VECTUK ANU 1KNSUK ANALYSIS - Chapter 6 CURVILINEAR COORDINATES 6.1 INTRODUCTION So far we have restricted ourselves completely to a rectangular Cartesian coordin: which has the advantage that all the three unit vectors 1,3, are constant unit vectors . In applications » itis often useful to use other coordinate systems , for example , when a problem involves cylinderical or spherical symmetry . In this chapter , we shall discuss the general orthogonal curvilinear coordinate system and show how the gradient , divergence , curl , and Laplacian can be transformed into this system - In particular , we shall discuss the two most important coordinate systems for space , i.e. the cylinderical coordinate system and the spherical coordinate system. We shall see that the cylinderical coordinates simplify the equations of cylinders , while spherical coordinates simplify the equations of spheres and cones, We shall also derive the formulas for the gradient , divergence , ‘curl , and Laplacian in cylinderical and spherical coordinate systems . 6.2 Sr RANSFORMATION OF COORDINATES Let the rectangular coordinates (x , y 2) of any point be expressed as functions of U2» U3. so that ate system , = x(U,,02,U5) QM y = y (uy ,03-U5) z= 2(U,,U2,U5) ‘ulus shows that if the functions in equations (1) are single—valued and have ‘A theorem from elementary calc then equations (1) can be solved uniquely for u,, U2, U5 in terms of continuous partial derivatives , x,y,and z, ie. uy = 0, (4,92) Q) uy = Ug (4, Ye?) uy = U3 (X,¥2) P with rectangular coordinates (x, y, 2), we can from equations (2) associate a unique set of coordinates (1), ,U,,t3) called the curvilinear coordinates of the point P . Hence any point P can then be defined in space not only by rectangular coordinates (x,y,z) but also by curvilinear coordinates (ius sug tl) Theses of equations (1) and (2) define the transformations of coordinates Given a point Scanned wih Camscanner322 CURVILINEAR COORDINATES 63 SJ COORDINATE SURFACES AND COORDINATE CURVES ‘The coordinate surfaces (or level surfaces) are families of surfaces obtained by setting the coordinate equations equal to a constant. Thus if C,,C2,C>3 are constants , then the surfaces u,=Ci, uy = C2, uy = Cs are called coordinate surfaces . The coordinate surfaces are generally curved and each pair of these surfaces intersect in curves called coordinate curves in space. ‘Thus u ,— coordinate curve is that along which only uy Varies while u, andu, are constants. Similarly , along u,—coordinate curve only u, varies while u, and u, are constants, and along uj— coordinate x Figure (6.1) curve only u, varies while u, and u, are constants as shown in figure (6.1) . 6.4 UNIT VECTORS IN CURVILINEAR COORDINATE SYSTEM Since the three coordinate curves are generally not straight lines , as in the rectangular coordinate system , such a coordinate system is called the curvilinear coordinate system . Let + = x{+y}+42zk be the position vector of a point P. Then the set of equations xX = x(u,,U2,U5) y= y(u,,Uz,U5) 2 = 2(U,,U2,U5) canbe written F = F (ty,U2,U5) ar. . ‘The vector 5 is tangent to the w ~ coordinate 1 curve at P. Then if ¢, is the unit tangent vector at ar au; , 1. f P in this direction we can write @, = ow ian wy u a a so that 5a, 7 hen where hy = lw m1 | a A Ey a t 1 1 1 1 ' ' ' y u, curve Figure (6.2) A Similarly if @ and € are unit tangent vectors to the u, and us~curves at P respectively , then aria ar 3a, = hae, and 9 = hyes, where hy = az 2 sand by = an au;VECTOR AND TENSOR ANALYSIS 323 ‘The quantities by.h>, and, hy are called , the scale factors . The unit vectors ;,¢2.€s are in the directions of increasing u,,u,,u, respectively . In general, hy.h.hy are functions of wy.) ty and hy #0, By #0, hy # 0. Hence €,,8,,25 are also functions of uy.z. U3. Since Vu, is vector at P normal to the surface u, = Cy, aunit vector in this direction is given by a vu et Biya a - . Vu . Ve Similarly , the unit vect E, =—— . 2 ” es Siva md Bs iva at P are unit normal to the surfaces u, = C, and uy = Cy respectively. Thus at each point P of a curvilinear coordinate system there exist , in general , two sets of unit vectors nA a A 1.02463 tangent to the coordinate curves and B,,£2,£y normal to the coordinate surfaces . These two sets of unit vectors generally vary in direction from point to point because the coordinate curves are curved . However , the two sets become identical if and only if the curvilinear coordinate system is orthogonal [ see figure (6.3) below ] . 65 | ORTHOGONAL CURVILINEAR COORDINATE SYSTEM If the coordinate curves intersect at right angles , the curvilinear coordinate system is called orthogonal . ‘The u,,U,and Us coordinate curves of an orthogonal curvilinear system are similar to the x,y , and z coordinate axes of a rectangular Cartesian system . For this system , the two sets of unit vectors €1,€2.63 and B,,B2,B3 are the same. {see theorem (6.1) below]. In an orthogonal curvilinear coordinate system , the unit vectors ¢; ,€2,¢3 are mutually orthogonal at every point , auEy Figure (6.3) _ A A AAA ie. ¢).¢2 = 2-6) = €3-€; = 0. AAA Aa and 0).0) = C2002 = 3-03 = 1 Furthermore , if this system is right-handed , then AA AAA @ x02 = —€2Xe1 = C3 AR A @2Xe) = —€3X02 = C1 A AAR A exe, = —e1Xe3 = €2 The vector A. in an orthogonal curvilinear coordinate system can be expressed in terms of unit vectors A - nh e1,e,,¢3 as A = ApertArertAses where A,,A2,Aj are the components of A. mraereti tit Canttenaned’Ree » ewnaemeidieems 324 ost Srnper CURVILINEAR COORDINATES THEOREM (6.1)} Prove that if u,,uz,u; are orthogonal curvilinear coordinates , then Ivul= ny Wty = By, J = 1,2,3 SOLUTION: (i) Since Vu, isa vector normal to the surface u, = Cy, therefore it is parallel toe). Thus 1 = hy Vu, where hy isa scalar factor of proportionality between ¢, and Vuy. é teat or Vuy =f andso IVusl = 1 (since 12,1 = 1) o = «Vale hy. Similarly |Vu,! = hy and |Vusl = hy. Combining the three equations , we can write |Vujl = (i) By definition , gu 1” Tyul = hyVuy =e), j = 1,2,3 and the result is proved . 6.6 J EXPRESSIONS FOR ARC LENGTH , AREA , AND VOLUME ELEMENTS IN ORTHOGONAL CURVILINEAR COORDINATES ARC LENGTH ELEMENT From F = F (uy,U3,U3) dt 0 = az Tf PE ay e2t Fut dus = hydu,e,+h,du,ez+hyduyey Then the differential of arc length ds is determined from (dsP=edr.dt ~d) For an orthogonal curvilinear coordinate system , wé have AA RR ey.) = CaeC2 = C3003 = 1 AA AAA “ Figure (6.4) C1662 = C2663 = C306, = 0 ‘Thus equation (1) gives (ds adr .d = hy (du, +h3(du,)+h3(du,)? Q) and the element of arc length d s is obtained by taking the square root of equation (2) Along uj-curve,u, and uy are constants so that dF = h,du,¢y. Then the differential of are length 45s, along u, at P is hy du,. Similarly, the differential of arc lengths along uy and u,-curves al P are ds) = h,du and dsy = hy dug, respectively.SENSOR ANALYSIS AREA ELEMENT From the figure (6.4), the area elements are given by dA = I(hydu,22)x(hau,’y) ror hahslesxésldu,au, = hyhydu,duy. (sincele,xesl = 12,1 = 1) Similarly, dA = N(hidu,2,)x(hyauyds)I =h,hydu,du, md dA = I(hydu,2s)x(hyduyes) I = hyhydu,du, VOLUME ELEMENT We know that the absolute parallelopiped. Thus dv value of the scalar triple product gives the volume of the V(nyaus21).