®

Orthogonal
Curvilinear  

Coordinates 28.3 

Introduction
The derivatives div, grad and curl from Section 28.2 can be carried out using coordinate systems other
than the rectangular Cartesian coordinates. This Section shows how to calculate these derivatives in
other coordinate systems. Two coordinate systems - cylindrical polar coordinates and spherical polar
coordinates - will be illustrated.

 
• be able to find the gradient, divergence and
Prerequisites curl of a field in Cartesian coordinates
Before starting this Section you should . . . • be familiar with polar coordinates

 

• find the divergence, gradient or curl of a
Learning Outcomes vector or scalar field expressed in terms of
On completion you should be able to . . . orthogonal curvilinear coordinates
 

HELM (2008): 37
Section 28.3: Orthogonal Curvilinear Coordinates
1. Orthogonal curvilinear coordinates
The results shown in Section 28.2 have been given in terms of the familiar Cartesian (x, y, z) co-
ordinate system. However, other coordinate systems can be used to better describe some physical
situations. A set of coordinates u = u(x, y, z), v = v(x, y, z) and w = w(x, y, z) where the direc-
tions at any point indicated by u, v and w are orthogonal (perpendicular) to each other is referred to
as a set of orthogonal curvilinear coordinates.
q
With each coordinate is associated a scale factor
∂x 2 ∂y 2 ∂z 2



hu , hv or hw respectively where hu = ∂u
+ ∂u + ∂u (with similar expressions for hv and
hw ). The scale factor gives a measure of how a change in the coordinate changes the position of a
point.

Two commonly-used sets of orthogonal curvilinear coordinates are cylindrical polar coordinates
and spherical polar coordinates. These are similar to the plane polar coordinates introduced in
17.2 but represent extensions to three dimensions.

Cylindrical polar coordinates

This corresponds to plane polar (ρ, φ) coordinates with an added z-coordinate directed out of the
xy plane. Normally the variables ρ and φ are used instead of r and θ to give the three coordinates
ρ, φ and z. A cylinder has equation ρ = constant.
The relationship between the coordinate systems is given by
x = ρ cos φ y = ρ sin φ z=z
(i.e. the same z is used by the two coordinate systems). See Figure 20(a).

z z k̂
ρ ρ φ̂
(x, y, z) (x, y, z)
ρ̂

y y
φ ρ φ ρ

(a) (b)
x x

Figure 20: Cylindrical polar coordinates

The scale factors hρ , hφ and hz are given as follows

s 
2  2   2
∂x ∂y ∂z p
hρ = + + = (cos φ)2 + (sin φ)2 + 0 = 1
∂ρ ∂ρ ∂ρ
s 
2   2  2
∂x ∂y ∂z p
hφ = + + = (−ρ sin φ)2 + (ρ cos φ)2 + 0 = ρ
∂φ ∂φ ∂φ
s 
2  2   2
∂x ∂y ∂z p
hz = + + = (02 + 02 + 12 ) = 1
∂z ∂z ∂z

38 HELM (2008):
Workbook 28: Differential Vector Calculus
 ®

Spherical polar coordinates

In this system a point is referred to by its distance from the origin r and two angles φ and θ. The
angle θ is the angle between the positive z-axis and the line from the origin to the point. The angle
φ is the angle from the x-axis to the projection of the point in the xy plane.
A useful analogy is of latitude, longitude and height on Earth.

• The variable r plays the role of height (but height measured above the centre of Earth rather
than from the surface).

• The variable θ plays the role of latitude but is modified so that θ = 0 represents the North
π
Pole, θ = 90◦ = represents the equator and θ = 180◦ = π represents the South Pole.
2
• The variable φ plays the role of longitude.

A sphere has equation r = constant.

The relationship between the coordinate systems is given by
x = r sin θ cos φ y = r sin θ sin φ z = r cos θ. See Figure 21.

