Matrices, Vectors & Fourier Analysis Summer 2018-19
Chapter-5
Coordinate systems
Cartesian coordinates:
Figure: Differential length, area, and volume in Cartesian coordinates.
Cartesian variables x, y, z
A xA
ˆ x yA
ˆ y zA
ˆ z
Vector representation,
A Ax 2 Ay 2 Az 2
Magnitude of A is ,
Position vector, OP=^x x 1 + ^y y 1+ z^ z 1for P ( x1 , y1 , z1 )
⃗
Base vector properties: xˆ xˆ yˆ yˆ zˆ zˆ 1 and xˆ yˆ yˆ xˆ zˆ xˆ 0
xˆ yˆ zˆ , yˆ zˆ xˆ , zˆ xˆ yˆ
A B Ax Bx Ay By Az Bz
Dot product
xˆ yˆ zˆ
A B Ax Ay Az xˆ Ay Bz Az B y yˆ Ax Bz Az Bx zˆ Ax B y Ay Bx
Bx By Bz
Cross product
Differential length, d ⃗l =^x dx+ ^y dy + z^ dz
Differential surface area, d ⃗s x = x^ dy dz , d ⃗s y = ^y dz dx , d ⃗s z= z^ dx dy
Differential volume, dV =dx dy dz
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Matrices, Vectors & Fourier Analysis Summer 2018-19
Cylindrical coordinates:
Figure: Differential length, area, and Figure: Point P ( r 1 , ϕ1 , z 1 ) in cylindrical coordinates; r 1is
volume in cylindrical coordinates. the radial distance from the origin in the xyplane, ϕ 1is the
angle in xy plane measured from the x axis toward the y
axis, and z 1 is the vertical distance from the xy plane.
Cylindrical variables r , , z
A rA ˆ r ˆ A zA
ˆ z
Vector representation,
A Ar 2 A 2 Az 2
Magnitude of A is ,
Position vector,OP=^r r 1 + ^z z 1 for P (r1 , 1 , z1 )
⃗
ˆ ˆ ˆ ˆ
Base vector properties: rˆ rˆ zˆ zˆ 1 and rˆ zˆ zˆ rˆ 0
r^ × ϕ^ =^z , ϕ^ × ^z =^r , ^z × r^ =^ϕ
A B Ar Br A B Az Bz
Dot product
Cross product
r^ ϕ^ z^
|
Á × B́= A r
Br |
A ϕ A z = r^ ( A ϕ Bz − A z Bϕ )− ϕ^ ( A r Bz − A z Br ) + ^z ( A r B ϕ− A ϕ Br )
Bϕ B z
Differential length, d ⃗l =^r dr + ϕ^ rdϕ + ^z dz
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Matrices, Vectors & Fourier Analysis Summer 2018-19
Differential surface area, d ⃗s r =^r rdϕ dz , d ⃗sϕ = ϕ^ drdz , d ⃗s z =^z dr rdϕ
Differential volume, dV =dr rdϕ dz
Spherical coordinates:
Figure: point P( R1 , θ1 ,ϕ 1) in spherical Figure: Differential volume in spherical
coordinates. coordinates.
Spherical variables R, ,
ˆ ˆ A ˆ A
A RA
Vector representation, r
A AR 2 A 2 A 2
Magnitude of A is ,
R R1 for P ( R1 , 1 , 1 )
OP= ^
Position vector, ⃗
ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ
Base vector properties: R R 1 and R R 0
Rˆ ˆ ˆ, ˆ ˆ Rˆ , ˆ Rˆ ˆ
A B AR BR A B A B
Dot product
Cross product
Rˆ ˆ ˆ
A B AR A A Rˆ A B A B ˆ AR B A BR ˆ AR B A BR
BR B B
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Matrices, Vectors & Fourier Analysis Summer 2018-19
R dR+ θ^ R dθ+ ϕ^ R sinθ dϕ
Differential length, d ⃗l= ^
R Rdθ R sin θ dϕ , d ⃗s θ=θ^ dR R sin θ dϕ ,
Differential surface area, d ⃗s R = ^
d ⃗s ϕ =^ϕ dR Rdθ
Differential volume, dV =dR R dθ R sin θ dϕ
Transformation (Cartesian coordinates to cylindrical and vice versa):
Figure: Interrelationships between Figure: Interrelationships between base vectors
Cartesian coordinates ( x , y , z) and ( ^x , ^y ) and ( r^ , ϕ^ ).
cylindrical coordinates(r , ϕ , z).
