EMTL OHM Institute Recollection Notes

COORDINATE GEOMETRY
& VECTOR CALCULUS
COORDINATE GEOMETRY
1. Rectangular Coordinate System:
Variables: P (x, y, z)
 x = Distance of P from yz-plane
 y = Distance of P from xz-plane
 z = Distance of P from xy-plane
Ranges of Variables:
–<x<
–<y<
–<z<
ˆ y,
Unit basis vectors: ( x, ˆ zˆ )
Unit basis vector of coordinate variable is a vector of length one unit along the direction of increasing
coordinate variable.
 x̂ / ax / aˆ x / ˆi = Unit vector along increasing x-direction.
 ŷ / a y / aˆ y / ˆj = Unit vector along increasing y-direction.

 ẑ / a z / aˆ z / kˆ = Unit vector along increasing z-direction.

Relation between unit basis vectors:
 xˆ  yˆ  zˆ
 xˆ  xˆ  yˆ  yˆ  zˆ zˆ  1
 xˆ  yˆ  yˆ  zˆ  zˆ  xˆ  0
 xˆ  xˆ  yˆ  yˆ  zˆ  zˆ  0
xˆ  yˆ  zˆ
 yˆ  zˆ  xˆ
zˆ  xˆ  yˆ
Vector Representation:
A vector A is represented in rectangular coordinate system as
A  A x xˆ  A y yˆ  A z zˆ

Ax = A  xˆ = Component of A along x̂ direction.

Ay = A  yˆ = Component of A along ŷ direction.
Az = A  zˆ = Component of A along ẑ direction.
Magnitude of A = | A | (A x  A y  Az )
2 2 2

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EMTL OHM Institute Recollection Notes
Constant Coordinate Surfaces/lines:
x = constant Infinite plane parallel to yz-plane
y = constant Infinite plane parallel to xz-plane
z = constant Infinite plane parallel to xy-plane
x = constant,
Infinite line parallel to z-axis
y = constant
x = constant,
Infinite line parallel to y-axis
z = constant
y = constant,
Infinite line parallel to x-axis
z = constant
Differential parameters:
Differential length, dl  dx xˆ  dy yˆ  dz zˆ

Differential length, dS / dA   dydz  xˆ   dxdz  yˆ   dxdy  zˆ

Differential length, dv  dxdydz

2. Cylindrical Coordinate System:

Variables: P (, , z)
  = Distance of P from z-axis
  = Angle from (positive) x-axis (measured in anticlockwise direction) in xy-plane
 z = Distance from xy-plane
Ranges of Variables:
 0<
 0   < 2
 –<z<
  0  z-axis;   0  +ve x-axis;   90  +ve y-axis;   180  -ve x-axis;
  270  -ve y-axis
Unit basis vectors: ( ˆ , ˆ , zˆ )
 ˆ / a / aˆ  = Unit vector along increasing -direction.
 ˆ / a / aˆ  = Unit vector along increasing -direction.
 ẑ / a z / aˆ z = Unit vector along increasing z-direction.
Relation between unit basis vectors:
 ˆ  ˆ  ẑ
 ˆ ˆ  ˆ ˆ  zˆ zˆ  1
 ˆ ˆ  ˆ zˆ  zˆ ˆ  0
 ˆ  ˆ  ˆ  ˆ  zˆ  zˆ  0
ˆ ˆ  ẑ

 ˆ ẑ  ˆ

ẑ  ˆ  ˆ

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EMTL OHM Institute Recollection Notes
Vector Representation:
A vector A is represented in cylindrical coordinate system as
A  A ˆ  A  ˆ  A z zˆ
A = A ˆ = Component of A along ̂ direction.
A = A  ˆ = Component of A along ̂ direction.
Az = A  zˆ = Component of A along ẑ direction.
Magnitude of A = | A | (A  A   A z )
2 2 2

