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Other Coordinate System and Transformation

The document discusses coordinate systems, specifically cylindrical and spherical coordinates, and the transformations between them and Cartesian coordinates. It details the mathematical procedures for converting vectors and fields from one coordinate system to another, including examples and matrix representations. Key concepts include the definitions of unit vectors in each system and the importance of correctly determining angles based on the signs of Cartesian coordinates.

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61 views24 pages

Other Coordinate System and Transformation

The document discusses coordinate systems, specifically cylindrical and spherical coordinates, and the transformations between them and Cartesian coordinates. It details the mathematical procedures for converting vectors and fields from one coordinate system to another, including examples and matrix representations. Key concepts include the definitions of unit vectors in each system and the importance of correctly determining angles based on the signs of Cartesian coordinates.

Uploaded by

jiero.fernandez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Coordinate System and

Transformation

EE 23 ELECTROMAGNETICS
Engr. Rewil Tornalejo
Cylindrical Coordinate System
• Three dimensional version of polar
coordinates in analytical geometry
• A point 𝑃 𝜌, 𝜙, 𝑧 is the intersection of
three mutually perpendicular planes
• The unit vector are express as 𝜌, ෡ 𝑧Ƹ
ො 𝜙,
or 𝑎𝜌 , 𝑎𝜙 , 𝑎𝑧
• Note: 𝑎𝜌 × 𝑎𝜙 = 𝑎𝑧
• Cartesian to cylindrical : convert 𝑥 and 𝑦 to
polar coordinates and retain 𝑧.
Coordinate Transformation
• Given a vector A in some coordinate system, we can
transform it to another coordinate system by projecting it to
the unit vectors of the desired coordinate system.
• Example: given a vector A = 𝐴𝑥 , 𝐴𝑦 , 𝐴𝑧 in cartesian
coordinates, transform the vector to cylindrical coordinates.
• Step 1: solve 𝐴𝜌 , 𝐴𝜙 , 𝐴𝑧 using the following
• 𝐴𝜌 = 𝐴 ∙ 𝑎Ԧ𝜌 𝐴𝜙 = 𝐴 ∙ 𝑎Ԧ 𝜙 𝐴𝑧 = 𝐴 ∙ 𝑎Ԧ 𝑧
So
𝐴𝜌 = 𝐴𝒙 𝑎Ԧ 𝑥 + 𝐴𝑦 𝑎Ԧ 𝑦 + 𝐴𝑧 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ𝜌 = 𝐴𝒙 𝑎Ԧ 𝑥 ∙ 𝑎Ԧ𝜌 + 𝐴𝒚 𝑎Ԧ 𝑦 ∙ 𝑎Ԧ𝜌 +
𝐴𝒛 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ𝜌
Coordinate Transformation
So
𝐴𝜙 = 𝐴𝒙 𝑎Ԧ 𝑥 + 𝐴𝑦 𝑎Ԧ 𝑦 + 𝐴𝑧 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ 𝜙 = 𝐴𝒙 𝑎Ԧ 𝑥 ∙ 𝑎Ԧ 𝜙 + 𝐴𝒚 𝑎Ԧ 𝑦 ∙ 𝑎Ԧ 𝜙 +
𝐴𝒛 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ 𝜙
𝐴𝑧 = 𝐴𝒙 𝑎Ԧ 𝑥 + 𝐴𝑦 𝑎Ԧ 𝑦 + 𝐴𝑧 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ 𝑧 = 𝐴𝒙 𝑎Ԧ 𝑥 ∙ 𝑎Ԧ 𝑧 + 𝐴𝒚 𝑎Ԧ 𝑦 ∙ 𝑎Ԧ 𝑧 +
𝐴𝒛 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ 𝑧
Step 2: replace the dot product of the unit vectors using the
following: 𝒂𝝆 𝒂𝝓 𝒂𝒛

