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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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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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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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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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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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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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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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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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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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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  
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  Aˆ  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,  = , z2
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  Aˆ
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  0.1464ˆ  
At the point  4 4 2 .

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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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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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