Point Conversion:
Rectangular to Cylindrical to
Cylindrical Rectangular
  x 2  y2
x   cos 
y
1 y   sin 
  tan  
x z=z
z=z
Note:
Modifications for  :
y
 If the point is in second quadrant (Q2):     tan 1
x
y
 If the point is in third quadrant (Q3):     tan 1
x
y
 If the point is in fourth quadrant (Q4):   2  tan 1
x
Vector Conversion:
Rectangular to Cylindrical
 A    cos  sin  0   A x 
 A     sin  cos  0   A 
    y
 A z   0 0 1   A z 
Cylindrical to Rectangular
 A x   cos   sin  0  A  
 A    sin  cos  0   A 
 y   
 A z   0 0 1   A z 
Constant Coordinate Surfaces:
 = constant Infinite cylinder
 = constant Semi-infinite plane
z = constant Infinite plane parallel to xy-plane
 = constant,
Infinite line parallel to z-axis
 = constant
 = constant,
Circle parallel to xy-plane
z = constant
 = constant,
Semi-infinite line
z = constant

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EMTL OHM Institute Recollection Notes
Differential parameters:
Differential length, dl  d ˆ  d ˆ  dz zˆ

Differential length, dS / dA   ddz  ˆ   ddz  ˆ   ddz  zˆ

Differential length, dv  dddz .

3. Spherical Coordinate System:

Variables: P (r, , )
 r = Distance of P from origin
  = Angle between OP with z-axis
  = Angle from x-axis in xy-plane
Ranges of Variables:
 0r<
 0
 0   < 2
r  0 indicates origin;   0  North pole/+ve z-axis;   90  = xy-plane;
  180  South pole/-ve z-axis
ˆ ˆ , ˆ )
Unit basis vectors: (r,
 rˆ / aˆ r / a r = unit vector along the direction of increasing r = radially away from origin
 ˆ / aˆ  / a = unit vector along the direction of increasing  = moving along longitude from
north pole to south pole.
 ˆ / aˆ  / a = unit vector along the direction of increasing  = moving along a latitude in anti-
clockwise direction.
Relation between unit basis vectors:
 r̂  ˆ  ˆ
 rˆ  rˆ  ˆ ˆ  ˆ ˆ  1
 rˆ ˆ  ˆ ˆ  ˆ  rˆ  0
 rˆ  rˆ  ˆ  ˆ  ˆ  ˆ  0
r̂  ˆ  ˆ
 ˆ ˆ  r̂

ˆ r̂  ˆ

Vector Representation:
A vector A is represented in spherical coordinate system as
A  A r rˆ  A ˆ  A  ˆ

Ar = A  rˆ = Component of A along r̂ direction

A = A  ˆ = Component of A along ̂ direction
A = A  ˆ = Component of A along ̂ direction

Magnitude of A = | A | (A 2r  A 2  A 2 )

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EMTL OHM Institute Recollection Notes
Point Conversion:
Spherical to Cylindrical to
Cylindrical Spherical
  r sin  r  2  z 2


z  r cos    tan 1  
z

Note:
Modification for  :

 If z is negative:     tan 1
z

Spherical to Rectangular to
Rectangular Spherical
r  x 2  y2  z 2
x  r sin  cos   x 2  y2 
  tan 1  
y  r sin  sin   z 
 
z  r cos 
y
  tan 1  
x
Note: The previous modifications for  and  are applicable here also.
Vector Conversion:
Spherical to Cylindrical
 A    sin  cos  0   A r 
A    0  
0 1 A 
   
 A z  cos   sin  0   A  
Cylindrical to Spherical
 A r   sin  0 cos    A  
    
 A     cos  0  sin    A  
 A    0 1 0   A z 
 
Spherical to Rectangular
 A x  sin  cos  cos  cos   sin   A r 
 A    sin  sin  cos  sin  cos    A 
 y   
 A z   cos   sin  0   A  
Rectangular to Spherical
 A r   sin  cos  sin  sin  cos    A x 
    
 A    cos  cos  cos  sin   sin    A y 
 A     sin  cos  0   A z 
 
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EMTL OHM Institute Recollection Notes
Constant Coordinate Surfaces:
r = constant Sphere
 = constant Cone
 = constant Semi-infinite plane
r = constant,
Circle
 = constant
r = constant,
Semi-circle
 = constant
 = constant, Semi-infinite line
 = constant through origin
Differential parameters:
Differential length, dl  dr rˆ  rd ˆ  r sin  ˆ

 
Differential length, dS / dA  r 2 sin dd rˆ   r sin drd  ˆ   rdrd  ˆ

Differential length, dv  r 2 sin drdd

4. Curvilinear Coordinate System:

Variables: P (u, v, w)
Unit basis vectors:  u,
ˆ v, ˆ
ˆ w
Differential parameters:
Differential length, dl  h1du uˆ  h 2 dv vˆ  h 3dw w
ˆ