(x, y, z)

θ r

y
φ

x,

Figure 21: Spherical polar coordinates

The scale factors hr , hθ and hφ are given by

s 
2  2   2
∂x ∂y ∂z p
hr = + + = (sin θ cos φ)2 + (sin θ sin φ)2 + (cos θ)2 = 1
∂r ∂r ∂r
s 
2  2   2
∂x ∂y ∂z p
hθ = + + = (r cos θ cos φ)2 + (r cos θ sin φ)2 + (−r sin θ)2 = r
∂θ ∂θ ∂θ
s 
2  2  2
∂x ∂y ∂z p
hφ = + + = (−r sin θ sin φ)2 + (r sin θ cos φ)2 + 0 = r sin θ
∂φ ∂φ ∂φ

HELM (2008): 39
Section 28.3: Orthogonal Curvilinear Coordinates
2. Vector derivatives in orthogonal coordinates
Given an orthogonal coordinate system u, v, w with unit vectors û, v̂ and ŵ and scale factors, hu ,
hv and hw , it is possible to find the derivatives ∇f , ∇ · F and ∇ × F .
It is found that
1 ∂f 1 ∂f 1 ∂f
grad f = ∇f = û + v̂ + ŵ
hu ∂u hv ∂v hw ∂w
If F = Fu û + Fv v̂ + Fw ŵ
then
 
1 ∂ ∂ ∂
div F = ∇ · F = (Fu hv hw ) + (Fv hu hw ) + (Fw hu hv )
hu hv hw ∂u ∂v ∂w
Also if F = Fu û + Fv v̂ + Fw ŵ
then
 
 hu û hv v̂ hw ŵ 
 
 
1  ∂

∂ ∂

curl F = ∇ × F =

hu hv hw
 
 ∂u ∂v ∂w
 

 
 h F h F h F 
u u v v w w

Key Point 6
In orthogonal curvilinear coordinates, the vector derivatives ∇f , ∇ · F and ∇ × F include the scale
factors hu , hv and hw .

3. Cylindrical polar coordinates

In cylindrical polar coordinates (ρ, φ, z), the three unit vectors are ρ̂, φ̂ and ẑ (see Figure 20(b) on
page 38) with scale factors
hρ = 1, hφ = ρ, hz = 1.
The quantities ρ and φ are related to x and y by x = ρ cos φ and y = ρ sin φ. The unit vectors are
ρ̂ = cos φi + sin φj and φ̂ = − sin φi + cos φj. In cylindrical polar coordinates,
∂f 1 ∂f ∂f
grad f = ∇f = ρ̂ + φ̂ + ẑ
∂ρ ρ ∂φ ∂z
The scale factor ρ is necessary in the φ-component because the derivatives with respect to φ are
distorted by the distance from the axis ρ = 0.

40 HELM (2008):
Workbook 28: Differential Vector Calculus
 ®

If F = Fρ ρ̂ + Fφ φ̂ + Fz ẑ then
 
1 ∂ ∂ ∂
div F = ∇ · F = (ρFρ ) + (Fφ ) + (ρFz )
ρ ∂ρ ∂φ ∂z
 

 ρ̂ ρφ̂ ẑ 
 
 
1  ∂ ∂ ∂ 
curl F = ∇ × F =  .
ρ ∂ρ ∂φ ∂z 
 
 
 Fρ ρFφ Fz 

Example 20
Working in cylindrical polar coordinates, find ∇f for f = ρ2 + z 2

Solution
∂f ∂f ∂f
If f = ρ2 + z 2 then = 2ρ, = 0 and = 2z so ∇f = 2ρρ̂ + 2z ẑ.
∂ρ ∂φ ∂z

Example 21
Working in cylindrical polar coordinates find

(a) ∇f for f = ρ3 sin φ

(b) Show that the result for (a) is consistent with that found working in
Cartesian coordinates.

Solution
∂f ∂f ∂f
(a) If f = ρ3 sin φ then = 3ρ2 sin φ, = ρ3 cos φ and = 0 and hence,
∂ρ ∂φ ∂z
∇f = 3ρ2 sin φρ̂ + ρ2 cos φφ̂.
(b) f = ρ3 sin φ = ρ2 ρ sin φ = (x2 + y 2 )y = x2 y + y 3 so ∇f = 2xyi + (x2 + 3y 2 )j.
Using cylindrical polar coordinates, from (a) we have

∇f = 3ρ2 sin φρ̂ + ρ2 cos φφ̂

= 3ρ2 sin φ(cos φi + sin φj) + ρ2 cos φ(− sin φi + cos φj)
= 3ρ2 sin φ cos φ − ρ2 sin φ cos φ i + 3ρ2 sin2 φ + ρ2 cos2 φ j
   

= 2ρ2 sin φ cos φ i + 3ρ2 sin2 φ + ρ2 cos2 φ j = 2xyi + (3y 2 + x2 )j

   

So the results using Cartesian and cylindrical polar coordinates are consistent.