(hyduy8,)x(hyduy’,) | " hihghsduyduzdu, 10).¢,xe51 = hyhyhydu,du,du, (since le, .e2xe31 = 1) 6.7 EXPRESSION FOR JACOBIAN IN ORTHOGONAL CURVILINEAR COORDINATES If u,, 0 ,and wy are the orthogonal curvilinear coordinates , and X= x(4y 602.05), y= y¥(ujuZ.U3), z= 2(0,,0;,U5) a Ky, then we know that the Jacobian of x,y,z wat w,,Uz,U denoted by J or J (S24) Ups Uae uy is defined as ox ay dz du, du, du, xyz )__0(x,y,2) _ | ax By az J=J U,.0;,0;) ~9(0,,U,,0,)~ | au, Ju, du, dx Oy az Qu; du, dus From the definition of a scalar triple product , the above determinant can be written as wy, axs dyn dep (2! aya 32-t) (2: OYA daze (222) (22 teft5-32). ou; *9u;)*9u,*)*lau,! *9u,! tau, € W - ge ot oe = hyeyehye2xhyes |du, ‘ = hyhghy (182x63) A AA = hyhyh, (since €1-€2x€, = 1) Note that since the transformation (1) is single valued , therefore its Jacobian does not vanish at ‘any point ,336 CURVILINEAR COORDINATES 68 /GRADIENT , DIVERGENCE , CURL , AND LAPLACIAN IN ORTHOGONAL CURVILINEAR COORDINATES EXPRESSION FOR GRADIENT Lot Vy = fye,4f0240565 a) where f,,f2,and f3 are to be determined . / -_ar at at Sine dT = Sueur tpysduat zc dus A A a = hydu,e,;+hjduz,e,+hyduse; we have dy =Vy.dr =hyifjduythyfpduzthsfsdus (2) ay ay oy Bul dy = zy duitzy dust zy dus ) From equations (2) and (3) equating the coefficients of du, ,duz,and dus, we get ,jet2® ,-t2¥Y , lav "= hday fh du? = hs Duy ‘Then from equation (1) , we have Lave 1 aye 1 aya YW =i duo! thy dus’? thy Jus”? “ ‘This indicates the operator equivalence A A ‘ ao ee 0 ey 0 Y= hy uy the Du; "hs dus 6) which is the expression for the del operator in orthogonal curvilinear coordinates . . 4ALTERNATIVE FORM Note that by taking y = uj in equation (4) , we get Vuy=pe, ie C= hvu 1 Similarly , by taking y = uz and w = u; we get @,=h2Vuz and @)=h3Vuy Thus equation (4) takes an alternative form oy ay Bu, VU 5y, Vat zy, Ve © VLA = V.(Are;+Aze2tAses) = V.(A1e,)+¥- (Azer) + (Ages) oyECTOR AND TENSOR ANALYSIS since 2i.8ssand’s form a right-} '-handed system , therefore br Saxe) = habs VuaxPu, G2 = 63K) = hy hy VuyxVu, A AA ey =e) Xe2 = by ha Vu, x Vu, now V-CAre1) = V.CAyhahy Tux Vy) = VCArhzhy).VuzxVus+AphghyV.(VugxVus) (8) Using the formulas, V«(AXB) = B.(VxA)-A.(VxB) and VxVO = 0, weget V.(Vu,xV us) = Vus.(VxVu,)-Vuy.(VxVu,) = 0 ‘Thus equation (8) becomes 4 : V.(Are1) = VCArhabs).F2x240 = i. Sn V(Arhshs) Gee uo 1_a = [ast einennd hse FeyArha havea tg 5a (Abahsdes 2 © yay Ju, (Ar hahs) = a 1 a Similarly V.(A2€2) =F R>hy Guy (Azhabi) 1 aod V(x) = pay Fos (Asia ‘Then from equation (7) , we get = 1 a ViA =m Lae ~ (Ahaha) +52 (Aahs hy) 45 S (Ashita) | 9) [expression FOR CURL Wehave VxA = Vx(A.e)+Aze2+Ases) = Vx(Aie:)+Vx(Are2)+0x(Azes) (10) Now Vx(A,0,) = Vx(ArhiVuy) (since &, = hy Vu,) = V(Aph XV ur +Aphy VxVu, ‘ = VcArbi xpt+ 0 (since ¥xVu, = 0) a = [iam (Aub nes, fan wneerg, au; Fay Arbdds JxSt 1 —— = pe yah bis Bay CArnD Ss,328 CURVILINEAR COORDINATES a 1a at 2 alae Similarly Ve CAE) = Bais Buy A2M2 Rah Bus aha)er and Vx (Axes) = pe ge (Aah) er- pa sortase Thus equation (10) becomes é é rlsbe ny-xerta ay | vxk = 58h [gos Asnd-ga, seyeaaha }+ gh gap Arbo au As -o[ 2 Ath ] +t [scan -ghjcainy This can be written as hye, hge2 hyes L ay Shihahs | Ju; uz uy Ayhy Arh: Ashy EXPRESSION FOR LAPLACIAN We know that awe ,t awe vw nate ime ths au? Fu, CArhzbsd+5y7 2c Aghahn) #55 cosmo | a < 2h Ave and thus " 4 * z § > " FI > 0 > yy 30Us 4 > 0 4 4 < 0 a < 1 5h(t au), a (nu 24), a (tb av) = Pphabs LOu;\ by Ou,/*Ou,\ hy Juz/*du;\ by uy (12) EXAMPLE (1): Consider the curvilinear coordinate system defined for z20 by xeu,vt, yaujen,, seed o Find the unit vectors @,, 2) €3 and show that the system Is orthogonal at right-handed . Also find the scale factors hy, h2, hy. ri) Find the expressions for (ds) and dV. (i) Find Vy inthis system for y(u,,u,,u3) = u,u,+u2. (iv) Find V.A and VXA for the vector field K = uju,e,+usu,e,+u,u,e3. ) Find V?y if y =u; +0; +u3. ‘Scanned wth CamSesnneryscTOR AND TENSOR ANALYSIS 9 ION: = (i). Weed sown x+y =. nt ," the inverse equations for this problem , but they are easy to derive : eZ Ua = Ze Uy = Ye (Take the positive square root for definiteness ) ‘he position vector T for this system can be written as 4 ty) t a t2k = (u,-uyte (usu) fous dria au; = aon a [iti tat, tx( eh therefore the given curvilinear coordinate system is orthogonal and right-handed . The scale factor are given by ar _ faz}. _ jaz ne |S[ eve, b= fou Viv m= |5a,| 72m (i) We know that in orthogonal curvilinear coordinate system , the square of the arc length element is tiven by (ds)? = n2(du,)?+N3 (dua)? +85 (dus)? = 2(du,)2+2(dug)?#4u3 (dus)? and the volume element is given by dV = hyhghy dujdu2dys = (2) (V2) (2s du dudes = 4u,du,du,duy330 CURVILINEAR COORDINAT», a a a Gil) Given that y (u,,u,,u,) = u,u,+u2, therefore seus rt. shen, ‘We know that in an orthogonal curvilinear coordinate system 12va 1 2Wa 1 AWa YY = ir du,e! ths bu,°? th; Jus”? = austen Sere 1 sBaads = oe (usdi ri 8) +8 (iv) Given that A = uyu,e,+u,u,e)+M, u,e3 We know that in orthogonal curvilinear coordinate — , x 2 [se (Arhahy) 452 (Aah) +55, (Ashita) | ViA = hah, ((usu,) (2205 )) CAG Lie +g (osn(2uy vi) +35 (4142) ] = gh (aiedeaviede0) = ay (4Niud) = Vu, hye, hre2, hes 128, Aece/2 2 o and -VXA = irhats | Ju; Du; Duy Avhy Agha Ashy Nie, Nie, uses ai | 2 2 a V2V2(2u5) | Ou dua Duy Buju, V2uju, 2ujuzuy Thy (VBE (20,0, -VEu) +28 (ou, -20,4,) +0] = Phy [Consus 84 (a) -Vusas 2a] (¥) We know that in orthogonal curvilinear coordinate system , 1 a (bphy ov oy Viy = ninl(e hy du ite (Mat) +32 du a(4eze)] - qaananlia AO) (AR ew) 1 (GAYE) = in (12u,u,+12u,0543)VECTOR AND TENSOR nC ” 69 RECTANGU! CARTESIAN COORDINATES Let P( x,y,z) be any point whose projection on the xyplane is Q(X, y). Then the rectangular Cartesian coordinates (X.Y, 2) Of P are defined as x = OR, y = RQ, and 2 = QP as shown in figure (6.5) . In rectangular Cartesian coordinate system , the unit vectors are denoted by 1, },and£ P(xyz) and any vector A can be represented in terms of these unit t ' - -+ vectors as : A =A THA F+AgR Qa ‘The position