CO-ORDINATE SYSTEMS:

Coordinate system is a system of representing points in a space of given dimensions by

coordinates, such as the Cartesian coordinate system or the system of celestial longitude and
latitude.

In order to describe the spatial variations of vector quantities, appropriate coordinate system is
required. A point or vector can be represented in a curvilinear coordinate system that may be
orthogonal or non-orthogonal. An orthogonal system is one in which the coordinates are mutually
perpendicular to each other.

The different co-ordinate systems available are:

 Cartesian or Rectangular co-ordinate system. (Example: Cube, Cuboid)

 Circular Cylindrical co-ordinate system. (Example: Cylinder)

 Spherical co-ordinate system. (Example: Sphere)

The choice depends on the geometry of the application.

A set of three scalar values that define position and a set of unit vectors that define direction
form a co-ordinate system. The three scalar values used to define position are called co-
ordinates. All coordinates are defined with respect to an arbitrary point called the origin.

1. Cartesian Co-ordinate System / Rectangular Co-ordinate System (x,y,z)

It defines the minimum and the maximum value that x, y and z can have in Cartesian system.
A Vector in Cartesian system is represented as (Ax, Ay, Az) or A=Axax + Ayay + Azaz
where ax, ay and az are the unit vectors in x, y and respectively.

Range of Variables
It defines the minimum and the maximum value that x, y and z can have in Cartesian system.
-∞ ≤ x,y,z ≤ ∞

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 Differential Displacement / Differential Length (dl):

It is given a
dl = dxax +dyay + dzaz

Differential length for a line parallel to x, y and z axis are respectively given in terms of their
corresponding line of direction. That is:
dl = dxax ( For a line parallel to x-axis).
dl = dyay ( For a line parallel to y-axis).
dl = dzaz ( For a line parallel to z-axis).
If there exist a wire of length L in z-axis, then the differential length is given as dl = dzaz and if the
wire is in x-axis, the differential length will be written in the form dl = dxax
Differential Normal Surface (ds):
Differential surface is basically a cross product between two parameters of the surface. The
differential surface (area element) is defined as
dS = dSaN
Where aN is the unit vector perpendicular to the surface.

Figure 1: A rectangular coordinate system

Consider a rectangular coordinate diagram illustrated in Figure 1,

For the 1st triangle, dS = dydzax

2nd triangle, dS=dydzay

3rd triangle, dS = dydzaz

Differential Volume

The differential volume element (dv) can be expressed in terms of the triple product.
dv = dxdydz

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 Circular Cylindrical Co-ordinate System

A Vector in Cylindrical system is represented as (Ar, AǾ, Az) or

A = Arar + Aφaφ +Azaz
Where are the unit vectors in r, φ and z directions, respectively.
The physical significance of each parameter of cylindrical coordinates are:
1. The value r indicates the distance of the point from the z-axis. It is the radius of the
cylinder.
2. The value Φ, also called the azimuthal angle, indicates the rotation angle around the z- axis.
It is basically measured from the x axis in the x-y plane. It is measured anti clockwise.
3. The value z indicates the distance of the point from z-axis. It is the same as in the
Cartesian system. In short, it is the height of the cylinder.

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 Range of the variables:

It defines the minimum and the maximum values of r, Φ and z.

0≤r≤∞
0 ≤ Φ ≤ 2π
-∞ ≤ z ≤ ∞

Figure 2: A circular cylindrical coordinate system

Figure 2 shows Point P and Unit vectors in Cylindrical Co-ordinate System.

Differential Displacement / Differential Length (dl)

It is given as

𝑙 𝑑= ���
�𝑎+ �
𝑑��𝜑𝑎 + 𝑑�
𝑎�

Differential length for a line parallel to r, φ and z axis are respectively given as:
dl = ���
�𝑎--- (For a line parallel to r-direction).
dl = --------- (For a line parallel to the φ-direction).
dl = --------- (For a line parallel to the z-direction)

Differential Normal Surface (ds)

Differential surface is basically a cross product between two parameters of the surface.
The differential surface (area element) is defined as

�
= 𝑑�
�𝑎
𝑎 , is the unit vector perpendicular to the surface.
Where �

This surface describes a circular disc. Always remember- To define a circular disk we
need two parameters: one distance measured and one angular measured. An angular
parameter will always give a curved line or an arc. In this case dΦ is measured in terms of
change in arc. Arc is given as:
Arc= radius * angle 4
 𝑑�=� 𝑑�𝑑�� 𝑎
�
�
𝑑 = 𝑑�𝑑�𝜑𝑎
𝑑�
=� 𝑑�𝑑��� 𝑎

Differential Volume:

The differential volume element (dv) can be expressed in terms of the triple product.
dv=drdφdz

Spherical coordinate System:

Spherical coordinates consist of one scalar value (r), with units of distance, while the other two
Scalar values (θ, Φ) have angular units (degrees or radians).