HELM (2008): 41
Section 28.3: Orthogonal Curvilinear Coordinates
 Example 22
Find ∇ · F for F = Fρ ρ̂ + Fφ φ̂ + Fz ẑ = ρ3 ρ̂ + ρz φ̂ + ρz sin φẑ. Show that the
results are consistent with those found using Cartesian coordinates.

Solution
Here, Fρ = ρ3 , Fφ = ρz and Fz = ρz sin φ so
 
1 ∂ ∂ ∂
∇·F = (ρFρ ) + (Fφ ) + (ρFz )
ρ ∂ρ ∂φ ∂z
 
1 ∂ 4 ∂ ∂ 2
= (ρ ) + (ρz) + (ρ z sin φ)
ρ ∂ρ ∂φ ∂z
1 3
4ρ + 0 + ρ2 sin φ

=
ρ
= 4ρ2 + ρ sin φ

Converting to Cartesian coordinates,

F = Fρ ρ̂ + Fφ φ̂ + Fz ẑ = ρ3 ρ̂ + ρz φ̂ + ρz sin φẑ
= ρ3 (cos φi + sin φj) + ρz(− sin φi + cos φj) + ρz sin φk
= (ρ3 cos φ − ρz sin φ)i + (ρ3 sin φ + ρz cos φ)j + ρz sin φk
= ρ2 (ρ cos φ) − ρ sin φz i + ρ2 (ρ sin φ) + ρ cos φz j + ρ sin φzk
   

= (x2 + y 2 )x − yz i + (x2 + y 2 )y + xz j + yzk

   

= (x3 + xy 2 − yz)i + (x2 y + y 3 + xz)j + yzk

So
∂ 3 ∂ 2 ∂
∇·F = (x + xy 2 − yz) + (x y + y 3 + xz) + (yz)
∂x ∂y ∂z
2 2 2 2 2 2
= (3x + y ) + (x + 3y ) + y = 4x + 4y + y
= 4(x2 + y 2 ) + y
= 4ρ2 + ρ sin φ

So ∇ · F is the same in both coordinate systems.

42 HELM (2008):
Workbook 28: Differential Vector Calculus
 ®

Example 23
Find ∇ × F for F = ρ2 ρ̂ + z sin φφ̂ + 2z cos φẑ.

Solution
   

 ρ̂ ρφ̂ ẑ   ρ̂
 ρφ̂ ẑ 

   
   
1  ∂ ∂ ∂  1  ∂ ∂ ∂ 
∇×F =  =  
ρ ∂ρ ∂φ ∂z  ρ  ∂ρ
 ∂φ ∂z 

   
   2 
 Fρ ρFφ Fz   ρ ρz sin φ 2z cos φ 
      
1 ∂ ∂ ∂ 2 ∂ ∂ ∂ 2
= ρ̂ (2z cos φ) − (ρz sin φ) +ρφ̂ ρ − (2z cos φ) + ẑ (ρz sin φ) − ρ
ρ ∂φ ∂z ∂z ∂ρ ∂ρ ∂φ
1h i
= ρ̂(−2z sin φ − ρ sin φ) + ρφ̂(0) + ẑ(z sin φ)
ρ
(2z sin φ + ρ sin φ) z sin φ
= − ρ̂ + ẑ
ρ ρ

Engineering Example 2

Divergence of a magnetic field

Introduction
A magnetic field B must satisfy ∇ · B = 0. An associated current is given by:
1
I= (∇ × B)
µ0
Problem in words
For the magnetic field (in cylindrical polar coordinates ρ, φ, z)
ρ
B = B0 φ̂ + αẑ
1 + ρ2
show that the divergence of B is zero and find the associated current.
Mathematical statement of problem
We must
1
(a) show that ∇ · B = 0 (b) find the current I = (∇ × B)
µ0