vector Tin this system is given by Figure (6.5) and the scale factors are given by =Ikl=1 ‘Thus the rectangular Cartesian coordinate system is a particular case of an orthogonal curvilinear coordinate system where u, =x, u,=y, uj=z and hy=1, heal, by=]. COORDINATE SURFACES ,/ In rectangular Cartesian coordinate system , the coordinate surfaces are : () If x isheld constant while y and z vary, then the equation x = C, represents a plane parallel to the yz~plane as shown in figure (6.6 (a)} . (i) If y is held constant while x and z vary, then the equation y = C. represents a plane parallel to the zx-plane as shown in figure [6.6 (b)] . If z is held constant while x and y vary, then the equation z = C represents a plane parallel to the xy-plane as shown in figure [6.6 (c)] . Thus the coordinate surfaces are mutually orthogonal in the sense that any two of them intersect at right angles . Furthermore , each point in this system is the intersection of the three coordinate surfaces X=C),y= Cz, andz=Cs. z (c) Figure (6.6)332 CURVILINEAR COORDINATES S COORDINATE CURVES ‘The coordinate curves for rectangular Cartesian coordinate system are : @ fy and z are fixed while x varies then the intersection of y = C2 and = = Cy Isa stright line parallel to the x — axis called the x - coordinate curve (or line) - (i) Af x and z are fixed while y varies , then ‘ine the intersection of x = C, and z = C; is * 1 straight line parallel to the y — axis called the y— coordinate curve (or line) . P (ii) If x and y are fixed while 2 varies , then — the intersection of x = C, and y = C; is a straight line parallel to the z — axis called 9 % the z— coordinate curve (or line) . x-coordinate 7 line Thus the coordinate curves of the rectangular Figure (62) Cartesian coordinate system are the straight lines passing through the point P as shown in figure (6.7). 610 / EXPRESSIONS FOR ARC LENGTH , AREA , AND VOLUME ELEMENTS IN RECTANGULAR CARTESIAN COORDINATES We know that for rectangular Cartesian coordinates uy=x, h,=1 ARC LENGTH ELEMENT In orthogonal curvilinear coordinate system , the element of arc length is determined from (ds)? = dt.dt = hi(du,)?+h3(duy)?+h3(duy)? In rectangular Cartesian coordinates , this becomes (ds)? = (1)?(dx)?+(1)?(dy)?#(1)?(d2)? (dx)? + (dy)? + (dz)? a) x Figure (6.8) AREA ELEMENT We know that the elements of area in an orthogonal curvilinear coordinates GA, =hahsduzduy, dAz=hihsduydus, and dA; = byhydu,du, In rectangular Cartesian coordinates , these become dAy = (1)(1)dydz = dydz dAz = (1)(1)dxdz = dxdz @) d Ay =(1)(1)dxdy = dxdyVECTOR AND TENSOR ANALYs15 VOLUME ELEMENT We know that the volume element in orthogonal curvilinear coordinates is 4V = hihhyduydusau, In rectangular Cartesian coordinates , this becomes dV=(1) (1 dxdydz © dxdyae ® 611 EXPRESSION FOR JACOBI COORDINATES ,/ IAN IN| RECTANGULAR CARTESIAN we = ‘¢ know that the Jacobian in orthogonal curvilinear coordinates is given by J=byhohy In rectangular Cartesian coordinates , this becomes J=(1)(1)C1) = 1, “ 6.12 EXPRESSIONS FOR GRADIENT , DIVERGENCE , CURL , AND LAPLACIAN IN RECTANGULAR CARTESIAN COORDINATES ‘We know that for rectangular Cartesian coordinates a ek ae Ms x tat, taf, tek hy " = 0 F 0 - A a > A=AT+Arj+ask EXPRESSION FOR GRADIENT |/ We know that in orthogonal curvilinear coordinates , we have v 1 ove a ave ob OMe Y= hy duo! ths Juz? hy Ou” In rectangular Cartesian coordinates , this becomes avs 1 ove ave ay aye 102 *o2* © EXPRESSION FOR DIVERGENCE / ‘We know that in orthogonal curvilinear coordinates , we have veR =a [ae Any gecChahy Aad #3a hb As)| In rectangular Cartesian coordinates , this becomes vk = goals (aya An) +39 2 (1 ayas)+ zcanmas) | OAy = 2h ee an 6)CURVILINEAR COORDIN,; 334 EXPRESSION FOR CURL ‘We know that in orthogonal curvilinear coordinates , we have nA 1 fds ade tS g--L_|2 2 2 YeA=ithibs | Ju, du; 9u5 hyAy hzAz byAs In rectangular Cartesian coordinates , this becomes A a a s 4 k qaMi aj (dk 1 J wae |2 2 2]/-/222 =O | axe dy oz ax ay dz (Ay (Az (As Ar Az Aa = (282 Ban), (2A 2Aa)p (242 - BAL)e = (3-3 1(S3-Ge)itor ay JE EXPRESSION FOR LAPLACIAN ,/ ‘We know that in orthogonal curvilinear coordinates , We have ay tf 2 (roby), 2 (hob n2v) (4h h 3) v venta [( hy du,J*9u;\ bz Ou,)* Ou; hy dus In rectangular Cartesian coordinates , this becomes ree (PRS) CAPD] ¥= Mama a) axJtay\ @ dy)*az Uy az = ox? tay? az 6.13 JevuinERicat POLAR COORDINATES - Let P (x,y,z) be any point whose 7 projection on the xy-plane is Q( x,y). Then the cylinderical coordinates of P are (r, @,z)in which r = 0Q,@ = 2XOQ and z = QP. From the figure (6.9), the transformation equations expressing the rectangular Cartesian coordinates in terms of cylinderical polar coordinates are: x =rcos® (1) y =rsin@ @ zsz (3) where r 20, 0S 0< 27, and-w ; x rsin 8 _ sing , on az=° ae y rsin@ sin® ax Oxy Oe ae _ x reos@ _ cos dy xt4y? = rT rt 29 az 79 oz a2. ax z Now by the chain rule , we have 22 ar, 2 90,0 d2 | ax * dr ax de ax dz ax = qd) B32 ar, 0 90,092 | dy dr ay*ae ay az ay 7 Q) 2 dar 290,389 _ yy d a 2 a= ar deta aztaz az ~ art(Vagt(l)g; a =o °) Equations (1) , (2) . and (3) are the required expressions in terms of cylinderical polar coordinates . eared wth CankerCURVILINEAR COORDINATES 624 EXPRESSIONS FOR GRADIENT , DIVERGENCE , GURL , AND LAPLACIAN IN CYLINDERICAL POLAR COORDINATES ‘We know that for cylinderical polar coordinates ( F . 0,2). af e; = ez ha bs br, 62 = OO upsr. u,=0, wyszs hishyed, hpshoet, hyehzet: ArsAr Art Aes Arm ay EXPRESSION FOR GRADIENT In orthogonal curvilinear coordinates , we have 1 AWA Lays Lowa Y= hau, o' thu, 2 nin “y In cylinderical polar coordinates , this becomes 1 Yw=7> dyn 18a dyn tt) =a. EXPRESSION FOR DIVERGENCE In orthogonal curvilinear coordinates , we have —l_ _— V.A =nmlin (hgh A+ Fy, (hy by Aad #552 (hh 242) | In cylinderical polar coordinates , this becomes V.A = Gem slows )+35 (wae) +35 2(ay@az) | = 4f2 (ra) eat hs dan] (2) EXPRESSION FOR CURL In orthogonal curvilinear coordinates , we have : hey haez byes 4eo6/2 2 2 VxA=ithihs | du, du, du, hyAr haAa hy Ay Incylinderical polar coordinates , this becomes A A A er; reg Cz z-14/2 2 2 YeA= Flor 36 a2 A, tAg Az _ Af (daz je dA, 9A r = [Be Rene) tee (BM )oe(Zeanr 24] @VECTOR AND TENSOR ANALYSIS us EXPRESSION FOR LAPLACIAN In orthogonal curvilinear coordinates , we have tye—t [a (hsmav) a (myn ay a(t 2)] ¥ v= mn [54( hy 3), 52 hy du,)*Du;\ by 9u5 In cylinderical polar coordinates , this becomes Py= Game (Se24).2(om nav), a(mwzy)] MOMLa Gd a)taol @ ve)*az\ (1) az 1 ay) 1 ay ay Farge) +o heey a> 6.25 ALTERNATIVE METHOD USIN AL aneBeonaio% EQUATIONS oe ‘We know that in cylinderical polar coordinates , a cosp 2 _ 099 =F _ ga sod 9D ax Oar 9G" y= MODE 96 Dz dz = A,ycos@-Agsin® , Az = AysinO+Agcos® , As =Az ‘ 4 n ‘ ala and i = cosOe,—sin@eg, 7 sinOCr+cosOco, k=ez EXPRESSION FOR GRADIENT” a a We know that vy = sete at, stk a ye ave Ix! Now (cos8¢,-sin@e9) Qwa si 20 aw cto DWE, BOE IHS sneer 22 ont Fece @) a ove (sino. sos ay) (sino e,+cos eq) awa | sind 3548 gos*@ Jy sin 29M Ene EH an guard BY Spee) " aus = 2s, az a2" @ ssi seston (2), (3), and (4) in equation (1) , we get oy 1 a a Vy = (cos?