  a   Ax a x  Ay a y  Az a z   a
A  Ax (a x  a )  Ay (a y  a )  Az (a z  a )
but  a x  a  cos(90   )   sin 
a y  a  cos 
a z  a  0
 A   Ax sin   Ay cos 

and Az =A.a z =  Ax a x  Ay a y  Az a z   a z  Az

8
 Cylindrical coordinates - Transformation
In matrix form: Transformation of Vector A
from  Ax , Ay , Az  to  A , A , Az  : 
 A   cos  sin  0  Ax 
 A     sin  cos  0  A 
    y
 Az   0 0 1  Az 
The inverse of the transformation:
A ,A ,A   A ,A ,A 
  z x y z
1
 Ax   cos  sin  0  A  cos   sin  0  A 
 A     sin  cos  0  A    sin  cos  0  A 
 y       
 Az   0 0 1  Az   0 0 1  A 
9 z 
 Spherical coordinates (r, θ, φ)
Convenient when dealing
with problems having a
degree of spherical
symmetry.
Point P(r,θ,ϕ)
r→distance from the
Origin to point P.
θ→angle between the z-
axis and the position
vector of P.
ϕ→measured from x-axis.
0≤ r<∞
0≤θ≤π
0 ≤ ϕ < 2π 10
 Spherical coordinates (r, θ, φ)
Vector A in spherical coordinates
 r  
A , A , A or A a
r r  A a
   A a
  , A  A2
r  A2
  A2


where : ar , a , a  unit vectors (mutually perpendicular)

ar  in the direction of increasing r
a  in the direction of increasing 
a  in the direction of increasing 
Notes :
ar  ar  a  a  a  a  1
ar  a  a  a  a  ar  0
ar  a  a , a  a  ar , a  ar  a 11
 Spherical coordinates - Transformation
Point P( x, y , z )  P( r,  ,  )
r   2  z2 ,  2  x2  y2

r  x2  y2  z2

  tan 1

z
x2  y2
   tan 1
z Point P ( r,  ,  )  P ( x, y , z )

  tan 1 y x   cos   r sin  cos 

x y   sin   r sin  sin 
z  r cos  12
 Spherical coordinates - Transformation
Vectors :

A  Ax a x  Ay a y  Az a z
A  Ar ar  A a  A a

Ar  A  ar  Ax sin  cos   Ay sin  sin   Az cos 

A  A  a  Ax cos  cos   Ay cos  sin   Az sin 
A  A  a   Ax sin   Ay cos 
13
 Spherical coordinates - Transformation
In matrix form: Transformation of Vector A
from  Ax , Ay , Az  to  Ar , A , A  : 
 Ar   sin  cos  sin  sin  cos    Ax 
  
 A   cos  cos  cos  sin   sin    Ay 
 
 A    sin  cos  0   Az 
The inverse of the transformation:
from  Ar , A , A  to  Ax , Ay , Az 

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

 A    sin  sin  cos  sin    
cos   A 
 y  
 Az   cos   sin  0   A  14
 Coordinate Systems
Transformation from Cylindrical to Spherical (See problem 2.9).
Distance between two points:
The distance between two points with position vectors r1 and r2 is

generally given by: d=|r2-r1|

or
d 2  ( x2  x1 ) 2  ( y2  y1 ) 2  ( z2  z1 ) 2 (Cartesian)
In Cylindrical: x   cos  , y   sin  , z  z
d 2   22  12  2 1 2 cos 2  1   ( z2  z1 ) 2
In Spherical: x  r sin  cos  , y  r sin  sin  , z  r cos 
d 2  r22  r12  2r1r2 cos  2 cos 1  2 r1r2 sin  2 sin 1 cos 2  1 
15
 Example 2.1
Given Point P(-2,6,3) and vector A=y ax + (x+z) ay,
Express P and A in Cylindrical and Spherical coordinates.
Evaluate A at P in the Cartesian, Cylindrical and Spherical systems.
Point P  x  -2, y  6, z  3
Cylindrical    x 2  y 2  6.32
y -1 6
 =tan-1
 tan  108.430 , z3
x 2
Spherical  r  x 2  y 2  z 2  49  7
x 2
 y 2
40
 =tan -1
 tan -1
 64.620 ,  =108.430
z 3
Thus P(-2,6,3)  P(6.32, 108.430 ,3)  P(7,64.62 0 ,108.430 )
(x, y , z ) ( ,  , z) (r ,  ,  ) 16
 Example 2.1 - continued
Vector A in Cylindrical system:
 A   cos  sin  0  Ax 
 A     sin  cos  0  A  , but A  y, A  x  z, A  0
    y x y z