HELM (2008): 43
Section 28.3: Orthogonal Curvilinear Coordinates
Mathematical analysis

(a) Express B as (Bρ , Bφ , Bz ); then

 
1 ∂ ∂ ∂
∇·B = (ρBρ ) + (Bφ ) + (ρBz )
ρ ∂ρ ∂φ ∂z
   
1 ∂ ∂ ρ ∂
= (0) + B0 + ρ (α)
ρ ∂ρ ∂φ 1 + ρ2 ∂z
1
= [0 + 0 + 0] = 0 as required.
ρ

(b) To find the current evaluate

 
   ρ̂ ρφ̂ ẑ 
 ρ̂ ρφ̂ ẑ  
 
   
  ∂ ∂ ∂ 
1 1 1∂  ∂ ∂  
I = (∇ × B) = = ∂ρ ∂φ ∂z 
µ0 µ0 ρ  ∂ρ ∂φ ∂z   
   2

 Bρ ρBφ Bz   0 B0 ρ
   
α 
 1 + ρ2
  2  
1 ∂ ρ
= 0ρ̂ + 0ρφ̂ + B0 ẑ
µ0 ρ ∂ρ 1 + ρ2
 
1 2ρ 2B0
= B0 2 2
ẑ = ẑ
µ0 ρ (1 + ρ ) µ0 (1 + ρ2 )2

Interpretation
The magnetic field is in the form of a helix with the current pointing along its axis (Fig 22). Such
an arrangement is often used for the magnetic containment of charged particles in a fusion reactor.

Figure 22: The magnetic field forms a helix

44 HELM (2008):
Workbook 28: Differential Vector Calculus
 ®

Example 24
A magnetic field B is given by B = ρ−2 φ̂ + kẑ. Find ∇ · B and ∇ × B.

Solution
 
1 ∂ ∂ −2 ∂ 1
∇·B = (0) + (ρ ) + (kρ) = [0 + 0 + 0] = 0
ρ ∂ρ ∂φ ∂z ρ
   
 ρ̂ ρφ̂ ẑ   ρ̂ ρφ̂ ẑ 
  
   
   
1  ∂ ∂ ∂  1  ∂ ∂ ∂ 
∇×B =  =
ρ  ∂ρ ∂φ ∂z  ρ  ∂ρ ∂φ ∂z 
   
   
 Bρ ρBφ Bz   0 ρ−1 k 
1
=− ẑ
ρ3
All magnetic fields satisfy ∇ · B = 0 i.e. an absence of magnetic monopoles.
Note that there is a class of magnetic fields known as potential fields that satisfy ∇ × B = 0

Task
Using cylindrical polar coordinates, find ∇f for f = ρ2 z sin φ

Your solution

Answer
∂ 2 1 ∂ 2 ∂
[ρ z sin φ]ρ̂ + [ρ z sin φ]φ̂ + [ρ2 z sin φ]ẑ = 2ρz sin φρ̂ + ρz cos φφ̂ + ρ2 sin φẑ
∂ρ ρ ∂φ ∂z

HELM (2008): 45
Section 28.3: Orthogonal Curvilinear Coordinates
 Task
Using cylindrical polar coordinates, find ∇f for f = z sin 2φ

Your solution

Answer
∂ 1 ∂ ∂ 2
[z sin 2φ]ρ̂ + [z sin 2φ]φ̂ + [z sin 2φ]ẑ = z cos 2φφ̂ + sin 2φẑ
∂ρ ρ ∂φ ∂z ρ

Task
Find ∇ · F for F = ρ cos φρ̂ − ρ sin φφ̂ + ρz ẑ
i.e. Fρ = ρ cos φ, Fφ = −ρ sin φ, Fz = ρz

∂ ∂ ∂
(a) First find the derivatives [ρFρ ], [Fφ ], [ρFz ]:
∂ρ ∂φ ∂z
Your solution

Answer
2ρ cos φ, −ρ cos φ, ρ2

(b) Now combine these to find ∇ · F :

Your solution

46 HELM (2008):
Workbook 28: Differential Vector Calculus
 ®

Answer
 
1 ∂ ∂ ∂
∇·F = (ρFρ ) + (Fφ ) + (ρFz )
ρ ∂ρ ∂φ ∂z
 
1 ∂ 2 ∂ ∂ 2
= (ρ cos φ) + (−ρ sin φ) + (ρ z)
ρ ∂ρ ∂φ ∂z
1
2ρ cos φ − ρ cos φ + ρ2
 
=
ρ
= cos φ + ρ

Task
Find ∇ × F for F = Fρ ρ̂ + Fφ φ̂ + Fz ẑ = ρ3 ρ̂ + ρz φ̂ + ρz sin φẑ. Show that the
results are consistent with those found using Cartesian coordinates.