@ 4+ sin?) FEEr+7 (sin? 0+ cos*0) SH oy 4 SVG, aya 1dyn dWa o vy = See spear peer , 6) EXPRESSION FOR DIVERGENCE J = AL, 9A) OA, We know that 6A = yt gy +S346 CURVILINEAR COORDINATES a , Now ra (coso 2 - 82 2) (A, coro Agsin@) ar7 or DA sin QecK DA uate 8 = r_gQ2Ar_ aAx, ar Tae 3e* or At = sin, 3 si sale ane, sindcos m rt or t Now gu. ( 2 2 i e ay = sin 02 4 228 : (A;sin @ + Agcos 8) aA sags QAr, cos?@ = oAr, DAy , cos’ sin’ est det F Ar . Ae c0s7@ Ag sin + sin Q5as "5-8 4 ES So _ SE Ao ® 2A, _ OA oy _ oo az az ® Substituting equations (7) , (8) , and (9) in equation (6) , we get V.A= (eos? + sin?e)2At4 1, sin? 9 400876) Ar +2 (sin? 8+ cos*@)2A8 +A > _ dA, 1 18A9 JA oAns 42f6 e243 or V.As ar trt +T 20 az (10) EXPRESSION FOR CURL = (/ We know that a An 7 FoR x aaa vxas {2 2 2 x dx dy dz Ar Ar Ay aA OA2)\4 oA OAy)\4 dA dA,\a - (ce _ce CA _ cA )4 2 (4 ae) t+( az ae) ax ~ dy )e any aa a cose a Now At. (sino? os sy) are sino fe 050 2A ca Fy (Arsind+ Agems8) = sind At copg BAR z ‘OAs aas)t . ( DAz cos0d Az dA, aA (a Pe (sine S SSS Faro sina SA ~cos 0 SAS (cos 0¢,-sin@¢o) DAzA | costODAzA erase OAy Oar ert Tae Doering Fabs - cos rodAce, -2,9Az4 sinOsoS8 0A ~sin?9 2h Aza aA sin" OF, 0 T 99 cotsin? ore ot sin reat) (2) aa, a = yl Arcos 0- Agsind) = cor 02At sing o2Ae aA 2 sing a a ; oA 2 - A = (covog; ~ 578 ij) As = ono As _ sn 2AgVECTOR AND TENSOR ANALYSIS “ (2A:-2)9 az ax ji = (couoA singe cos? 2A8 BAL 2 cos8 a ay ~ («nodes T Pj) (Arcos a 2 Ar cos*@ = singed Orgy tT ~sintg ZAG _ ax ay ax a sin? ; 820,52, snp oro 2 Arg, 20578 cat 3 r DAon , sinGocf8 DAA , co OF, 1+ 70 Aer t ting equations oe (13), and ue in equation (11) , we get after simplification Substitut Aes aa vxa = “8 Aa cos 29% oy-sin 29 AAz Eg +sin? orate, aA 279 DAzA aA aA sin? 05 oS? See 8, 4e0s* 0 te —c0s0A5 be 292 aApn sint?@ » cos?@ DArA 8 BALE a cos OG eat 8 490,208 Sire, DAg* cos7Q, A ritetge ee P DAs = 4 (cos?0+ sin? 9) Ae 70 Spa er Co" 90a! 3a cates catogpiaec on A eo “1 sint9 #008709 36 BAL8, + (cos? 0+ sin? 0) 2A8s, +4 (sin?0 +0570) Aots F4 " she ale AN —o sa 1 =7 Ar rAo Az EXPRESSION FOR LAPLACIAN ‘We know that Vn 19Yn OWa Vw = sreretggeot gee: a6 = dAr.1, , 1A, aAz oAr 1, yt Via = Qe trArty a9 * az 12a 19Aq, dAz = Tp UAN+T 96 t az (17) From equations (16) and (17), we have 1a ( av) 1 ay ay +t Viy=V.Vwer5y Tr Je? ars Laf a) 1a? a where viata (de) +taertag (18) is the Laplacian operator . 626 SPHERICAL POLAR COORDINATES Let P( x.y, 2z) be any point whose projection on the xy - plane is Q( x,y). Then the spherical polar coordinates of P ure (r,, 4) in which r= OP, 6 = 2ZOP and $= ZXOQ. From the figure (6.13) , we have 0Q = reos(90-0) = rsin@ (since 2 QOP = 99-6) Ny Therefore x = OQcos$ = rsinOcos$ y = OQsing = rsin@ sing z = OPsin( 90-6) = rcos@ Hence , the transformation equations expressing the rectangular Cartesian coordinates in terms of spherical polar coordinates are : Figure (6.13) ‘Scanned with CamScannerVECTOR AND TENSOR ANALYsIs = rai xo x = rsin@cos y =rsin@sing qa z= rcos® Q) @) where T20, OS OR, Osgcre COORDINATE SURFACES J In spherical coordinate system , the coordinate surfaces are: @ ~~ ifr isheld ‘ sein atthe constant while | 8 and vary , then the equation r = Cj represents a sphere with igin ( or origin if C, = 0) as shown in figure [ 6.14 (a) }- (i) sf @ isheld i i @ constant while r and @ vary, then the equation @ = C2 represents a cone with » axis OZ and generating angle @ as shown in figure [ 6.14 (b) ] . (ii) If is held constant while r and @ vary , then the equation @ = C4 represents a half plane through the z — axis as shown in figure [ 6.14 (c) ] . = z Sphere a, r=Cy oO oe . (a) x CO) Figure (6.14) COORDINATE CURVES ‘The coordinate curves for sphei al polar coordinate system are : @ If © and 6 are fixed while r varies , then the intersection of @ = Tine called the r — coordinate curve or simply the r— curve . di) If r and @ are fixed while © varies , then the intersection of r = C, and = Cs isa semi-circle (Cy # 0) called the ® ~ coordinate curve or simply the @ - curve . (ii) IF r and @ are fixed while @ varies , then the 2 teuve imersection of r= C; and @ = Cz isacircle (or point) called the @ - coordinate curve or simply the - curve - Thus the r — curves are the straight lines radiating from the origin; the @ — curves are the semi-circles originating from the 2 — axis with centres on the origin ; the @ — v curves are the circles with centres on the 2 — axis and - hown in figure (6.15) . curve parallel to the xy — plane . 05 s Bt ¢ Figure (6.15) C2 and > = C; isa straight Scanned with CamScanner380 CURVILINEAR COORDINATp, . linates : EXAMPLE (3): / Express each ofthe following actin spherieal polar coordinates: (i) the cone 2” = 3(x*+y?) @ —~ thesphere x?+y?+27 = 9 (ii) the paraboloid z = x?+y? Gv) the plane 2 = 0 ) the plane y = x. SOLUTION: We know that in spherical coordinates x=srsinOcosd, y=rsin@sing, z=rcos0 @ xeytez? = 9 or in? 8 cos? +4? sin?O sin? 9 +17 cos? = 9 1’ sin? 0 (cos? @ + sin?) +r?cos?@ = 9 tsin?O+17cos?@ = 9 or 17(sin?O+c0s70) = 9 or r?=9 or r=3 (since r is always positive ) Since r is fixed while @ and vary , therefore the given equation represents a sphere with centre at the origin and radius 3 . MW) 2? = 3(x?+y?) 87 cos7@ = 3(1?sin?@ cos? +r? sin?@ sin?) t¥e0s?8 = 3 r?sin?@(cos?9+sin?o) cos*@ = 3sin?@ or cos@=3sin@. — Thisis possible only if @ = - Since 0 is fixed while r and @ vary , therefore the given equation represents a cone with vertex at the origin and making an angle of 1/6 with the z — axis. Qi) z= x7+y? reos® = r?sin?@ cos? +r? sin76 sin? = 17 sin? (cos? +sin?6) = r*sin?@ or cos @ = rsin?9 (iv) 2=0 oF reos0=0 Since 1 # 0, therefore cos@= 0 or 0 =%, ice. is the given equation represents the xy plane . ) y= x or rsin@sing = rsinOcos@ or sing = cos ‘eis recs ; m Sr . This is possible only if = 3, “g" . Since ¢ is fixed while r and @ vary , therefore the plane y = x is made up of two half planes through the z~ axis § = and g = 6.27 EQUATIONS EXPRESSING SPHERICAL COORDINATES, Il OF CARTESIAN COORDINATES J N TERMS polar coordinates are :VECTOR AND TENSOR ANALYSIS 351 X= rsin@cos@ ay y= rsinOsing Q) z= rc0s@ 8) Squaring and adding equations (1) , (2) , and (3), we get xPey242? = 1? sin? @.cos?