Differential length, dS / dA   h 2 h 3dvdw  uˆ   h1h 3dudw  vˆ   h1h 2 dudv  w

ˆ

Differential length, dv  h1h 2 h 3dudvdw

Note: h1, h2, h3 are scale factors of u, v, w variables respectively
Scale factor table:
Coordinate System Variables Scale factors
Curvilinear CS u v w h1 h2 h3
Rectangular CS x y z 1 1 1
Cylindrical CS   z 1  1
Spherical CS r   1 r r sin 
Note:
 Scale factors for distance parameters (x, y, z, , r) = 1
 Scale factor for  =  = r sin 
 Scale factor for  = r
Important vector fields:
1. Position vector: OP  r  x xˆ  y yˆ  z zˆ   ˆ  z zˆ  r rˆ
2. Radial vector: A  x xˆ  y yˆ  ˆ
3. Circulating vector: A   y xˆ  x yˆ   ˆ

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EMTL OHM Institute Recollection Notes

VECTOR CALCULUS
1. Gradient:
 Gradient is applied on scalar field and the result is a vector field.
 Gradient measures space rate of change of scalar field.
1 f 1 f 1 f
 Grad f = f  uˆ  vˆ  wˆ
h1 u h2 u h3 w
Coordinate System Gradient expression
f f f
Rectangular CS f  xˆ  yˆ  zˆ
x y z
f 1 f ˆ f
Cylindrical CS f  ˆ    zˆ
   z
f 1 f ˆ 1 f ˆ
Spherical CS f  rˆ   
r   r sin  
 f  | f | nˆ

f = Magnitude of Gradient:
 It indicates the maximum space rate of increase of scalar quantity f.
n̂ = Direction of Gradient:
 It indicates the direction along which the space rate of increase of ‘f’ is maximum.
 n̂ is always perpendicular to constant ‘f’ surfaces.
 nˆ  to f  constant surface  f  f  constant surface .
 Directional derivative of scalar field f along U direction at a point P is denoted by fU .


fU  f Uˆ  P

U
Where, Uˆ  is a unit vector along U .
U
 Maximum value of directional derivative = Magnitude of gradient
 f   | f |
 U  max

 “Flow” occurs due to change of scalar field

o Water flows from high potential to low potential regions (scalar field = potential)
o Wind flows from high pressure to low pressure regions (scalar field = pressure)
o Heat flows from high temperature to low temperature regions (scalar field =
temperature)
o Electric field flows from high electrostatic potential to low electrostatic potential
regions (scalar field = electrostatic)

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EMTL OHM Institute Recollection Notes
Hence “flow” and “scalar field” changes which is causing the flow are related by
“Flow”   Gradient  scalar field  

Note: The minus sign signifies that the flow happens in the direction of decreasing
potential.
Properties of gradient:
f, g = scalar fields; k = constant
   kf   k   f 

   f  g   f  g

   fg    f  g+f  g 

 f   f  g - f  g 
   
g g2

2. Surface Integrals, Divergence and Divergence Theorem:

 Surface integral of vector A over a surface, S is given by
  AdS
S
for open surface integrals.

  AdS
S
for closed surface integrals.

The above surface integrals measure the flux coming out of the surface S due to the vector
field A.
 Open surface does not enclose a volume.
 Closed surface encloses a volume.
 dS = Differential surface area on surface, S.
Divergence:
 Divergence is defined for vector fields.
 Result of divergence is scalar field.
 Divergence is defined at a point.
 Divergence measures “net outwardness” of field.
 Divergence of A at point ‘P’ is

S1  AdS
 A  lt
dv 0 dv
S1 is a differential closed surface around the point, P.
1    
  A    h2 h3 Au    h1h3 Av    h1h2 Aw  
h1h2 h3  u v w 

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EMTL OHM Institute Recollection Notes

Coordinate System Divergence expression

Ax Ay Az

Rectangular CS  A   
x y z

1    
 A  
  
  A    A     Az  
 z 
Cylindrical CS
1  1 A Az
 A 
 
  A   
  z

  2
1   
 A   r  r sin  Ar     r sin  A     rA  
r sin 
2
 
Spherical CS
1  1  1 A
 A  2  r 2 Ar    sin  A  
r r r sin   r sin  

 Solenoidal fields:
For a solenoidal field, divergence = 0 everywhere.