𝒂𝑥 ∙ cos 𝜙 −sin 𝜙 0

𝒂𝑦 ∙ sin 𝜙 cos 𝜙 0

𝒂𝑧 ∙ 0 0 1
Coordinate transformation
• Step 3:
• In 𝐴𝜌 , 𝐴𝜙 , 𝐴𝑧 , convert all 𝑥 ′ 𝑠 𝑦 ′ 𝑠 𝑧 ′ 𝑠 to cylindrical coordinates
• 𝑥 = ρ cos 𝜙,
• 𝑦 = ρ sin 𝜙
• 𝑧=𝑧
Coordinate transformation
• Conversion from rectangular to cylindrical
𝜌 = 𝑥2 + 𝑦2 𝜌 ≥ 0
−1 𝑦
𝜙 = tan 0 ≤ 𝜙 ≤ 2𝜋
𝑥
z=𝑧
Coordinate transformation
While calculating 𝜙 make sure the signs of 𝑥 and 𝑦. if
both are positive, 𝜙 is positive in the first quadrant. If 𝑥
is negative and 𝑦 is positive the point is in the second
quadrant hence 𝜙 must be within +90° to +180°,
hence when x is negative, it is necessary to add 180°
to the 𝜙 to obtain accurate 𝜙 corresponding to the
point. When y is negative and x is positive then 𝜙 is in
fourth quadrant, similarly, when x is negative and y is
negative the 𝜙 is in the third quadrant.
The results of transformation can
be written in a matrix form from
rectangular to cylindrical
𝐴𝜌 cos 𝜙 sin 𝜙 0 𝐴𝑥
𝐴𝜙 = − sin 𝜙 cos 𝜙 0 𝐴𝑦
𝐴𝑧 0 0 1 𝐴𝑧
Example

Convert the rectangular to cylindrical.


If 𝑥 = 3 and 𝑦 = −4
−1
𝑦
𝜙 = tan
𝑥

−1
−4
𝜙 = tan
3

𝜙 = −53.13° but the true value of 𝜙 is 306.87°


Coordinate Transformation
Example:
Express the field 𝐹 = 2𝑥𝑦𝑧𝑎𝑥 − 5 𝑥 + 𝑦 + 𝑧 𝑎𝑧 in cylindrical
system
𝐹𝜌 = F ∙ 𝑎𝜌 = 2𝑥𝑦𝑧𝑎𝑥 − 5 𝑥 + 𝑦 + 𝑧 𝑎𝑧 ∙ 𝑎𝜌
= 2𝑥𝑦𝑧 cos 𝜙 = 2 𝜌 cos 𝜙 𝜌 sin 𝜙 𝑧 cos 𝜙
= 2𝜌2 cos2 𝜙 sin 𝜙 z
𝐹𝜙 = 𝐹 ∙ 𝑎𝜙 = 2𝑥𝑦𝑧𝑎𝑥 − 5 𝑥 + 𝑦 + 𝑧 𝑎𝑧 ∙ 𝑎𝜙
= 2𝑥𝑦𝑧 − sin 𝜙 = 2 𝜌 cos 𝜙 𝜌 sin 𝜙 z − sin 𝜙
= −2ρ2 z cos 𝜙 sin2 𝜙
𝐹𝑧 = F ∙ 𝑎𝑧 = 2𝑥𝑦𝑧𝑎𝑥 − 5 𝑥 + 𝑦 + 𝑧 𝑎𝑧 ∙ 𝑎𝑧
= −5 𝑥 + 𝑦 + 𝑧 = −5 𝜌 sin 𝜙 + 𝜌 cos 𝜙 + 𝑧
Coordinate transformation
• Therefore:
𝐹
= 2𝜌2 cos 2 𝜙 sin 𝜙 z 𝑎𝜌 − 2ρ2 z cos 𝜙 sin2 𝜙 𝑎𝜙 − 5 𝜌 sin 𝜙 + 𝜌 cos 𝜙 + 𝑧 𝑎𝑧

Example:
1. Transform the vector field 𝑊 = 10𝑎𝑥 − 8𝑎𝑦 + 6𝑎𝑧
2. Given the cartesian coordinate of the vector field H = 20𝑎𝜌 −
10𝑎𝜙 + 3𝑎𝑧 at point 𝑃 𝑥 = 5 , 𝑦 = 2, 𝑧 = −1
The results of transformation can be
written in a matrix form cylindrical to
rectangular

