Summary of Coordinate Systems:

Cartesian, Cylindrical, Spherical

 Orthogonal Coordinate Systems
Cartesian Coordinates z
P(x,y,z)
y
Rectangular Coordinates
P (x,y,z) x

z
z
P(r, θ, z)
Cylindrical Coordinates
P (r, Θ, z) r y
x θ

z
Spherical Coordinates P(r, θ, Φ)
θ r
P (r, Θ, Φ)

Φ
y
x

Page 108
 z z
P(r, θ, Φ)
Cartesian Coordinates P(x,y,z)
θ r P(x,y,z) y

y x
x Φ

Spherical Coordinates Cylindrical Coordinates

P(r, θ, Φ) z P(r, θ, z)

z
P(r, θ, z)

θ
r y
x
 VECTOR NOTATION
VECTOR NOTATION:
 Rectangular or
Cartesian
A  Axaˆx  Ayaˆy  Azaˆz Coordinate
System
z  
A  B  AxBx  AyBy  AzBz Dot Product
(SCALAR)

aˆx aˆy aˆz

 
A  B  Ax Ay Az Cross Product
y Bx By Bz (VECTOR)

x

 
1
A  Ax2  Ay2  Az2 2 Magnitude of vector
 Cartesian Coordinates
( x, y, z)
Vector representation
 z
A  xˆAx  yˆAy  zˆAz z1

Z plane 
Magnitude of A A( x1 , y1 , z1 )
    x plane
A  A  A   Ax2  Ay2  Az2 Az
ẑ ŷ y1
x̂ y
Position vector A
Ay
Ax
x1
xˆx1  yˆy1  zˆz1 x

Base vector properties xˆ  yˆ  zˆ

xˆ  xˆ  yˆ  yˆ  zˆ  zˆ  1 yˆ  zˆ  xˆ
xˆ  yˆ  yˆ  zˆ  zˆ  xˆ  0 zˆ  xˆ  yˆ
Page 109
 Cartesian Coordinates
z

Dot product:
  
A  B  Ax Bx  Ay By  Az Bz  Az A
B

Cross product: y
Ay
Ax

xˆ yˆ zˆ x
 
A  B  Ax Ay Az
Bx By Bz

Back Page 108

VECTOR REPRESENTATION: CYLINDRICAL COORDINATES

UNIT VECTORS:
Cylindrical representation uses: r ,f , z

aˆ
r aˆf aˆ z 
A  Araˆr  Afaˆf  Azaˆz
 
A  B  ArBr  AfBf  AzBz
Dot Product
(SCALAR)

z
r
P

x f y
 VECTOR REPRESENTATION: SPHERICAL COORDINATES

UNIT VECTORS:
Spherical representation uses: r ,q , f

aˆ
r aˆq aˆf 
A  Ar aˆr  Aq aˆq  Af aˆf
 
A  B  ArBr  AqBq  AfBf
Dot Product
(SCALAR)

q P

x f y
VECTOR REPRESENTATION: UNIT VECTORS
Rectangular Coordinate System
z Unit Vector
â z Representation
for Rectangular
Coordinate
System

âx â y

x
The Unit Vectors imply :

âx Points in the direction of increasing x

â y Points in the direction of increasing y

â z Points in the direction of increasing z

 VECTOR REPRESENTATION: UNIT VECTORS
Cylindrical Coordinate System
z
r â z
P
âf
z

âr
x f y

The Unit Vectors imply :

âr Points in the direction of increasing r

âf Points in the direction of increasing j

â z Points in the direction of increasing z

VECTOR REPRESENTATION: UNIT VECTORS
Spherical Coordinate System

z âf
q P
âr
r

f y
âq
x

The Unit Vectors imply :

âr Points in the direction of increasing r

âq Points in the direction of increasing q

âf Points in the direction of increasing j

VECTOR REPRESENTATION: UNIT VECTORS

Summary

RECTANGULAR CYLINDRICAL SPHERICAL

Coordinate Coordinate Coordinate
Systems Systems Systems

aˆ x aˆ y aˆ z  aˆ
r aˆf aˆ z  aˆ
r aˆq aˆf 

NOTE THE ORDER!

