VECTOR ANALYSIS

Coordinate Systems and

Transformation
Coordinate Systems
and Transformation

Objectives:
1.  To differentiate the three best known
coordinate systems
2.  To perform transformation from one coordinate
system to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

A point or vector can be represented in any

curvilinear coordinate system, which may be
orthogonal or nonorthogonal.
An orthogonal system is one in which the
coordinates are mutually perpendicular.
Nonorthogonal systems are hard to work with and
they are of little or no practical use.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Examples of orthogonal coordinate systems include

the Cartesian (or rectangular), the circular
cylindrical, the spherical, the elliptical cylindrical, the
parabolic cylindrical, the conical, the prolate
spheroidal, the oblate spheroidal, and the ellipsoidal.
The three best known coordinate systems are the
Cartesian, the circular cylindrical, and the spherical.
The concepts covered in Chapter 1 and
demonstrated in Cartesian coordinates are equally
applicable to other systems of coordinates.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Cartesian Coordinates (x, y, z)

As mentioned in Chapter 1, a point A can be
represented as (x, y, z) as illustrated in the figure.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The ranges of the coordinate variables x, y, and z

are

A vector A in Cartesian coordinates can be written as

where ax, ay, and az are unit vectors along the x-, y-,
and z-directions.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Circular Cylindrical Coordinates (ρ,φ,z)

The circular cylindrical coordinate system is very
convenient whenever we are dealing with problems
having cylindrical symmetry.
A point P in cylindrical coordinates is represented as
(ρ,φ,z) and is shown in the figure.
 Objectives:

Coordinate Systems
1.  To differentiate the three best
known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

ρ is the radius of the

cylinder passing
through P or the
radial distance from
the z-axis
φ is called the
azimuth angle is
measured from the
x-axis in the xy-
plane
z is the same as in
the Cartesian
system
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The ranges of the variables are

A vector A in cylindrical coordinates can be written

as

where aρ, aφ, and az are unit vectors in the ρ-, φ-, z-
directions. Note that aφ is not in degrees; it
assumes the unit vector of A.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The magnitude of A is

Notice that the unit vectors aρ, aφ, and az are

mutually perpendicular because our coordinate
system is orthogonal; aρ points in the direction of
increasing ρ, aφ in the direction of increasing φ, and
az in the positive z-direction.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Thus,
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The relationships between the variables (x,y,z) of

the Cartesian coordinate system and those of the
cylindrical system (ρ,φ,z) are easily obtained from
the figure as
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Point Transformation
(x,y,z) to (ρ,φ,z) point transformation

(ρ,φ,z) to (x,y,z) point transformation

 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The relationship between (ax,ay,az) and (aρ,aφ,az) are

obtained geometrically from the figure:
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The unit vectors ax, ay, az and aρ, aφ, az are related
as follows:

or
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Finally, the relationships between (Ax,Ay,Az) and

(Aρ,Aφ,Az) are obtained by simply substituting the
previous equations and collecting terms. Thus

or
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Vector Transformation
In matrix form, we have the transformation of vector
A from (Ax,Ay,Az) to (Aρ,Aφ,Az) as
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The inverse of the transform (Aρ,Aφ,Az) to (Ax,Ay,Az)

is obtained as

or
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Spherical Coordinates (r,θ,φ)

The spherical coordinate system is most appropriate
when dealing with problems having a degree of
spherical symmetry.
A point P can be represented as (r,θ,φ) and is
illustrated in the figure.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

r is the distance
from the origin to
point P or the
radius of a sphere
centered at the
origin and passing
through P
θ (called the
colatitude) is the
angle between the
z-axis and the
φ is the same azimuth angle in position vector of P
cylindrical coordinates
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The ranges of the variables are

A vector A in spherical coordinates may be written as

where ar, aθ, and aφ are unit vectors along the r-, θ-,
φ-direcitons.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The magnitude of A is

The unit vectors ar, aθ, and aφ are mutually

orthogonal; ar being directed along the radius or in
the direction of increasing r, aθ in the direction of
increasing θ, and aφ in the direction of increasing φ.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Thus,
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The space variables (x,y,z) in Cartesian coordinates

can be related to variables (r,θ,φ) of a spherical
coordinate system. From the figure shown it is easy
to notice that
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Point Transformation
(x,y,z) to (r,θ,φ) point transformation

(r,θ,φ) to (x,y,z) point transformation

 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The unit vectors ax, ay, az and ar, aθ, aφ are related
as follows:

or
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The components of vector A = (Ax,Ay,Az) and A =

(Ar,Aθ,Aφ) are related by substituting the previous
equations and collecting terms. Thus,

or
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Vector Transformation
In matrix form, the (Ax,Ay,Az) to (Ar,Aθ,Aφ) vector
transformation is performed according to
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The inverse transformation (Ar,Aθ,Aφ) to (Ax,Ay,Az) is

similarly obtained. Thus,
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The distance between two points is usually

necessary in electromagnetic theory. The distance
d between two points with position vectors r1 and r2
is generally given by
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Example 1. Given point P(-2,6,3) and vector A = yax

+ (x + z)ay, express P and A in cylindrical and
spherical coordinates. Evaluate A at P in the
Cartesian, cylindrical, and spherical systems.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Example 2
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Constant-Coordinate Surfaces
Surfaces in Cartesian, cylindrical, or spherical
coordinate systems are easily generated by keeping
one of the coordinate variables constant and
allowing the other two to vary.
In Cartesian system, if we keep x constant and allow
y and z to vary, an infinite plane is generated. Thus
we could have infinite planes
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The intersection of two planes is a line. For

example,

is the line RPQ parallel to the z-axis.

The intersection of three planes is a point. For
example,

is the point P(x,y,z). Thus we may define point P as

the intersection of three orthogonal infinite planes. If
P is (1,-5,3) then P is the intersection of planes x =
1, y = -5, and z = 3.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Orthogonal surfaces in cylindrical coordinates can

likewise be generated. The surfaces

where ρ = constant is a circular cylinder, φ =

constant is a semi-infinite plane with its edge along
the z-axis, and z = constant is the same infinite
planes as in a Cartesian system.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Where two surface meet is either a line or a circle.

Thus,

is a circle QPR of radius ρ, whereas z = constant, φ

= constant is a semi-infinite line.
A point is an intersection of the three surfaces .
Thus,

is the point P(2,600,5).

 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

The orthogonal nature of the spherical coordinate

system is evident by considering the three surfaces

where r = constant is a sphere with its center at the

origin, θ = constant is a circular cone with the z-axis
as its axis and the origin as its vertex, φ = constant
is the semi-infinite plane as in a cylindrical system.
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

A line is formed by the intersection of two surfaces.

For example

is a semicircle passing through Q and P.

The intersection of three surfaces gives a point.
Thus,

is the point P(5,300,600).

 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Example 3. Two uniform vector fields are given by

E = -5aρ + 10aφ + 3az and F = aρ + 2aφ – 6az.
Calculate
(a) |E X F|
(b) The vector component of E at P(5,π/2,3) parallel
to the line x = 2, z = 3
(c) The angle E makes with the surface z = 3 at P
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

Example 4
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems
 Objectives:

Coordinate Systems 1.  To differentiate the three best

known coordinate systems
To perform transformation
and Transformation
2. 
from one coordinate system
to other coordinate systems

QUESTIONS