We know, x r cos , y r sin and z = z
y
r x 2 y 2 , arctan , z z
x ; 0 r , 0 2 , z
Ar Aϕ Az
r^ ϕ^ z^
Ax x^ cos ϕ −sin ϕ 0
Ay ^y sin ϕ cos ϕ 0
Az ^z 0 0 1
ˆ
That is, rˆ xˆ cos yˆ sin , xˆ sin yˆ cos and zˆ = z.
ˆ
Ar Ax cos Ay sin , A Ax sin Ay cos and Az Az .
^x =^r cos ϕ−^ϕ sin ϕ , ^y =^r sin ϕ+ ϕ^ cos ϕ , ^z = z^
A x = Ar cos ϕ− A φ sin ϕ , A y = A r sin ϕ+ Aϕ cos ϕ , A z= A z
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Matrices, Vectors & Fourier Analysis Summer 2018-19
Transformation (Spherical coordinates to cylindrical coordinates and vice versa):
We know, r R sin , z R cos and =
r
R r 2 z 2 , arctan ,
z ; 0 r , 0 2 , z
AR Aθ Aϕ
^
R θ^ ϕ^
Ar r^ sin θ cos θ 0
Az ^z cos θ −sin θ 0
Aϕ ϕ^ 0 0 1
ˆ ˆ ˆ ˆ ˆ ˆ
That is, rˆ R sin cos , zˆ R cos sin and .
Ar AR sin A cos , Az AR cos A sin and A A .
^ ^ r^ cos θ− ^z sin θ , ϕ^ =ϕ
R=r^ sinθ− ^z cos θ , θ=
A R= A r sinθ− A z cos θ , A θ= A r cos θ− A z sin θ , A ϕ = Aϕ
Transformation (spherical coordinates to Cartesian coordinates and vice versa):
We know, x R sin cos , y R sin sin and z = R cos ;
√ x 2+ y 2
R=√ x 2 + y 2 + z 2 , θ=arctan ( z ) , ϕ=arctan ( yx ); 0 r , 0 2 , z
AR Aθ Aϕ
^
R θ^ ϕ^
Ax x^ sin θ cos ϕ cos θ cos ϕ −sin ϕ
Ay ^y sin θ sin ϕ cos θ sin ϕ cos ϕ
Az ^z cos θ −sin θ 0
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Matrices, Vectors & Fourier Analysis Summer 2018-19
That is,
xˆ Rˆ sin cos ˆ cos cos ˆ sin , yˆ Rˆ sin sin ˆ cos sin ˆ cos
and zˆ Rˆ cos ˆ sin .
Ax AR sin cos A cos cos A sin ,
Ay AR sin sin A cos sin A cos
and Az AR cos A sin ..
^
R=^x sin θ cos ϕ+ ^y sin θ sin ϕ+ z^ cos θ
^ ^x cos θ cos ϕ+ ^y cos θ sin ϕ− ^z sin θ
θ=
ϕ^ =−^x sin ϕ+ ^y cos ϕ
A R= A x sinθ cos ϕ+ A y sin θ sin ϕ+ A z cos θ
Aθ =A x cos θ cos ϕ+ A y cos θ sin ϕ− A z sin θ
Aϕ =− A x sin ϕ+ A y cos ϕ
Figure: Interrelationships between ( x , y , z) and ( R , θ , ϕ)
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Matrices, Vectors & Fourier Analysis Summer 2018-19
Example 1: Transform (√ 2 , 34π , 3 ) from cylindrical coordinates to Cartesian coordinates.
3π
Solution: x=r cos ϕ=√ 2 cos =−1,
4
3π
y=r sin ϕ=√ 2 sin =1,
4
z=z=3
So, Cartesian point ( x , y , z )=(−1,1,3)
Example 2: Transform (−1,1,3) from Cartesian coordinate to cylindrical coordinate.
Solution: r =√ x 2 + y 2=√ (−1 )2 +12=√ 2
ϕ=tan−1 ( −11 )=¿ tan −1
(−1 )=
3π
4
¿
z=z=3
Example 3: Transform ( 1,0 , √ 3 ) from Cartesian coordinate to spherical coordinate.