} +1? sin? @ sin? +1? cos? = 1?sin?0(cos?+sin?@)+1?cos?O = 1 sin?@41?cos?Q = 1(sin?@+c0s?@) = r? or ora xTeytea? “ Squaring and adding equations (1) and (2), we get ey? = 1? sin? @ cos? +r? sin? @ sin? = 4? sin?@(cos?$+sin?9) = r?sin?6 or rsin@ = x?+y! (5) Dividing equation (5) by equation (3) , we get ring yatay? to = reos@” oz «tea SE © Finally , dividing equation (2) by equation (1) , we get rsin @ sing rsin cos 6 ad o Hence , the equations expressing the spherical polar coordinates in terms of Cartesian coordinates are: r=vkitye2, 0 = tart SETH 6 = ant (8) 6.28 UNIT VECTORS IN SPHERICAL COORDINATES SYSTEM ‘The position vector of any point P (x,y,z) in spherical coordinates is given by y y =z or tangas or} = tan z = a na T= xteyjezk = rsin@cos@f+rsinO sing} +rcos Ok ‘The tangent vectors in the directions of r,@, and @ respectively , are given by 2* 2 sinocosg? sin Osin 9} +cos Ok T BE 2 reos cost +rcosOsing}-rsinof ar ae “ Je =~ TsiNOsing F+rsinO cos j x Figure (6.16) Scanned with CamSeannet}VILINEAR Ct 382 om Oonomna The unit vectors in the directions of r,@, and @ are az . a + dr _ _sin@cosgi+sindsing1 + cos Ok |az| = sin? 0 cos® + sin?0sin=$ + cos’ @ ‘ = sin cos} +sin 0 sing } + cos OK a) sat reos Ocos oi +reos sing j-rsinOk - Yrtcos™@cos™}+rFcos*Osin?g +r sin’ @ = cos 8cos 1 +c0s sing }—sin OF @ s ‘ = —ztsin@ sin of + rind cos r® sin? sin™ +r? sin? @ cos™ = sing? +coso} @) In matrix notation , equations (1) , (2), and (3) can be written as % sin@cos@ sin@sing cos@ ] [4 Go |=] cos@coso cosOsing sind 3 4) ee sing cos} 0 £ SCALE FACTORS ‘The seale factors for the spherical coordinate system are given by hen, = [22] 2 ain? 0 cos? 9s an Oa OTT r=be= |" -| = Vsin? @cos? 9+ sin*Osin?6+cos76 = Voin™0+c0s6 = 1 (5) hi = ho = VrTcos"O cos} +1 cos" Onin Ga FF anTS = ViF cos 0 (cos"@+sin™}) er aint G = Vrs 0+ sin®6 = 1 hy = ho = Vitsin™Osin™ O41 sin OconTe ° = Vr"sin™@ (sin™ $+ cos™@) = Vr'sin’6 = rsing ‘ence the scale factors are : om hiehe= tl, b= ho=r. hs hy a rsingVECTOR AND TENSOR ANALYSIS 383 THEOREM (6.5): _ In spherical polar coordinates , show that YY 4 ‘ A a Qa a a cero, Sas ee, Fa sin bey A a = cosOey a . Bee _ _singe,—cos0e0 PROOF: ‘We know that ‘Then n ‘ 4 a €, = sin@cos gi +sinOsin gj +cos Ok a * * a“ @ = cosOcos $i +cos Osingj-sinOk aro 4 4 = -singi+cos9j we ale [o> gle> 2 w ° 4 4 ALA = cos @cos i +cos O sing j-sinOk =e e>o o af * 4 nOsin Ot +sinOcos$} = sinO(—singt+cos@}) = sinOcg | re 2 ' 3 Ie * ‘ . 4 a ~ sin ® cos 6? sin @ sin 9 j cos Ok = —(sin@ cos @ i + sin sing j +cos 0k) a o| " = er s 4 ey a a = —cos @sin§ 1 +.cos Ocos$} = cos8(—singi+cos}) = coseg ele of 3B zie : eu o> " = -coso ising} oe 2 = ~cos 6 ( sin? 8+ .c0s?0) 1~sin @ ( sin? +cos78) }—sin @cos Ok + sin @ cos Ok = -cos 4 sin?@ f-cos @ cos? 0 i - sin sin? ©} - sin § cos?0} — sin @ cos 8 k + sin cos 0k = sin 0 (sin @ cos 91 +sin@ sing} +cos Ok) —cos 0 (cos 8 cos 9? +cos @ sin} - sin Ok) = -sin@¢,—cos Oe354 (CURVILINEAR COORDINATES THEOREM (6.6): Prove that in spherical polar coordinates , Ir 64 = sin $e, -cos0pee . PROOF: Weknow that Cy = sinOcos 1 +sin Osing j +cos Ok Then a A a a a = 4 s Eq = cosOcospitcos@singj-sinOk, 9 =—singi+cosoj d +. - on : sk ote Tier = —sinOsin 96 7 +cos 0 .cosg if +sin O.cos 64} +cos OO sin gj sin OOK . . * ‘ 6 (cos Ocos 4 7 +cos sing} -sin Ok) +sin09(-singi +cos9j ) = Geg+sindgeg a) Ady = —cos sing} sin 08.cos 91 +cos cos 6}—sin@ Osing}-cos0 Of : 4 4 a . 4 4 = -0(sinOcos i +sinOsingj +cos Ok) +cos 06 (-sing i +cos oj ) = -00,+cos0 peg @ 4 +4 = -cosogi-sindoj ame a = -9cosgi-$singj = ~ $605 @(cos?6+sin?@) 1-4 sing (cos?0+sin?8)} +6 sin O cos OL — sin Ocos Of sin? 0 cos @ + - § cos? sin} —§ sin? sing} = -$cos?0 cos +6 sin cos @k—6 sin Ocos Ok = (—$sin?@cos 9 i-§ sin?0sin gj -$ sin @ cos 0k) + (~$e0s?@.cos 91 § 00578 sing} + § sin cos 0) = sin 0 (sinO cos 91 +sin 0 sino} +cos Ok) ~ $05 0 (cos 8 cos @ 7 +c0s 8 sing $—sin of) “A +A = sind $e,-cos$coVECTOR AND TENSOR ANALYSIS ass 629 ORTHOGONALITY OF SPHERICAL COORDINATE SYSTEM ~ ‘We know that the unit vectors in spherical polar coordinates are 2, = sinOcosgt+sinO sing} +cos oh 20 = cosOcos$!+cosOsing f—sino t b= sing t+cos} Gr.8o = (sindcorgt+sind sing} +cos OL) «(cos Ocos 41 + cor sing }-sin of) sin @ cos @ cos? + sin 8 cos 0 sin? —sin 0 cos © = sin 8 cos 6 ( cos? + sin? )—sin 8 cos 0 sin 8 cos @~ sin 8 cos @ =0 and ‘Then Coney = (cos 0 cos @ 1 +cos Osingj-sinok). (sing 1 +cos 94) = cos 0 cos sin } +.c0s O sin cos ¢ =0 br-8y = (sin Ocosg 1+ sin@ sing} +cosO£).(—singt+c086}) = sin O cos @ sing + sin sin @ cos @ 0 and so €,,€9, andy are mutually perpendicular and the coordinate system is orthogonal . 630 RELATIONSHIPS AMONG UNIT VECTORS IN SPHERICAL SYSTEM THEOREM (6.7): Show that for spherical coordinate system . JS Crete = lg.ege egeeg al tpXer = COXCO = CgXCy = 0 on ke AM Rk CeXCO = EG, COXEEH Cr, CGXer = Cg PROOF: We know that the unit vectors in spherical polar coordinates are er = sinOcos$ 1 +sinOsing } +cos Ok fo = cos @ cos ¢ 1 +cos Osing f-sinOk and Cg = ~sin gt +089} ‘ * * Tren Ey+€, = (sin@eos gi +sinO sing} +cos OL). (sin Ocos of +sinOsing }+cos 0) = sin? cos? +sin70 sin? +cos?@ = sin? 0( cos? + sin?) +cos*@ = cos?@+sin?0 = 1 4 Ce-ce = (cos cos @1 + cos sing} sin oR). (c0s0.cos61+.c0s sing} sino) = cos?@cos?$+c0s*@ sin? +sin?@ = c0s76( cos? +sin?>)+sin?0 = cos?O+sin20 = | b4.0g = (-sing i +c0s9)).(-singT+cosgf) = sin? +.c0s?@ = 1356 ACA erXe, Aa eoxeg aA CgxXeg aa egxer CURVILINEAR COORDINATES. | i ; f sinOcos sin@sing cos0 sin@cos sinOsing cos® (sin 8 086 sin 6 sin 8 cos 8 sin) + (sin 8 cos 8 cos @ —sin @ cos @.cos6)} +(sin?@ sin 9 cos ¢—sin?@ sin gcosg)k = 0f +0} +08 = i j f cosOcos cos Osing -sin0 cos@cos cosOsing -sin@ () k =ofsoj+ok =0 s a 8 i jo U«&‘ sing cos® 0 -sing cos 0 of+0}+(—singcosg+singcosg)k = of+0j+0k yk sin@cosg sinOsing c9s0 cor Geos cosOsing sind (—sin?@ sin 6 -cos 29 sing)? + (cos?