r,f, z r,q ,f
 Cartesian Coordinates

Differential quantities:


Length:
dl  xˆdx  yˆdy  zˆdz
Area:

dsx  xˆdydz

ds y  yˆdxdz

dsz  zˆdxdy
Volume:

dv  dxdydz

Page 109
 METRIC COEFFICIENTS

2. Cylindrical Coordinates:
y Differential Distances:
Distance = r df
( dr, rdf, dz )

df
r

x
 METRIC COEFFICIENTS

3. Spherical Coordinates:
y Differential Distances:
Distance = r sinq df
( dr, rdq, r sinq df )
z
df
r sinq q P
x
r

f y
x
 METRIC COEFFICIENTS

Representation of differential length dl in coordinate systems:


rectangular
dl  dx  aˆx  dy  aˆy  dz  aˆz

cylindrical dl  dr  aˆr  r  df  aˆf  dz  aˆz

spherical dl  dr  aˆr  rdq  aˆq  r sinqdf  aˆf
 AREA INTEGRALS

• integration over 2 “delta” distances dy

dx
Example:
y
7 6

6
AREA =   dy  dx
3 2
= 16

2 Note that: z = constant

3 7 In this course, area & surface integrals will be

x
on similar types of surfaces e.g. r =constant
or f = constant or q = constant et c….
 SURFACE NORMAL

Representation of differential surface element:


Vector is NORMAL
to surface ds  dx  dy  aˆ z
 DIFFERENTIALS FOR INTEGRALS

Example of Line differentials

  
dl  dx  aˆ x or dl  dr  aˆr or dl  rdf  aˆf

Example of Surface differentials

 
ds  dx  dy  aˆ z or ds  rdf  dz  aˆr

Example of Volume differentials dv  dx  dy  dz

 Cylindrical Coordinates
( r, θ, z)
r radial distance in x-y plane 0r 
Φ azimuth angle measured from the positive
x-axis 0    2
A1
Z   z  

Vector representation
 
ˆ A  zˆAz
A  aˆ A  rˆAr  
Base
Vectors

Magnitude of A
    Base vector properties
A  A  A   Ar2  A2  Az2
ˆ  zˆ,
rˆ  
Position vector A
ˆ  zˆ  rˆ,
rˆr1  zˆz1 ˆ
zˆ  rˆ  
Back Pages 109-112
 Cylindrical Coordinates

Dot product:
 
A  B  Ar Br  Af Bf  Az Bz

B A
Cross product:

rˆ fˆ zˆ
 
A  B  Ar Af Az
Br Bf Bz

Back Pages 109-111

 Cylindrical Coordinates

Differential quantities:

Length:

ˆ rd  zˆdz
dl  rˆdr  
Area:

dsr  rˆrddz
 ˆ drdz
ds  

dsz  zˆrdrd
Volume:

dv  rdrddz
Pages 109-112
 Spherical Coordinates
Vector representation (R, θ, Φ)

A  Rˆ AR  qˆAq  fˆAf

Magnitude of A
   
A  A  A   AR2  Aq2  Af2

Position vector A

Rˆ R1
Base vector properties

Rˆ  ˆ  ˆ , ˆ  ˆ  Rˆ , ˆ  Rˆ  ˆ
Back Pages 113-115
 Spherical Coordinates

Dot product:
 
A  B  AR BR  Aq Bq  Af Bf
B A

Cross product:

Rˆ qˆ fˆ
 
A  B  AR Aq Af
BR Bq Bf

Back Pages 113-114

 Spherical Coordinates
dlR  dR
dl  Rd
Differential quantities:

Length:
 dl  R sin d
dl  Rˆ dlR  
ˆ dl  
ˆ dl
 Rˆ dR  ˆ Rd  ˆ R sin d
Area:

dsR  Rˆ dl dl  Rˆ R 2 sin dd
 ˆ dlR dl  ˆ R sin dRd
ds  
 ˆ dlR dl  ˆ RdRd
ds  

Volume:

dv  R2 sin dRdd
Back Pages 113-115