(a) Find the curl ∇ × F :

Your solution

Answer
 
 ρ̂ ρφ̂ ẑ 
 
 
 
1  ∂ ∂ ∂ 
 = (z cos φ − ρ)ρ̂ − z sin φφ̂ + 2z ẑ
ρ  ∂ρ ∂φ ∂z 
 
 3 2

 ρ ρ z ρz sin φ 

(b) Find F in Cartesian coordinates:

Your solution

Answer
Use ρ̂ = cos φi+sin φj, φ̂ = − sin φi+cos φj to get F = (x3 +xy 2 −yz)i+(x2 y +y 3 +xz)j +yzk

(c) Hence find ∇ × F in Cartesian coordinates:

Your solution

Answer
(z − x)i − yj + 2zk

HELM (2008): 47
Section 28.3: Orthogonal Curvilinear Coordinates
(d) Using ρ̂ = cos φi + sin φj and φ̂ = − sin φi + cos φj, show that the solution to part (a) is equal
to the solution for part (c):

Your solution

Answer
(z cos φ−ρ) ρ̂−z sin φ φ̂+2z ẑ = (z cos φ−ρ)(cos φ i+sin φ j)−z sin φ(− sin φ i+cos φ j)+2z k
= [zcos2 φ − ρ cos φ + zsin2 φ] i + [zcos φsin φ − ρ sin φ − zsin φcos φ] j + 2z k
= [z − ρ cos φ] i − ρ sin φ j + 2z k = (z − x) i − y j + 2z k

Exercises
1. For F = ρρ̂ + (ρ sin φ + z)φ̂ + ρz ẑ, find ∇ · F and ∇ × F .

2. For f = ρ2 z 2 cos 2φ, find ∇ × (∇f ).

Answers
z
1. 2 + cos φ + ρ, −ρ̂ − z φ̂ + (2 sin φ + ) ẑ
ρ
2. 0

4. Spherical polar coordinates

In spherical polar coordinates (r, θ, φ), the 3 unit vectors are r̂, θ̂ and φ̂ with scale factors hr = 1,
hθ = r, hφ = r sin θ. The quantities r, θ and φ are related to x, y and z by x = r sin θ cos φ,
y = r sin θ sin φ and z = r cos θ. In spherical polar coordinates,
∂f 1 ∂f 1 ∂f
grad f = ∇f = r̂ + θ̂ + φ̂
∂r r ∂θ r sin θ ∂φ

If F = Fr r̂ + Fθ θ̂ + Fφ φ̂
then
 
1 ∂ 2 ∂ ∂
div F = ∇ · F = 2 (r sin θFr ) + (r sin θFθ ) + (rFφ )
r sin θ ∂r ∂θ ∂φ
 
 r̂ rθ̂ r sin θφ̂ 

 
 
1  ∂ ∂ ∂ 
curl F = ∇ × F = 2 
r sin θ  ∂r ∂θ
 ∂φ 

 
 
 Fr rFθ r sin θFφ 

48 HELM (2008):
Workbook 28: Differential Vector Calculus
 ®

Example 25
In spherical polar coordinates, find ∇f for
1
(a) f = r (b) f = (c) f = r2 sin(φ + θ)
r
[Note: parts (a) and (b) relate to Exercises 2(a) and 2(c) on page 22.]