𝐴𝑥 cos 𝜙 −sin 𝜙 0 𝐴𝜌
𝐴𝑦 = sin 𝜙 cos 𝜙 0 𝐴𝜙
𝐴𝑧 0 0 1 𝐴𝑧
Spherical Coordinate system

• The three coordinates are:


• 𝑟Ԧ = the distance of the point from the
origin
• 𝜃 = the between the 𝑧 axis and the
line drawn
• 𝜙 = same as in the cylindrical
coordinate
Note:
𝑟Ԧ = constant is the spherical
surface of a radius 𝑟 centered at
the origin.
𝜃 ∈ 0, 𝜋 𝜙 ∈ −𝜋, 𝜋
Spherical Coordinate system
• The (spherical) unit vectors are:
• 𝑎𝑟 at 𝑃 𝑟 = 𝑟0 , 𝜃 = 𝜃0 , 𝜙 = 𝜙0 is
directed radially outward from the
origin and normal to the sphere 𝑟 = 𝑟0
• 𝑎𝜃 normal to the conical surface 𝜃 =
𝜃0 tangent to the sphere 𝑟 = 𝑟0 and
points to 𝜃 increasing values of
• 𝑎𝜙 normal to the plane 𝜙 = 𝜙0 and
tangent to cone and sphere
Spherical Coordinate system
Coordinate Transformation
• Example: given a vector 𝐴 = 𝐴𝑥 , 𝐴𝑦 , 𝐴𝑧 in cartesian
coordinates, transform the vector to spherical coordinates.
• Step 1: solve 𝐴𝑟 , 𝐴𝜃 , 𝐴𝜙 using the following
• 𝐴𝑟 = 𝐴 ∙ 𝑎Ԧ 𝑟 𝐴𝜃 = 𝐴 ∙ 𝑎Ԧ 𝜃 𝐴𝜙 = 𝐴 ∙ 𝑎Ԧ 𝜙
So
𝐴𝑟 = 𝐴𝒙 𝑎Ԧ 𝑥 + 𝐴𝑦 𝑎Ԧ 𝑦 + 𝐴𝑧 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ 𝑟 = 𝐴𝒙 𝑎Ԧ 𝑥 ∙ 𝑎Ԧ 𝑟 + 𝐴𝒚 𝑎Ԧ 𝑦 ∙ 𝑎Ԧ 𝑟 +
𝐴𝒛 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ 𝑟
𝐴𝜃 = 𝐴𝒙 𝑎Ԧ 𝑥 + 𝐴𝑦 𝑎Ԧ 𝑦 + 𝐴𝑧 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ 𝜃 = 𝐴𝒙 𝑎Ԧ 𝑥 ∙ 𝑎Ԧ 𝜃 + 𝐴𝒚 𝑎Ԧ 𝑦 ∙ 𝑎Ԧ 𝜃 +
𝐴𝒛 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ 𝜃
𝐴𝜙 = 𝐴𝒙 𝑎Ԧ 𝑥 + 𝐴𝑦 𝑎Ԧ 𝑦 + 𝐴𝑧 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ 𝜙 = 𝐴𝒙 𝑎Ԧ 𝑥 ∙ 𝑎Ԧ 𝜙 + 𝐴𝒚 𝑎Ԧ 𝑦 ∙ 𝑎Ԧ 𝜙 +
𝐴𝒛 𝑎Ԧ 𝑧 ∙ 𝑎Ԧ 𝜙
Coordinate Transformation
• Step 2: replace the dot product of the unit vectors using the
following: 𝒂𝒓 𝒂𝜽 𝒂𝝓

𝒂𝑥 ∙ sin 𝜃 cos 𝜙 cos 𝜃 cos 𝜙 − sin 𝜙

𝒂𝑦 ∙ sin 𝜃 sin 𝜙 cos 𝜃 sin 𝜙 cos 𝜙

𝒂𝑧 ∙ cos 𝜃 − sin 𝜃 0

• Step 3:
• In 𝐴𝑟 , 𝐴𝜙 , 𝐴𝜃 , convert all 𝑥 ′ 𝑠 𝑦 ′ 𝑠 𝑧 ′ 𝑠 to spherical coordinates
• 𝑥 = 𝑟 sin 𝜃 cos 𝜙,
• 𝑦 = 𝑟 sin 𝜃 sin 𝜙
• 𝑧 = 𝑟 cos 𝜃
Coordinate Transformation
𝐴𝜌 cos 𝜙 sin 𝜙 0 𝐴𝑥
𝐴𝜙 = − sin 𝜙 cos 𝜙 0 𝐴𝑦
𝐴𝑧 0 0 1 𝐴𝑧