@ cos 6+ sin? Ocos$)> 4 (sin 8 cos 0 sin 6 cos 6 ~sin 0 cos 0 sin cos $ ) & = sing(sin20-+c0s?0) i + c0s @(cos?0+sin?6)}+0k sing} +0080) = ey i 3 ik cos Ocos@ cosOsing —sin® ~sing cs 0 sin cor 9 +sin@ sing j + (cos cos? +005 sin?) £ sin 0 cos 1 +sin@sing} +cos Of = e, i j a sing cos 0 sin @ cos sin@sing cos cos 0 cos 91 +08 sind} +(— ~ dia Dein? $-sin 0 cos?) cos cos} +cos0sing }-sin@k = cyyEcTOR, AND TENSOR ANALYSIS 631 CARTESIAN UNIT VECTORS IN TERMS OF SPHERICAL UNIT VECTORS ‘We know that the unit vectors in spherical Polar coordinates are ty = sinOcos $i +sinOsing +cos eh qa) to = cos Ocos $7 +cos 8 sing }~sinof Q) ad 9 = -8in9 1 +.cos6} @) Muliplying equation (1) by sin @ and equation (2) by cos @ and then adding , we get sinOC,4c0s 009 = €0s$(sin?0+cos? 0) f+sin6 (sin?0+cos? 6} = cos? +sing} (4) Multiplying equation (4) by cos @ and equation (3) by sin @ and then subtracting , we get sin cos 9+ cos 0cos 6 9~ singes = (cos? +sin?6)} or i = sin c08 §€,+.c0s O cos 9Co—sing oy (5) Similarly , ‘multiplying equation (4) by sin 9 and equation (3) by cos @ and then adding , we get sn Osing£,+cosOsing a rcorgcy = = (sin? + cos?) } o J = sin@singe + cos@sing co con ody 6) Next, multiplying equation (1) by cos @ and equation (2) by sin @ and then subtracting , we get a oa tp atest cos 8,—sin 8 Eo = (cos?0+sin20)f ow R= cosoe,—sindeg m {Inmatrix notation , equations (5) , (6) , and (7) can be written as 7 sin@ cos cos@cos@ -sing][ ¢, S ]=| sinosing cosdsing cose ee (8) f co® = sind 0 ey 632 POSITION VECTOR IN SPHERICAL COORDINATE SYSTEM ‘We know that in spherical polar coordinates X=rsinOcos>, y=rsin@sing, 2=rcos@ and T= sin cos 96, +cos0cosooo~sin gC, Ts sin@singd,+cos sin 9294+ c0s $24 £ = cos@2,-sino oo Ten Fs xfayfact = rsin 8 cos 6 ( sin 8 cos 62, +.c0s 8 cos $e 9—sing ey) +FsinOsing (sin sin 92,+c0s sing 9+ cos 92 y) +105 0(cos@e,—sin@ eg) 357358 CURVILINEAR COORDINAT py = (rsin?@cos?+rsin?0sin?@+rcos?8) er ‘ + (rsin 8 cos @ cos? @ +r sin O cos @ sin? - sin O cos 0) eg . +(-rsinO cos @ sin 9 + rsin O sin ¢ cos 9) ee [rsin? 0 (cos? + sin?) +rcos?@ Je, A + [rsin 0 cos 0 (cos? + sin?9)—rsin@cos 0 ]eo+0 = (rsin?@4rcos?6)¢,+(rsin 0 cos 0—rsin @ cos @)¢9 aa = c(sin?0+cos?®)e, = rey 6.33 RELATIONSHIPS BETWEEN CARTESIAN AND SPHERICAL COMPONENTS OF A VECTOR Avector A in rectangular Cartesian components is written as AzAiearp+agk a) Substituting the values of +, ],f in terms of ¢;,€0,€4, we get = a a A A = A, (sin@cos 9¢,+cos 6 cos $e g-singeg) A A A A a +A2(sin@ singe, +cos Osin@eg+coseg)+A3(cos@c,—sindeg) (A, sin 0 cos 6+ Az sin @ sing + A3cos@) er + (Ay cos Ocos +A; cos Osind-Aysin®)Co+(—Aj sing+Arcoso)eg But in spherical components , we have K = Arer+AgcotAgeg Comparing coefficients , we get , Ar = A; sin 0 cos $+ Az sin @sing +A, cos 0 Ag = Ajcos 8 cos @ + Azcos 8 sin — A, sin ® e) Ag = -Aising+A2cos $ In matrix notation , equations (2) can be written as sin@cos sin@sing cos® ][ Ay Ar Ao | =| cos@cos$ cos@sing -sin@ || Ar Ae sing cos > 0 Ay Similarly , a vector A. in spherical components can be written as = a a a A =Arer+AgcotAges @) arn nan Substituting the values of ¢,,9,€9 interms of 1, j,k, we getVECTOR AND TENSOR ANALYSIS 39 A = Ac(sin@cos 97 + sin sing} +cos OL ) + Ao (cos Ocos 9? +cos@ sing} -sindk)+Ag(—sing? +cos9}) (Ar sin 8 cos 9 + A.gcos 8 cos} Ag sing)? +(Arsin@ sin 9 + Ag cos 8 sing +A gcosd)} +( Arcos O-Agsin®)k Again because A = A, i +A; +A; comparing coefficients gives AL = Arsin® c0s $+ Ag cos 8cos Ag sing Ar = ArsinOsino+Agcos 0 sing+A¢cos > @ Ay = A,cos @-Ag sing The set of equations (4) can be written in matrix notation as A,] [sit@c0so cos@cos -sino TT A, [*| =| sin@sing cos@sing cos || Ag Ay cos@ = -sind =o JL AG 634 EXPRESSIONS FOR ARC LENGTH , AREA , AND VOLUME ELEMENTS IN SPHERICAL POLAR COORDINATES In spherical polar-coordinates , we have 42 = 0, uy= 0; €)= er, 02 = C0, 03 = ey r=, hp =he ARC LENGTH ELEMENT In orthogonal curvilinear coordinates , the element of arc length is determined from hy = hg = rsin@ (ds) = h3(du,)+h3 (du, +h3(du,? In spherical polar coordinates , this becomes (ds)? = (1)?(dr)?#(r)?(d0)?+(rsin@)?(dg)? = (dr)? 4#17(d@)?+r7sin?6(dg)? ALTERNATIVE METHOD In spherical polar coordinates xe rain dees y= rind in, z= reos@ ax Then dx = Bars dt aos dz ag = snempdrtransee$serraadanbas ay ay qy= a ar Zaorgrag = sin sing dr+reos Osingd 9+ rsinBeosoag az, az dz= 2244S a045t zag = cwharormbse360 CURVILINEAR COORDR YT, Then ds? = (dx) +(dyl4(dz)? = (sin 8 cos @dr+rcos@cos pd O-rsinOsing dd)” ' +(sin sing dr+rcosOsingd@+rsin O cos do) +( cos Odr-rsinddgy! = sin? @ cos? (dr)? +1? cos? @ cos? 9 (dO)? +17 sin? @sin?9(d 9)? +2 sin @ cos 0 cos? pd rd 0-21? sin OcosOainrweor gd Od > 21 sin2B-singcosGar dg + sin sin?g (dr)? +17 cos? @sin?9( doy +17 sin? cos?(d)?+2rsinOcos @sin?odrd@ +2r2sinbeortaingcos 90d + 2rsin2 sit Geos bard g +cos?6(dr)'+r7sin?6(d6)'-2rsin@cosOdrdO [sin? 0 (cos? +sin? 9) +cos?6] (dr)? +[r?cos?0(cos?9 +sin?o)+r?sin?@ ](d@) +[r? sin? @ (sin? + cos?) ](do)* +[2rsin @ cos 6 (cos? +sin?¢)-2rsin@cos@]drd@ = (sin? @ + cos?) (dr)? +r?(cos?8+sin?)(dO)?+r7sin?O(do)?+0 =(dr)+r?(d@)+r7sin?70(do) AREA ELEMENT We know that the elements of area in an orthogonal curvilinear coordinates are : dA, =hzhs;du,du,, dA; =h,hyjdu,dus; and dA; = hj h2du,du, In spherical polar coordinates , these become dA, = (r)(rsin0)d0d@ = r?sinOdOd6 dA, = (1)(rsin@)drdg = rsinOdrdg dA; = (1)(r)drd® = rdrd@. VOLUME ELEMENT The volume element in orthogonal curvilinear coordinates dV = hyhzhsdu,du,duy In spherical polar coordinates , this becomes dV =(1)(r)(rsinO)drdOd@ = r?sinOdrdOdg. 6.35 EXPRESSION FOR JACOBIAN IN SPHERICAL POLAR COORDINATES We know that the Jacobian in orthogonal curvilinear coordinates uy, u, uy is given by XY In spherical polar coordinates hy = 1, hz =r, hy=rsin@ and u, = ay=6 = (1)(r)(rsin®) =r? sino eesti ee‘VECTOR AND TENSOR ANALYSIS 636 EXPRESSIONS FOR Weknow that x = rsin@cos$, y = rsinOsing, and ot = VT Hy" 427, 0 = ty EE = n't oy E xl 22 A; = A,cosO-Agsin®@ f = sin cose, +cos O cos} co-singcy } = sin@ sing ¢,-+cos O sing e+ cos ¢ eg { = cos@e,—sinOe9 EXPRESSION FOR GRADIENT awa ave We know that Vy = ye een ee a aya By cosOcosp dy sing dy Dx! =(sin@cosoae + Te ~ rind 06 (sin @cos $¢,+c0s Ocos oC o-singeg)me CURVILINEAR COORDINA), = sin? @ cos? ot ave, _,1i26.c0s @ cos? sin@corOeos"@ v2, _s sin gros} JW sve, . cos?Ocos?o Awa cos Osin Eos 9 sinter ig OEE. astern, . aya con 8p gaya | sin 29 dyn ~sin Saif $ cos @y, e¢— Fe°+*rsine 29°? 2) awa (« no ou 4 Sm asing AY | cose ay dy) =(sinosinog + —T Do *rsine 2¥) (sino sin 92,+ eos singZo-cond24) = sin?@ sin? ose ave eee $23.5 ges 2 a + sin 8 cos 6 sin? ott ceteante O45, + oes, ae y sats Oso aw cos’ ’ a singin gE y+ pacer eee & 8) (cose aw sing ay Oop or o < is av) (maty-anete) | N ava a 7 cos*o5¢e stent 28, sin 8 cos 8 ave, sim TO Substituting equations (2) , (3) , and (4) in equation (1) , we get aya Vw= (sin? 0 cos? 9 + sin? sin? 9 +c0s*@) 5 ey (snocoebeosi@ sin @ cos 9 sin? sindeoso) 32 * r * T —"r Jaetr awa + (sin 8 cos @ cos” +sin @ cos @ sin?—sin @ cos) Fee (= Ocos?