Solution

∂f 1 ∂f 1 ∂f
(a) ∇f = r̂ + θ̂ + φ̂
∂r r ∂θ r sin θ ∂φ
∂(r) 1 ∂(r) 1 ∂(r)
= r̂ + θ̂ + φ̂
∂r r ∂θ r sin θ ∂φ
= 1r̂ = r̂

∂f 1 ∂f 1 ∂f
(b) ∇f = r̂ + θ̂ + φ̂
∂r r ∂θ r sin θ ∂φ
∂( 1r ) 1 ∂( 1r ) 1 ∂( 1r )
= r̂ + θ̂ + φ̂
∂r r ∂θ r sin θ ∂φ
1
= − 2 r̂
r

∂f 1 ∂f 1 ∂f
(c) ∇f = r̂ + θ̂ + φ̂
∂r r ∂θ r sin θ ∂φ
∂(r sin(φ + θ)) 1 ∂(r sin(φ + θ)) 1 ∂(r2 sin(φ + θ))
= r̂ + θ̂ + φ̂
∂r r ∂θ r sin θ ∂φ
1 1
= 2r sin(φ + θ)r̂ + r2 cos(φ + θ)θ̂ + r2 cos(φ + θ)φ̂
r r sin θ
r cos(φ + θ)
= 2r sin(φ + θ)r̂ + r cos(φ + θ)θ̂ + φ̂
sin θ

HELM (2008): 49
Section 28.3: Orthogonal Curvilinear Coordinates
 Engineering Example 3

Electric potential

Introduction
There is a scalar quantity V , called the electric potential, which satisfies
∇V = −E where E is the electric field.
It is often easier to handle scalar fields rather than vector fields. It is therefore convenient to work
with V and then derive E from it.
Problem in words
Given the electric potential, find the electric field.
Mathematical statement of problem
For a point charge, Q, the potential V is given by
Q
V =
4π0 r
Q
Verify, using spherical polar coordinates, that E = −∇V = r̂
4π0 r2
Mathematical analysis
In spherical polar coordinates:
∂V 1 ∂V 1 ∂V
∇V = r̂ + θ̂ + φ̂
∂r r ∂θ r sin θ ∂φ
∂V
= r̂ as the other partial derivatives are zero
∂r
 
∂ Q
= r̂
∂r 4π0 r
Q
= − r̂
4π0 r2
Interpretation
Q
So E = r̂ as required.
4π0 r2
This is a form of Coulomb’s Law. A positive charge will experience a positive repulsion radially
outwards in the field of another positive charge.

50 HELM (2008):
Workbook 28: Differential Vector Calculus
 ®

Example 26
Using spherical polar coordinates, find ∇ · F for the following vector functions.
(a) F = rr̂ (b) F = r2 sin θr̂ (c) F = r sin θ r̂ + r2 sin φ θ̂ + r cos θ φ̂

Solution

(a)
 
1 ∂ 2 ∂ ∂
∇·F = 2 (r sin θFr ) + (r sin θFθ ) + (rFφ )
r sin θ ∂r ∂θ ∂φ
 
1 ∂ 2 ∂ ∂
= 2 (r sin θ × r) + (r sin θ × 0) + (r × 0)
r sin θ ∂r ∂θ ∂φ
 
1 ∂ 3 ∂ ∂ 1  2 
= 2 (r sin θ) + (0) + (0) = 2 3r sin θ + 0 + 0 = 3
r sin θ ∂r ∂θ ∂φ r sin θ

Note :- in Cartesian coordinates, the corresponding vector is F = xi + yj + zk with

∇ · F = 1 + 1 + 1 = 3 (hence consistency).
(b)
 
1 ∂ 2 ∂ ∂
∇·F = (r sin θ Fr ) + (r sin θ Fθ ) + (rFφ )
r2 sin θ ∂r ∂θ ∂φ
 
1 ∂ 2 2 ∂ ∂
= (r sin θ r sin θ) + (r sin θ × 0) + (r × 0)
r2 sin θ ∂r ∂θ ∂φ
 
1 ∂ 4 2 ∂ ∂
= (r sin θ) + (0) + (0)
r2 sin θ ∂r ∂θ ∂φ
1  3 2 
= 2
4r sin θ + 0 + 0 = 4r sin θ
r sin θ

(c)
 
1 ∂ 2 ∂ ∂
∇·F = (r sin θ Fr ) + (r sin θ Fθ ) + (rFφ )
r2 sin θ ∂r ∂θ ∂φ
 
1 ∂ 2 ∂ 2 ∂
= (r sin θ r sin θ) + (r sin θ × r sin φ) + (r × r cos θ)
r2 sin θ ∂r ∂θ ∂φ
 