If A is Solenoidal, then:

 A  0 at every point

 AdS  0
S
for all S

Divergence Theorem:

 Converts closed surface integral into a volume integral. It is expressed as:

 AdS     A dv
S V

Where, V = volume enclosed by the closed surface S

 Divergence theorem is not applicable for open surface integrals.

Properties of divergence:

f = scalar field; A, B = vector fields; k = constant

  kA   k  A 

  A  B   A   B

  fA    f A+f  A 

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EMTL OHM Institute Recollection Notes

3. Line Integrals, Curl and Stoke’s Theorem:

 Line integral of vector A over a path, L from initial point I to final point F is given by
F
 L  AdL for open path integrals.
I

  AdL
L
for closed path integrals.

The above line integrals measure the work done in moving an object along the path L in the
force field given by A.
 Open path does not enclose a surface.
 Closed path encloses an (open) surface.
 dL = Differential length along the path L.
Curl:
 Curl is defined for vector fields.
 Result of Curl is another vector field.
 Curl is defined at a point.
 Curl measures magnitude and axis of maximum circulation of the vector field.
 curl of A at point ‘P’ is
L1  A dL
  A  lt
ds  0 dS
L1 is a differential closed path taken just around the point, P.
h1uˆ h2 vˆ h3 wˆ
1   
  A 
h1h2 h3 u v w
h1 Au h2 Av h3 Aw
Coordinate System Curl expression
xˆ yˆ zˆ
  
Rectangular CS  A 
x y z
Ax Ay Az

ˆ ˆ zˆ
1   
Cylindrical CS  A 
   z
A  A Az

rˆ rˆ r sin ˆ

1   
Spherical CS  A  2
r sin  r  
Ar rA r sin  A

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EMTL OHM Institute Recollection Notes
Conversative or Irrotational fields:
For a conservative or irrotational field, curl = 0 everywhere.
If A is conservative, then:
  A  0 at every point

  AdL  0
L
for all closed paths L

F F

 L1  AdL  L2  AdL Open path integral is independent of path of integration.

I I

Stokes Theorem:
 Converts closed path integral into an open surface integral. It is expressed as:

 AdL     A dS
L S

Where, S = surface enclosed by the closed path L

 Stokes theorem is not applicable for open path integrals.
Properties of curl:
f = scalar field; A, B = vector fields; k = constant
    kA   k    A 

    A  B    A    B

    fA    f   A+f    A 

   A  B   B     A  - A     B 

4. Double Differential Operators:

    A   0 for all vector fields A

   f   Null vector  0 for all scalar fields f

  f    2 f  Laplacian of scalar field, f

  2 A     A        A   Laplacian of vector field, A

Laplacian of scalar field:

 It is divergence of gradient of a scalar field.
 In curvilinear coordinate system, it is given by:

1    h 2 h 3 f    h1h 3 f    h1h 2 f  
 f    2 f        
h1h 2 h 3  u  h1 u  v  h 2 v  w  h 3 w  

11 Prepared by Hemanth, BITS Pilani www.ohminstitute.com : 9515694053

EMTL OHM Institute Recollection Notes

Coordinate System Divergence expression

 2 Ax  Ay  2 Az
2

Rectangular CS 2 f    2
x 2 y 2 z

1    f    1 f   
2 f          Az  
           z 
Cylindrical CS
1   f  1  f  Az
2 2
2 f    
      2  2 z 2

  2
1 f    f    1 f  
2 f    r sin     sin   
r sin 
 r 
2
r        sin    
Spherical CS
1   f  1   f  1 2 f
2 f  2  r 2   2  sin   
r r  r  r sin      r 2 sin 2   2
Harmonic fields and Laplace’s equation:
A scalar field f is harmonic if its Laplacian = 0 everywhere in space.
If f = harmonic, then  2 f  0 everywhere in space and the equation  2 f  0 which is a
second order partial differential equation is known as Laplace’s equation. It is used to
solve for equation of f by using the boundary values of f .

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12 Prepared by Hemanth, BITS Pilani www.ohminstitute.com : 9515694053