Solution: R=√ x 2 + y 2 + z 2= 1 2+0 2+( √ 3)2=√ 4=2
√
√ x 2+ y 2 √12 +0 2 π
θ=tan −1
( z )
=ta n −1
( ( √3)
2
)
=
6
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Matrices, Vectors & Fourier Analysis Summer 2018-19
y 0
ϕ=tan−1 =tan−1 =0
x 1
π
So, the spherical point ( R , θ , ϕ )= 2 , ( 6
,0 )
π
Example 4: Transform 2 , ( 6 )
,0 from spherical coordinate to Cartesian coordinate.
π
Solution: x=R sin θ cos ϕ=2 sin cos 0=1
6
π
y=R sin θ sin ϕ=2 sin sin 0=0
6
π
z=R cos θ=2 cos = √ 3
6
So, the Cartesian point ( x , y , z )=( 1,0 , √3 )
π
Example 5: Transform 2 , ( 6 )
,0 from spherical coordinate to cylindrical coordinate.
π
Solution: r =R sinθ=2 sin =1
6
π
z=R cos θ=2 cos = √ 3
6
ϕ=ϕ=0
So, the cylindrical pint ( r , z , ϕ ) =( 1 , √ 3 , 0 )
Example 6: Transform ( 1 , √3 , 0 ) from cylindrical coordinate to spherical coordinate.
2
Solution: R=√ r 2+ z 2= 12 + ( √ 3 ) =2
√
θ=tan −1 ( rz )=ta n ( √13 )= π6
−1
ϕ=ϕ=0
π
So, the spherical point ( R , θ , ϕ )= 2 , ( 6
,0 )
A=^x ( x + y ) + ^y ( y −x )+ z^ zin spherical coordinate.
Example 7: Express vector ⃗
Solution: We know in spherical coordinate
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Matrices, Vectors & Fourier Analysis Summer 2018-19
R A R + θ^ A θ+ ϕ^ A ϕ
A= ^
⃗
A R= A x sinθ cos ϕ+ A y sin θ sin ϕ+ A z cos θ
¿ ( x+ y ) sin θ cos ϕ+( y −x)sin θ sin ϕ+ z cos θ
¿ ( R sin θ cos ϕ+ R sin θ sin ϕ ) sin θ cos ϕ+ ( R sin θ sin ϕ−R sin θ cos ϕ ) sin θ sin ϕ+ R cos θ cos θ
¿ R sin2 θ cos2 ϕ+ R sin2 θ sin ϕ cos ϕ+ R sin2 θ sin 2 ϕ−R sin2 θ sin ϕ cos ϕ+ R cos 2 θ
¿ R sin 2 θ ( cos2 ϕ+sin 2 ϕ ) + R cos 2 θ
¿ R sin 2 θ + R cos2 θ=R
Aθ =A x cos θ cos ϕ+ A y cos θ sin ϕ− A z sin θ
¿( x + y )cos θ cos ϕ+( y−x )cos θ sin ϕ−z sinθ
¿ ( R sin θ cos ϕ+ R sin θ sin ϕ ) cos θ cos ϕ+ ( R sinθ sin ϕ−R sin θ cos ϕ ) cos θ sin ϕ−R sin θ cos θ
¿ R sin θ cos θ cos2 ϕ+ R sin θ cos θ sin ϕ cos ϕ+ R sin θ cos θ sin 2 ϕ−R sin θ cos θ sin ϕ cos ϕ−R sin θ cos θ
¿ R sin θ cos θ(sin 2 ϕ+ cos2 ϕ ¿ )−R sin θ cos θ ¿
¿0
Aϕ =− A x sin ϕ+ A y cos ϕ
¿−( x+ y ) sin ϕ+( y−x )cos ϕ
¿−( R sinθ cos ϕ+ R sin θ sin ϕ ) sin ϕ+ ( R sin θ sin ϕ−R sin θ cos ϕ ) cos ϕ
¿−R sinθ sin ϕ cos ϕ−R sin θ sin2 ϕ+ R sin θ sin ϕ cos ϕ−R sin θ cos2 ϕ
¿−R sinθ (sin2 ϕ ¿ +cos 2 ϕ)=−R sin θ¿
∴⃗ ^ R−ϕ^ R sinθ
A=R
A= ^
Example 8: Express vector ⃗ R R−ϕ^ R sin θ in Cartesian form.