> cos*Osin°@ sin 20) avs (8 cos?) dys +(e ) 080 reine *rsino) 06° ¢ a o =Vwe [ sin? 0 (cos? + sin?) +6070] Se, i a +[ Seees® (cos? +8in?) - ae] ave, +[inoconocentgsin?4)-dnasne] 3gZe a [s (cos soe oe +n awa 19Ya 1 ave o = VW O G+} 5o00+ rain6 29°° ©) ‘Scanned with CamScannerVECTOR AND TENSOR ANALYSIS EXPRESSION FOR DIVERGENCE Weknow that V. A = 241 3h 2a 6) aA 2 cosBeosg 9 sing fn. Se , SS Cos G in a Now “5x (sin cos 92 + t 2e- ot 2) (Arsin 8 cos $+ A.9.cos 8 cos $— Ag sing) QA, sin @ cos @cos* cos? @cos*o = ( sin 0cos? opp Deeg Ar cor Ocoee sin AL, sin? ) - Sgt Ar coc dag — nBons dense, r ae r cos 0 sinGcoso 9 Ag cos @ sin? ) “isin 9 * reine “0 aia sin? Ag sin 508% ) *rsind a9 t-fsing Ae) 2A , 4d cos@sing 9 cosd 9 oA, + By =(sine sing 2+ rT aor +t 3) (Ar sin sing + Ageos sing + A.gcos ¢) +( sino cos 0 os? 9 2A8 + Ac, 0 Osin?9 9A, cos?@ sin? = ( 1a 1 1 dAg or VLA =r Or (rr? Ar)+ Tino Besinda rg a6 (10) EXPRESSION FOR CURL We know that a oA i j k x;-|2 2.2 Vv eft ff xA= 195 By 32 A, Az As DA dAz)s (2A, QAs)\4_ (2Az_ IA,)a —(24A._ Az 9A, OA, dA, “(3 se )te( az i+ - aye ay a cosOsing 9 cose a = 8 3g) (Arcos @-Agsin 0) aAa _ (sino sing 2 O82 s 29 ‘ C = snpea Ting hts cos Orin@ Bar _ sin ® s Sind 5 cos@cos¢dAr 5, dAg sin® sin@ dA + Fsin@ ag 8" Osin gD, ~ = Tat De cos? @ sing cosd DAG wT OT 8G ‘Scanned with CamScannerVECTOR AND TENSOR ANALYSIS 367 Aa. (wees ’ az or roo (Arsindsing+ Agcoesing+ Agcos4) _ sin? snoring as s See toc, ,2Ao sind ‘cs cnt +cos?0 sing “9 ae 3 aaa ste eos Ocos AAs _ SnOeard Dae T DA, _9Az_ sing DA, cos8 Dy 7 dz =e (608 O+sin?9) SAL, ogee Bas ~sin g (sin? 0 +c0s? 9) 2A2 sing -=F* (cos? 0+ sin?0) Ag et BAD. cos 0008 ois, Snberte dhe ads _2Aa)t _ (sn Bar 420880089 DAL sing (B az)! r 007 rsind Fi-sing BAe He, cosd 2A DAg, sinOcosd 9A ~ re AE cos cong BAL, OS De (sin 6 cos @¢,+cos @cos te—singeg) sn sp 5 DApn _ cosd = 2 ae er nt asenetart unit, @cos? ee ae G,~sin 0 cox 0 cox? 92428, sin?@ cos? 2Aga _ cosO sin QA, cos? Oc0s? DArA r 30 r 90 °°*” rsino ag €° ‘DAgs Osi a @ — cos 0 sine g AP A oo Be Ate sate e Daag, in 8 cos 0 2 tog A site BAe, cos 8 sint0s > 2 BAge sin? 4 raat * eg+sin 292Aa Aas oe Aote a 9 20D ang ynp oe ty SRE Bes, (12) aA, 9 _ sin® 2) (4 sin dcosg+ Ag cos cos ¢—Ag sing) az = cos O57 - r a0 Sit ® - sing 3 Ay _ sin sat oenee 2, in 0 eas OCS es tit Dh 7s cos + c0378 cos 288 - s ete a inbsind DA -cosOsing@Z, +r a6 ‘Scanned with CamScannet368 CURVILINEAR COORDINATE 3 / an, (sn tame stent 2-3 int. 2) (A,cos 0- Ao sin® ) sin 2 cin eortg 2A cos Posse BAe _ sins, sin c9s08€05$ Ag mon sing DA, sinatra a0 cos?@cos, sing 3A -—— TF er T FTY aAg Ar _ 9A. 5 sn? o + cos? 0) SAt 4 cos9 (cos?O+ sin? 8)", dre, inOsing BA 259 in? 4.00870) Ao cos@sing“, ty a0 "ca ding 3A, sing dAg rsin@ 99° F oe aA (BAL Bn). (SEP EAL cng PAB, Png con sing sin@sing Dg cosOsing JA; sing JAg aaa) aT 38 t rend ae r 86 (sin 8 sin 66, +08 @ sin 9C9+cos 6¢9) . in 8 si ___ 88 indo ¢ SWehresasansen tt, saga r sin? @ sin? cos 0 sin? DAre = sin @ cos 0 sin 2g2A8t; ' sn tant dAse te $ a¢° é 0 6 OS _ sin @ sin” “¢ 208, "setae 2A yy cag Atty T sin 0 cos 0 sin? BAat, 0s @ § £089 since 58 3 Go-cos*O sin® o2Aee, 0+ 30 Sd + r cos? @ sin? 2Are ssi! 2AgA _sele 26 ALA rsin® et Tr ag °8 30°? +cos?g2Aa oye 8 bya sng Ki ar °¢ sind Soot) DAan gOS OSDHTOSG DA pA sin gcosG DAga + a0 ° rsin® 09 S977 — ao aa a. cosdcosd a sing a se (una 30 ~ rsind a6 CArsin@ sing + Agcos sing + A.9cos#) sin@ ssi pes . sintpei Foros in @ cos Sst Bh , sos? si O54 ab Ae sp geoeé rvanstc Cae 268VECTOR AND TENSOR ANALYSIS a HALON EGG ang sin cos Os oso, cos0sin®g 2A ' a0 r 9- Tsin@ a6 £0s 0 singcos DAg conOcos 9 —7rsin@ Ag+ sinO cox? g Ae , nO cos ¢ nA sin ¢c0S$ JAg sin? — HD OSONG DAg sin? Tsin@ 99 *rsingAe aa. (4 ing d-, 08 88ing 9 cos Q 7 sin sin 95+ 5+ 2) (Ay sin @ cos 9 + Ag cos cos ¢—Ag sing ) = osm pcong 2s, MOORE I 8 Ing Osi S58, 6087 DA, sing <656 aa Ee ee ay esi cose cone 2A8 + S082 O3iN TES 6 Vo sin 0 cos.0-sih @ cos @ cos 0cos?6 Ag r a0 ~ r Ao+Tsin® a6 DAg cosOsin?> DAg T cos 0 sin gtos @ Ag-sin @ sin? o> 7 36 Tsind sing DAg cos? “SFsin@ 96 ~ rsino A? QA, 2A 1 OA, cos aA dA, GA, deo 2.2 . Da By = rl sin? g +0579) va Hang sinter en¢) fa + sin 0 (cos? 9+ sin? 9) 2A8 P82 cos? 9 + sin?g) ABs = (sin? 9 460576) Ay QA, DAL) L dA, cost. PAQ, . DAg cosd aA 1 ) Sa. S41 = =o. _ i ee £50 , Ste S46 (3% - as 7 (+ 2¢ ~rsind 6 75° ar tr 00 train Ae . (cos @e,-sin@e) 3 a A e02At2, 288902 sn peagg DARE, = 06“! rsm@ 99 r 2 cos? Ags cos, A. sin® DAga Tr 90 *rsinaeor* ¢ ag oe + sin @cos@ DAga A aa 1 eral eat eT reer Substituting equation (12) , (13) , and (4) in equation (11) , we get - 79 9A,4 sinOcos?@ JAga DAga VxA = (seer See a Fol be sin 0 c01 0 cos 9 h#e, sin tO cos"e aAds cos?@cos?@ DAs cos OOS? JAga r 0 = ae we Tsin@ 09 88 aq oe A sinOcos@cos?@ Aga sin? DA, a = cos? 0 cos? 9A HE ge OES 30 °° + oe ce 2 oon +sin?@ dane, Aste) ‘Scammed with ComSear_ CUR VELEN SA i ON RDINA Thy sin? sin?@ JAgA _ £08@sin?9 dA, +(- sin 8 cos @ sin? orAte ee ect or agit aA sin @ cos @ sin? 9 et ee cos roumtatgt tee —_ aAee, cos*Osin?¢ QA,A gosOsin! QaA gy ee aes, rsin@ ae ol a0 T 2 +0087 92M sottats) 058 DArn cos?@ DA dvs “(- rT OO ert sind OO e+ sin @ cos 0 ar cos" 29 2Ag* cos, A snd Art, rT 80 °trsing AOer* ao” DAgn sin@cos@ Ag 1, 8 +S58 BAe e9-sin ree? op —Snbest SS wee VxA= $258 cos? g+sin?g) 2A ae care 829 (cos? g+sin? 2g) 2Ae age manera gna gee sin? 8 cos? 9 sin?) eee, 8 cos? +sin?9) oAre,* stra rr eae ea) thee o+sin? 2 A caer, —* (cos? o+sin? ttt Arey + (cos? o+sin? oy2Ae A on i . a cos @ DAra cos?@ JAgA +7 (cos? +sin?@) Age g— T Dee Te et Ags ,cos*ODAgn | cos@ , a sind DAre, sin Boos OA A8E, 4 Se Oe SET Agere ye Gate 030 9A DAgs sin @eosd Aga 1 7 Bg consi Og OM snGeose Seto p Agee oA 8a . = sub args Bayi id Dag, 4 90820 Are DAgs DAgA sind e650 DAGA *rsind 09 °° Fg C0-c087 0S tg 4 A oat, LdAca DAga Lia a 2 “F908 Or setnnty SEAN ond oe i DAgr | cos? DAga a sing det sass, veg natnYECTOR AND 1ENSUR ANALYSIS -(# rsi cos’ cos? dA, a Tsin@ 99 €0~(cos*@+sin?@) oA -( ( [ (- 1 +7 rsin® dare qa 1 or cos? rsin@ + (es , rsin® ( 1 r (- r a0 1 Tin 8 7 sin aA or (3 1 = FT sind (2 i er a or Ar VaA = ory sin® sin® cos? + Feet tAady eSee sin? 0 +cos?@ aAg “Tsin8 6 1 2Ae rsin® 6 2@+sin?0 rsin@ 1 Ag, 2058, +rsindA?-Tsin® 26 [(+s aA, -rsino2A2_ sin Ag )ro+ (2a 7 +Ao-2At) ssn 02, | a . a [(Pacesinongr-ggtr aed é r m 3A, ) Aes, (sin? @ + cos? 6) Ags or 4 088 1dAea ye erty ae © dAg or 4 Age tee a olla Cyt t Ag g +e sin@ r ) 1 +7 Ww oA 221 ae * aAn)a eet ) 1 dA, 4 1 aan) a (ata aq ~TtAemr ar Jee 1 aa 2Ag_ 1 rsin@ or ( ino 2Abarcordhyr2At) 8, oA a Sor 5 wana Ae sind Asin )e 2 (rsin Ag) )rlo#( 2c aey—2At) sino, | 189 rsinOeg aH as) rsin@ Ag ae rAeCN NAT ES, 372 EXPRESSION FOR LAPLACIAN We know that aya 19WA 1 avs (16) vv= are Feo’ rsind 99°° = _1_ abe a7 and VLA = Xe AdtaG Pylon Ao) + rain a6 From equations (16) and (17) , we get ty 2 1 Vivev.vyeg ade ea H( sno SE) +rranrs 3 eae 8) vor 6.39 TRANSFORMATION EQUATIONS FROM CYLINDERICAL TO SPHERICAL SYSTEMS If we denote the cylinderical polar coordinates by ( 9 ,, 2), then we know that eWay, gent, eee w In spherical polar coordinates , we have . =Vattytee, 6 = a EE, @ = un! @ Then from equation (1) and (2) , we get BE, onu2, gad RELATIONSHIPS BETWEEN THE UNIT VECTORS OF CYLINDERICAL AND SPHERICAL COORDINATE SYSTEMS We know that in spherical coordinate system a an a €, = sin@cos@i+sinO sing j +cos 0k a 4 ‘ a 9 = cos Ocos $i +cos @ sin 6 j — sink a) be =—sing t+ 005 6F If p,6,z are the cylinderical coordinates , we have a a = cos $e,—singeg = singe, +003 eg ! (2) g=e, i ° Substituting the set of equations (2) into set of equations (1) , we get er = sin@cos$(cosoe p~sin $4) +sinOsing (sind ptcoshey)+cosOez = sin@ (cos? + sin? o)e, +c08.00, = sinO¢,+cos Oe; Q)£0 Ocos 9( cor@e,singZy) +cos sing (sine, + 0062p) - = cos 0 (cos?