 Az   0 0 1  Az 
A  y cos   ( x  z )sin 
A   y sin   ( x  z ) cos 
Az  0
But x   cos  , y   sin 
 A   A , A , Az     sin  cos     cos   z  sin   a
+    sin 2     cos   z  cos   a
At P    6.32,   108.430 , z  3
A at P  A=  0.9487a  6.008a 17
 Example 2.1 - continued
Vector A in Spherical system:
 Ar   sin  cos  sin  sin  cos    y 
     x  z ,
A
    cos  cos  cos  sin   sin 
 
 A    sin  cos  0   0 
Ar  y sin  cos   ( x  z )sin  sin 
A  y cos  cos   ( x  z ) cos  sin 
A   y sin   ( x  z ) cos 
 But x  r sin  cos  , y  r sin  sin  and z=r cos 
 A   Ar , A , A 
 r sin 2  sin  cos    sin  cos   cos   sin  sin   ar
+r sin  cos  sin  cos    sin  cos   cos   cos  sin   a
 r   sin  sin 2    sin  cos   cos   cos   a 18
 Example 2.1 - continued
At P , r=7,  =64.620 ,  =108.430
A at P  A=-0.8571ar  0.4066a  6.008a

Note :
A is the same in three coordinate systems:
A(x, y , z ) = A( ,  , z) = A( r,  ,  ) =6.083

19
 Example 2.2
Express the vector
10
B  ar  r cos  a  a
r
In Cartesian and Cylindrical Coordinates.
Find B(-3,4,0) and B(5,π/2,-2)

 Spherical to Cartesian:
 Bx  sin  cos  cos  cos   sin    Br 
 B    sin  sin  cos  sin  cos    B 
 y   
 Bz   cos   sin  0   B 
10
But Br  , B  r cos  , B  1
r 20
 Example 2.2 - continued
 Bx  10 / r  sin  cos   r cos2  cos   sin 
 B y  10 / r  sin  sin   r cos 2  sin   cos 
 Bz  10 / r  cos   r cos  sin 
x2  y2 -1 y
But r  x 2  y 2  z 2 ,  =tan -1 ,  =tan
z x

x y
2 2
z
sin   , cos  
x y z
2 2 2
x y z
2 2 2

y x
sin = , cos =
x y
2 2
x2  y2 21
 Example 2.2 - continued
10 x xz 2 y
 Bx  2  
x  y  z 
2 2
 x y
2 2
x 2
y z
2 2
 x2  y2

10 y yz 2 x
 By  2  
x  y  z 
2 2
 x2  y2   x 2
 y 2
 z 2
 x2  y2

10 z z x2  y2
 Bz  2 
x  y  z 
2 2
 x2  y2  z2 
B=Bx a x  B y a y  Bz a z
At (-3,4,0)  B= - 2a x  a y
22
 Example 2.2 - continued
 From Spherical to Cylindrical (See problem 2.9)
 B   sin  cos  0  10 / r 
B    0 0 1  r cos  
    
 Bz  cos   sin  0  1 
B  (10 / r )sin   r cos 2 
B  1
Bz  (10 / r ) cos   r sin  cos 
 r   2  z 2 ,  =tan -1   / z 
sin =   / r    /  2  z 2
cos =  z / r   z /  2  z 2 23
 Example 2.2 - continued
10 z 2
B  2   2
 z 2

  z2  2  z2
B  1
10 z z
Bz  2   z 2
2 2

 z 2
  z2

 B  B a  B a  Bz a z
  
at  5, , 2   B  2.467a  a  1.167a z
 2 

24
 Constant Coordinate Surfaces
Infinite planes: (Cartesian)
x=constant
y=constant
z=constant

* Intersection of two planes is

a line.
* Intersection of three planes is
a point.

25
 Constant Coordinate Surfaces
Infinite planes: (Cylindrical)
ρ=constant
φ=constant
z=constant

Intersection of z=constant, and

ρ=constant → circle of radius ρ.

Intersection of z=constant, and

φ=constant → semi-infinite line.

Intersection of the three surfaces

is a point.
26
 Constant Coordinate Surfaces
Infinite planes: (Spherical)
r=constant
θ=constant
φ=constant

Intersection of r=constant, and

φ=constant → semi-circle.

Intersection of the three surfaces

is a point.

27
Summary – Vector Transformation

28
 Practice Exercise
Express the following vectors in Cartesian Coordinates:
(a) A   z sin  a  3 cos  a   cos  sin  a z
(b) B  r 2ar  sin  a
Answer

 xyz  3xy  a x   zy 2  3x 2  a y  xy a z 
1
( a ) A=
2  
x y
2

(b) B=
x y z
2
1
2 2
 x  x2  y 2  z 2   y  ax
 

+  y  x 2  y 2  z 2   x  a y

  z  x 2  y 2  z 2   a z  29