A Vector in Spherical System is represented as (Ar ,AӨ, AΦ) or

�= � 𝑎 +�
�
� 𝜃𝑎 + �
𝜑𝜑𝑎

Where �𝑎,𝜃 and 𝑎𝜑 are the unit vectors in r, θ and Φ direction respect ively.

The physical significance of each parameter of spherical coordinates:

1. The value r expresses the distance of the point from origin (i.e. similar to altitude). It is the
radius of the sphere.
2. The angle θ is the angle formed with the z- axis (i.e. similar to latitude). It is also called the
co-latitude angle. It is measured clockwise.
3. The angle Φ, also called the azimuthal angle, indicates the rotation angle around the z-
axis (i.e. similar to longitude). It is basically measured from the x axis in the x-y plane. It
is measured counter-clockwise.
Range of the variables:

It defines the minimum and the maximum value that r, θ and Φ can have in spherical co -
ordinate system.

0 ≤ r ≤ ∞
0≤θ≤π
0 ≤ Φ≤ 2π

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Differential length: It is given as
𝑙 = 𝑑�
�𝑎 + �����𝜃𝑎 + �sin 𝜃 𝑑��
𝜑𝑎

Differential length for a line parallel to r, θ and Φ axis are respectively given as:
dl = 𝑑�
�𝑎--(For a line parallel to r axis)

dl = �����𝜃𝑎---( For a line parallel to θ direction)

dl = �sin 𝜃 𝑑��𝜑𝑎 --(For a line parallel to Φ direction)

Differential Normal Surface (ds):

Differential surface is basically a cross product between two parameters of the

surface. The differential surface (area element) is defined as
�= 𝑑�𝑎
�

Where𝑎�, is the unit vector perpendicular to the surface

𝑑�
=� 𝑑�𝑑��𝜑𝑎
𝑑�=� 2 sin 𝜃 𝑑𝜑𝑑��
𝑎�
𝑑�
= �sin 𝜃 𝑑�𝑑��𝑎𝜃

Differential Volume
The differential volume element (dv) can be expressed in terms of the triple product.
𝑑 = �2 sin 𝜃 𝑑�𝑑𝜑𝑑𝜃

Coordinate transformations:
Del operator:

Del is a vector differential operator. The del operator will be used in for differential operations
throughout any course on field theory. The following equation is the del operator for different
coordinate systems.

Gradient of a
Scalar:

• The gradient of a scalar field, V, is a vector that represents both the magnitude
and the direction of the maximum space rate of increase of V.

• To help visualize this concept, take for example a topographical map. Lines on the
map represent equal magnitudes of the scalar field. The gradient vector crosses map at the
location where the lines packed into the most dense space and perpendicular (or normal) to
them. The orientation (up or down) of the gradient vector is such that the field is increased
in magnitude along that direction.

-Fundamental properties of the gradient of a scalar

field
– The magnitude of gradient equals the maximum rate of change in V per unit
distance
– Gradient points in the direction of the maximum rate of change in V
– Gradient at any point is perpendicular to the constant V surface that passes
through that point
– The projection of the gradient in the direction of the unit vector a, is

and is called the directional derivative of V along a. This is the rate of change of V
in the direction of a.
– If A is the gradient of V, then V is said to be the scalar potential of A.
Divergence of a Vector:
• The divergence of a vector, A, at any given point P is the outward flux per unit volume as
volume shrinks about P.

Curl of a Vector:
The curl of a vector, A is an axial vector whose magnitude is the maximum circulation of A
per unit area as the area tends to zero and whose direction is the normal direction of the area
when the area is oriented to make the circulation maximum.
-Curl of a vector in each of the three primary coordinate systems are ,