1 ∂ 3 2 ∂ 3 ∂ 2
= (r sin θ) + (r sin θ sin φ) + (r cos θ)
r2 sin θ ∂r ∂θ ∂φ
1  2 2 3

= 3r sin θ + r cos θ sin φ + 0 = 3 sin θ + r cot θ sin φ
r2 sin θ

HELM (2008): 51
Section 28.3: Orthogonal Curvilinear Coordinates
 Example 27
Using spherical polar coordinates, find ∇ × F for the following vector fields F .
(a) F = rk r̂, where k is a constant (b) F = r2 cos θ r̂ + sin θ θ̂ + sin2 θ φ̂

Solution
(a)
 
 r̂ r θ̂ r sin θ φ̂ 
 
 
 
1  ∂  ∂ ∂ 
∇×F = 2 
r sin θ  ∂r ∂θ ∂φ 

 
 
 Fr rFθ r sin θFφ 
 
 r̂ rθ̂ r sin θ φ̂ 

 
 
1  ∂ ∂ ∂ 
= 2 
r sin θ  ∂r
 ∂θ ∂φ 

 
 k 
 r r × 0 r sin θ × 0 
   
1 ∂ ∂ ∂ k ∂
= 2 (0) − (0) r̂ + (r ) − (0) rθ̂
r sin θ ∂θ ∂φ ∂φ ∂r
  
∂ ∂
+ (0) − (rk ) r sin θ φ̂
∂r ∂θ
= 0 r̂ + 0 θ̂ + 0 φ̂ = 0

(b)
   
 r̂ r θ̂ r sin θ φ̂   r̂ rθ̂ r sin θ φ̂ 
   
   
   
1  ∂ ∂ ∂  1  ∂ ∂ ∂ 
∇×F = 2
=
2
 
r sin θ  ∂r ∂θ
 ∂φ  r sin θ  ∂r
  ∂θ ∂φ 

   
   2 
 Fr rFθ r sin θFφ   r cos θ r × sin θ r sin θ × sin2 θ 
   
1 ∂ 3 ∂ ∂ 2 ∂ 3
= (r sin θ) − (r sin θ) r̂ + (r cos θ) − (r sin θ) rθ̂
r2 sin θ ∂θ ∂φ ∂φ ∂r
  
∂ ∂
+ (r sin θ) − (r2 cos θ) r sin θ φ̂
∂r ∂θ
1 h
2

3

2

i
= 3r sin θ cos θ + 0 r̂ + 0 − sin θ r θ̂ + sin θ + r sin θ r sin θ φ̂
r2 sin θ
3 sin θ cos θ sin2 θ (1 + r2 )
= r̂ − θ̂ + sin θ φ̂
r r r

52 HELM (2008):
Workbook 28: Differential Vector Calculus
 ®

Task
Using spherical polar coordinates, find ∇f for

(a) f = r4
r
(b) f =
r2 + 1
(c) f = r2 sin 2θ cos φ

Your solution

Answer
(a) 4r3 r̂,
1 − r2
(b) r̂,
(1 + r2 )2
∂ 2 1 ∂ 2 1 ∂ 2
(c) (r sin 2θ cos φ)r̂ + (r sin 2θ cos φ)φ̂ + (r sin 2θ cos φ)
∂r r ∂θ r sin θ ∂φ
= 2r sin 2θ cos φ r̂ + 2r cos 2θ cos φ θ̂ − 2r cos θ sin φ φ̂

Exercises
1. For F = r sin θr̂ + r cos φθ̂ + r sin φφ̂, find ∇ · F and ∇ × F .

2. For F = r−4 cos θr̂ + r−4 sin θθ̂, find ∇ · F and ∇ × F .

3. For F = r2 cos θr̂ + cos φθ̂ find ∇ · (∇ × F ).

Answers
θ
1. cos φ(cot θ + cosecθ) + 3 sin θ, cot sin φr̂ − 2 sin φθ̂ + (2 cos φ − cos θ)φ̂
2
2. 0, −2r−5 sin θφ̂
3. 0

HELM (2008): 53
Section 28.3: Orthogonal Curvilinear Coordinates