A=^x A x + ^y A y + z^ A z
Solution: We know in Cartesian coordinate ⃗
A x = A R sinθ cos ϕ+ Aθ cos θ cos ϕ – A ϕ sin ϕ
¿ R sin θ cos ϕ+0. cos θ cos ϕ+ R sin θ sin ϕ
¿ x+ y
A y =A R sin θ sin ϕ+ A θ cos θ sin ϕ+ A ϕ cos ϕ
¿ R sin θ sin ϕ+0. cos θ sin ϕ – R sin θ cos ϕ
¿ y−x
A z= A R cos θ−A θ sin θ
¿ R cos θ−0. sinθ
¿z
∴⃗
A = x^ ( x+ y ) + ^y ( y−x ) + ^z z
A=^x ( x + y ) + ^y ( y −x )+ z^ z to cylindrical coordinates.
Example 9: Transform vector ⃗
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Matrices, Vectors & Fourier Analysis Summer 2018-19
A=^r A r + ϕ^ A ϕ + ^z A z
Solution: We know, cylindrical coordinate ⃗
Ar = A x cos ϕ+ A y sin ϕ=( x + y ) cos ϕ+ ( y−x ) sin ϕ
¿ ( r cos ϕ+ r sin ϕ ) cos ϕ+ ( r sin ϕ−r cos ϕ ) sin ϕ
¿ r cos2 ϕ+r sin ϕ cos ϕ+r sin2 ϕ−r sin ϕ cos ϕ
¿ r ( cos 2 ϕ+ sin 2 ϕ )=r
Aϕ =− A x sin ϕ+ A y cos ϕ
¿−( x+ y ) sin ϕ+ ( y−x ) cos ϕ
¿−( r cos ϕ+r sin ϕ ) sin ϕ+ ( r sin ϕ−r cos ϕ ) cos ϕ
¿−r cos ϕ sin ϕ−r sin 2 ϕ+r cos ϕ sin ϕ−r co s2 ϕ
¿−r ( sin2 ϕ+co s2 ϕ )
¿−r
A z=z
∴⃗
A =^r r −^ϕ r + ^z z
A=^r r−^ϕ r + z^ z in Cartesian coordinate.
Example 10: Express vector ⃗
Solution: We know in Cartesian coordinate ⃗ A=^x A x + ^y A y + z^ A z
A x = Ar cos φ− A φ sin φ
¿ r cos φ+ r sin φ
¿ x+ y
A y =A r sin φ+ A φ cos φ
¿ r sin φ−r cos φ
¿ y−x
A z=z
Hence, ∴ ⃗
A = x^ ( x+ y ) + ^y ( y−x ) + ^z z
A=^r 3cos ϕ− ϕ^ 2r + z^ z to spherical coordinate.
Example 11: Transform the vector ⃗
R A R + θ^ A θ+ ϕ^ A ϕ
A= ^
Solution: We know in spherical coordinate ⃗
A R= A r sinθ + A z cos θ
¿ 3 cos ϕ sin θ+ z cos θ=3 cos ϕ sin θ+ R cos θ cos θ
Aθ =A r cos θ−A z sin θ
¿ 3 cos ϕ cos θ−z sinθ=3 cos ϕ cos θ−R cos θ sin θ
Aϕ = A ϕ =−2 r=−2 R sin θ
∴⃗ ^ ( 3 cos ϕ sinθ+ R cos 2 θ )−θ^ 2 R sinθ + ϕ^ ( 3 cos ϕ cos θ−R cos θ sin θ )
A=R
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Matrices, Vectors & Fourier Analysis Summer 2018-19
ˆA Rˆ cos ˆ sin ˆ sin 2 3, ,
Example 12: Transform the vector at the point 2 to
cylindrical coordinates.
ˆA Rˆ cos ˆ sin ˆ sin 2 3, ,
Solution: Given that, at the point 2 .
R 3, , then r =Rsin 3, and z =Rcos 0
Here, 2
3, , 3, , 0
We get, 2
Now, from given equation A R=cos φ=−1, Aθ =sin φ=0 , A φ =sin 2 θ=1
We know,
Aˆ Ar rˆ Aˆ Az zˆ
Ar AR sin A cos 1, A A 1 and Az AR cos A sin 0
ˆ ˆ
Hence, A rˆ .