Given in Rectangular to Cylindrical

𝐴𝑥 cos 𝜙 − sin 𝜙 0 𝐴𝜌
𝐴𝑦 = sin 𝜙 cos 𝜙 0 𝐴𝜙
𝐴𝑧 0 0 1 𝐴𝑧

Given Cylindrical to Rectangular


Coordinate Transformation
𝐴𝑟 sin 𝜃 0 cos 𝜃 𝐴𝜌
𝐴𝜃 = cos 𝜃 0 − sin 𝜃 𝐴𝜙
𝐴𝜙 0 1 0 𝐴𝑧

Given in Cylindrical to Spherical

𝐴𝜌 sin 𝜃 cos 𝜃 0 𝐴𝑟
𝐴𝜙 = 0 0 1 𝐴𝜃
𝐴𝑧 cos 𝜃 − sin 𝜃 0 𝐴𝜙

Given Spherical to Cylindrical


Coordinate Transformation
𝐴𝑥 sin 𝜃 cos 𝜙 cos 𝜃 cos 𝜙 − sin 𝜙 𝐴𝑟
𝐴𝑦 = sin 𝜃 sin 𝜙 cos 𝜃 sin 𝜙 cos 𝜙 𝐴𝜃
𝐴𝑧 cos 𝜃 − sin 𝜙 0 𝐴𝜙

Given in Spherical to Rectangular

𝐴𝑟 sin 𝜃 cos 𝜙 sin 𝜃 sin 𝜙 cos 𝜃 𝐴𝑥


𝐴𝜃 = cos 𝜃 cos 𝜙 cos 𝜃 sin 𝜙 cos 𝜙 𝐴𝑦
𝐴𝜙 − sin 𝜙 cos 𝜙 0 𝐴𝑧

Given Rectangular to Spherical


Coordinate Transformation

𝑟= 𝑥2 + 𝑦2 + 𝑧2

−1 𝑧 −1 𝑧
θ= cos or cos
𝑟 𝑥 2 +𝑦 2 +𝑧 2

𝑦
𝜙= tan−1
𝑥
Example
1. Transform to cylindrical coordinates
(a) 𝐺 = 2𝑥 + 𝑦 𝑎𝑥 − (𝑦 − 4𝑥)𝑎𝑦 at point 𝑄 𝜌, 𝜙, 𝑧
(b) Give the cartesian components of the vector
𝐻 = 20𝑎𝜌 − 10𝑎𝜙 + 3𝑎𝑧 at 𝑃(𝑥 = 5, 𝑦 = 2, 𝑧 = −1)
(c) Express 𝐵 = 𝑟 2 𝑎𝑟 + sin 𝜃 𝑎𝜙 in cartesian coordinate at 𝑃(𝑥 =
1, 𝑦 = 2, 𝑧 = 3)
Problem Set
1. Given two points, 𝐶 −3, 2, 1 and 𝐷(𝑟 = 5, 𝜃 =
20 °, 𝜙 = −70°) find
(a)spherical coordinates of C;
(b) the Cartesian coordinates of D;
(c) the distance from C to D.
2. Transform the following vectors to spherical
coordinates at the points given
(a) 10𝑎𝑥 at 𝑃(𝑥 = −3, 𝑦 = 2, 𝑧 = 4);
(b) 10𝑎𝑦 at 𝑄 𝜌 = 5, 𝜙 = 30°, 𝑧 = 4 ;
(c) 10𝑎𝑧 at 𝑀 𝑟 = 4, 𝜃 = 110°, 𝜙 = 120°
Problem Set
3. At point 𝑃 −3, 4, 5 , express the vector that extends from P
to 𝑄 2, 0, −1 in:
a. Rectangular coordinates
b. Cylindrical coordinates
c. Spherical coordinates
d. Show that these vectors has the same magnitude.

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