$+sin?9)2,-sinoe, ao, = cose,—sindc, (4) ey = ~sn 9 (cos 92,,~sing 24) +0056(sing,+c086%y) = (sin? + 00576) e4 = oy (5) Jn matrix notation , equation (3) , (4) , and (5) can be written as 7 nO 0 cosa Trg, ee [=| cos® 0 —sine ey (6) ey o 1 Oo e, Similarly , in cylinderical polar coordinates C, = coso i +sing? eo =-sing T+ cos9? m aa e.=k Also , in spherical polar coordinates , we have fe sin 0.cos 6, +c08 Oc0s §¢9— sin eg je sinOsing 2, +c0s sing 29+ cos 604 3) & = cos @2,—sindeg Substituting the set of equations (8) into set of equations (7) , we get c, = coso(sin Ocos $e, +c0s cos} eo-sin bey) +sin 9 (sin 0 sin 2, +c08 0sin 6 €9+c05 Cy) = sin @ (cos? + sin? )e, + cos 0 ( cos? + sin?) 2940 = sinO¢,+cos 009 (9) &% = ~sing (sin cos ge, +cos Ocos 6 e9— -singey) +2089 (sinO sin 92,+ os 0 sing 29+c0s 924) = 040+( sin? 9 +003? $)e9 = ey (io) C2 = cos0e,—sin Ooo an Tn matrix notation , equations (9) , (10) , and (11) can be written as e, sind cos® 0 . >> ey {=| 0 0 14) es (12) e cosd -sin@ ol Le, |374 ay eee RDIN A: 6.41 SOLVED PROBLEMS PROBLEM (1): If u,,u,,U5 are general curvilinear coordinates , show that ar ar at Jug, V uy are reciprocal sets of vet au,’ du,’ du; and Vu,,VU2 a ors, SOLUTION: Ifthe two sets of veetors are to be reciprocal , then we must show that ar 1 if i=j , St vu ij 2.23 aa {5 if isj where i,j = 1,2 Now fF = 1 (u,,U2,U3), therefore = 8%, Fy, Pe dr = 9u ott gu, ott aut (1) ‘Taking the dot product of equation (1) with Vu, , we get - r ar an Vu.dt -(v0,.2 te 2 Jaa (00, 22)osse(v0.-2E em or as, ( Jau,+(90, 22 Janse (o.,.22 Jas, 3 sch impli ar r i which implies that Vu, -53- = st s0 Q) 1 Similarly , taking the dot product of equation (1) with V uz, we get at an at Vg Sg = 0, Vuregg sts Vergy, =O @) Finally , taking the dot product of equation (1) with V uy, we get at an ae ay Fue 20) Vise gg, 0) Veagy, =? “ ‘The equation (2) , (3), and , (4) can be summarized as 18) (vuy.vaxves) #1. SOLUTION: We know from theorem (1.28) of Chapter (1) tht if 2b, ¢,and A.B. # reciprocal sets of vectors , then (a.0xe)(A.BxC) =yECTOR AND TENSOR ANALYSIS 375 Since wy’ Juz’ du; 24 Vu,,Vuy,Vuy are reciprocal sets of vectors, therefore a (2, 22) .-vupevns) = ALTERNATIVE METHOD - 1 ay - Ju, 7 Me ay 7 hea. and a ests = hye: shoeaxhy oy = hyhghye, .02x03 = byhghy (since @,.¢2x¢3 = 1) a a alo Vur=—, Yur =£, and Voy = 2 Then = Vu,.Vu2xVuy A ALA 1 Byhahy (81-82%) = Dah at aria Hence (22 22,2 2) cou, vexv05) = h 2) (Gos =1 mm) hyhabs Note that since the normals to the coordinate surfaces are not coplanar at P as shown in figure (6.3) , therefore the scalar triple product Vu, .Vu,xV uy is non-zero. ALTERNATIVE METHOD - 2 Wehuve T =xi+y}4zk then by definition ax dy ae _ . du; du, uy ae arate _ | ax ay ae a(S ) duyduz*dus~ | uz Juz Juz} ~7 Udy aa,uy dx Oy; dz du; du, dus Qu, du, duy Qu, du, duy ax dy dz ax ax dx au, du; dau Qu, au, au md Vuy.VurxVus = | 52 57 G2] = oy ty oy Quy Guy ayy du, du, dus ax ay az az az Oz _ (2 uy 12) "= KZ and so by a theorem on Jacobians at ar ar Eye (22.2 "du; * du; Jeo varaves) =3( E22) s(316 PROBLEM Bee x @ wr CURVILINEAR COORDINATES Consider the curvilinear coordinate system defined by zee"tsinu, how that the system is orthogonal ang and hs. "Ieosuy » x=Uy, y= Find the unit vectors ¢,,€2,€s and si left-handed . Compute the scale factors hi ha» Find Vy and Vy if y = uj+us+u3 Ww = - =~ oa (i) Find V.A and VxA inthis system for the vector field A = u5e,~e2¢,, SOLUTION: () The position vector F for this system can be written as 4 a sf aw ote t T =xity}+zk =u, i+e"%cosu,j +e ?sinu,k ar a Then Sus 7 ~eTtsinu }+e"cos uk are , a aris = 2 j "2 sis —s= Fu, = evreosu, Fee Msinu yk , mw! a7 Also Ere = V(-e"?sinu, )?+(¢"%cosu,)? = Ve?"sin?u, +e7"2 0870, = fe? (sin?u, +e0su,) = Ve™? =e”? ae aa au,| = Ve Zcosu, +(e" Fsinu, = e?"?(cos?u, +sin?u,) = fer"? =e"? ar 4 au, | = Wilet at x a du, e"2sinu,} +e"? cosu,k Thus €1 = 5 sin J +05 0 r a ' an a __du,_ _ e"?cosu fee'2sinuk * A e2= 9 eu = cosu,j +sinu, k r au; ar a au, fo =p pays! or au,VECTOR AND TENSOR ANALYSIS nA 4 “ 4 ‘ Since Cie, = (-sinu,}+cosu, 8). (cosu, f+sinu, £) = ~sinu,cosu,+cosu,sinu, = 0 2-05 = (coru,}+sinu,h).f =o 25-01 = 1. (—sinuy}+cosu,f) = 0 ‘Therefore the system is orthogonal . Next, Xe, = (-sinu, 7 +cosu,&)x(cosu, }+sinu,£) in?u, bcos? 2 ry yf = -sin?u, P-cos?u,? = -(sin?u, +cosu,)f G2xes = (cosu,f+sinu,k) x? = ~cosu,R+sinu,} = sinu,f—cosu,f = sinu,}+cosu,£) = -¢, eyxe, = Hx (-sinu, J +eosu, ft) = -sinu, k-cosu,} = ~(cosu, f+sinu,£) = -2, ‘Thus the orthogonal system is left — handed . The scalar factors are given by ar] y ar] sy at he lou [set be au| =e bee [SE] at @) Given that y suj+ui+u3, therefore ay av ay du 728 Fy, 2. FE = 2a, ‘We know that in an orthogonal curvilinear coordinate system 1 Own 1 awa Y= hou’! thy du, *hy au, o7"2(2u, 98; He782( 24,034 (2u5) 85 - a a a = 2e7"2(u,e,+u,e;)+2u,e5 1 a (bzw) a (hy ov a hy wd VW = hs [33 hi it) a,( hy du *)-an(* hy *)] 1 a (es? * eH Le HI} seu 3a (e ze "24,9) | « ot aug Boj (202) +53 Ce? “24,99 ] = e7"2[ 24242072] =~ "2(4426242)aie CURVILINEAR COORDINATES > A oat (ili) = Given that A = u,e,-e"%es ‘We know that in orthogonal curvilinear coordinate system . v.A a casbabsy ogi (arts bidege, (A001 ] = hyhjh = yeaa Lay (eater depy, EM) sai coven) ae [3% (uye" 24g (0)-55, 2o)] sim [0+0-0] =0 hye, hats byes 1 a 2 2 md YXA® Tihs | Ju, du; Duy Ayhy Aghy Ashy A yak oA e“te, e'te, €3 fa 2 a = (e)(e)(1) | Jur dur Dus uc"? 0 =e"? a ay [ettist (-e"-0) +eea5 (u,e"?-0) +2,(0- 5 (we"))] 7; [(-e82 eo, +(e" eM Cz—uset22y] 1 A a a = Leet ee", -u585)] CYLINDERICAL COORDINATE SYSTEM PROBLEM (4): /' Represent the vector A = zi-2x}+y in cylinderical polar coordinates , and determine Ar, Ag, and A,. SOLUTION: We know that in cylinderical polar coordinates , x=reos®, y=rsin@, z=z 4 * A oa A non and 7 = cosOe,-sinOeo, j =sin@e,+cosOeg, R= 2, Then A = z2i-2xfeyk a 7 . = 2 (cos 0€,-sin8@q)—2rc0s0(sinOe,+cosOeg)+rsinoe, = (20050-2105 0sin8)E,~(zsinO+2rc0s78) S94 sing? 2