A rˆ cos ˆ sin zˆ sin cos at the point 2, , 2
Example 13: Transform the vector 4 .
to spherical coordinates.
A rˆ cos ˆ sin zˆ sin cos at the point 2, , 2 .
Solution: Given that , 4
Ar cos , A sin , and Az cos sin and r =2, = , z2
Here, 4
r 2
R r 2 z 2 4 4 8 , tan 1 tan 1 ,
We get, z 2 4 4
( R, , ) 8, ,
4 4
A AR Rˆ A ˆ Aˆ
We know,
AR Ar sin Az cos , A Ar cos Az sin and A A .
Here,
AR cos sin cos sin cos , A Ar cos cos cos sin sin and A sin .
A cos sin cos sin cos Rˆ Ar cos cos cos sin sin ˆ sin ˆ
1 ˆ
8, , A .853Rˆ 0.1464ˆ
At the point 4 4 2 .
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Matrices, Vectors & Fourier Analysis Summer 2018-19
Sample exercise-5
1. Convert the coordinates of the following points from Cartesian to cylindrical and
spherical coordinates:
2π 5 π 2π
a. p1=(−1 , √ 3 ,−2 √ 3) (
Ans: 2 ,
3 ) (
,−2 √ 3 and 4 , ,
6 3
. )
3π
Ans: ( 4 , 0 ,−4) and ( 4 √ 2 ,
4 )
b. p2=(4 ,0 ,−4 ) ,0 .
7π π 7π
Ans: ( 4 , , 4 ) and ( 4 √ 2 , ,
4 4 )
c. p3=( √ 8 ,− √8 , 4 ) .
4
2. Convert the coordinates of the following points from cylindrical to Cartesian and
spherical coordinates:
2π π 2π
a. p1=(2 ,
3
,2 √ 3) Ans: (−1 , √3 , 2 √ 3 ) and 4 ,( ,
6 3
.)
2π
b. p2=( √ 3 ,0 ,−1) Ans: ( √ 3 , 0 ,−1) and 2 , ( 3
,0 . )
2π
c. p3=(4 √ 3 , π ,−4) Ans: (−4 √ 3 , 0 ,−4 ) and 8 , ( 3 )
,π .
3. Convert the coordinates of the following points from spherical to Cartesian and
cylindrical coordinates:
a. p1=(3 ,
3π 5π
,
4 3
) Ans: ( 3 √42 ,− 3 √4 6 , −3√ 2 ) and ( √32 , 53π , −3√ 2 ) .
π π π
b. p2=(4 , , )
2 4
Ans: (2 √ 2, 2 √2 , 0) and 4 , ( 4 )
,0 .
π π 1 1 1 π 1
c. p3=(1 , , )
4 2 (
Ans: 0 , ,
√2 √ 2
and) ( , ,
√2 2 √2
. )
4. Transform the following vectors into cylindrical coordinates at the indicated
points:
a. A=^x ( x + y ) + ^y ( x + y ) + ^z z at p=(4 , 0 ,−4) Ans: A=4 r^ + 4 ϕ^ −4 ^z .
^ sin θ+ θ^ cos θ+ ϕ^ cos2 ϕ at p=(2 , π π 1
b. B= R , ) Ans: B=r^ + ϕ^ .
2 4 2
5. Transform the following vectors into spherical coordinates at the indicated
points:
a. A= ^x y− ^y x at p=(1 ,−1 , 0) Ans: A=−√ 2 ϕ^ .
π 1 1
b. B= z^ sin ϕ at p=(2 , ,2) Ans: B= ^R − θ^.
4 2 2
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Matrices, Vectors & Fourier Analysis Summer 2018-19
6. Transform the following vectors into cartesian coordinates at the indicated
points:
π
a. A=−^ϕ R sin θ at p=(1 , , 0) Ans: A=−^y .
2
2π 1 √ 3 ^y + 2 √ 3 ^z .
b. B=− r^ cos ϕ− ϕ^ sin ϕ+ ^z z at p=(2 , , 2 √ 3) Ans: B= x^ +
3 2 2
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