Chapter 1; Vector analysis
Think of a coordinate as a method that helps "me" communicate to "you" a certain position. For example, in the cartesian coordinate system, when we agree
on an origin, a unit, and some axes, I am able to give you instructions that lead you to the position/point I desire to communicate to you.
1) Cartesian coordinates
In cartesian coordinates, here's how we interpret Q(a, b, c); To reach Q, start at the origin, move a units in the x axis, b units in the y axis, and c units in
the z axis.
We define the position vector of P to be the vector that starts at the origin and ends at P ;
→ ^ + y y
r = x x ^ + z^
z
The differential length is
→ →
dl = dr = dx x
^ + dy y
^ + dz^
z
The differential volume is
dv = dx dy dz
The differential surfaces illustrated are
−
→
dS x = dy dz x
^
−
→
dS y = dx dz y
^
−
→
dS z = dx dy z
^
2) Cylindrical coordinates
P (ϕ, ρ, z) means; To reach the point P , start from the origin and move a distance of ρ in the first axis, rotate ϕ degrees counterclockwise, then go up a
distance of z.
ρ ≥ 0, 0 ≤ ϕ ≤ 2π, − ∞ ≤ z ≤ ∞
x = ρ cos ϕ, y = ρ sin ϕ
y
2 2
ρ = √x + y , ϕ = arctan ( )
x
−
→
−
→
−
→
→
The position vector is
Note
angle ϕ, use;
⎢⎥
⎡
⎣
x x
→
r = ρ cos ϕ x
Aρ
Aϕ
Az
^ϕ = ϕ
⎦
=
^ + ρ sin ϕ y
⎣
^
cos ϕ
− sin ϕ
0
^ + z^
By differentiating r→ and scaling, we could construct a set of (orthogonal) unit basis vectors;
e
^ρ = ρ
e ^ = cos ϕ x
^ = − sin ϕ x
^ + cos ϕ y
unlike classical cartesian bases, these basis vectors depend on ϕ, the angle of P.
^z = z
e ^
^
z
^ + sin ϕ y
^
Therefore, to be able to perform vector operations (addition, dot product, ...) expressed in cylindrical basis, they need to be expressed at
points with the same angle ϕ.
→ →
If I have a vector A expressed in cartesian bases as A = A ^ + Ay y
^ + Az z and I want to express it in the bases ρ^, ϕ^ and z^ constructed at a point P with
sin ϕ
cos ϕ
0
0
1
⎤⎡
⎦⎣
Ax
Ay
Az
If I have a vector A expressed in the cylindrical bases ρ^, ϕ^ and z^ constructed at a point P with angle ϕ as A = A
it in cartesian bases, use;
The differential length is
dl = dr = dρ ρ ^ + z^
^ + ρdϕ ϕ z
The differential volume is
The differential surfaces are
^
dS ϕ = dρ dz ϕ
−
→
3) Spherical coordinates
P (r, ϕ, θ)
⎡
⎣
Ax
⎤
Ay
Az
⎦
=
⎡
⎣
cos ϕ
sin ϕ
0
− sin ϕ
cos ϕ
dv = ρ dρ dϕ dz
dS ρ = ρ dϕ dz ρ
^
dS z = ρ dϕ dρ z
^
0
0
1
⎤ ⎡
⎦ ⎣
Aρ
Aϕ
Az
⎤
⎦
⎤
means; move r units in the z axis, rotate θ degrees towards the x axis, then rotate ϕ degrees towards the y axis.
ρ
ρ ^+ A θ
^ + Aϕ ϕ θ
^
, and I want to express
The position vector is
Note
point P with angles ϕ and θ, use;
express it in cartesian bases, use;
⎪⎢⎥
⎡
⎣
e
e
→
Ar
Aθ
Aϕ
Ax
Ay
Az
⎤
⎦
⎧
=
x
⎣
x
r ≥ 0,
x = r sin(θ) cos(ϕ),
θ = cos
r = r sin(θ) cos(ϕ) x
^=
^θ = θ
^ =
^ϕ = ϕ
−1
0 ≤ θ ≤ π,
^ + Az z
sin(θ) cos(ϕ)
cos(θ) cos(ϕ)
− sin(ϕ)
sin(θ) cos(ϕ)
sin(θ) sin ϕ
cos(θ)
^
2
r
2
r = √x + y + z
^ + r sin(θ) sin(ϕ) y
By differentiating and scaling r→, we could construct a set of (orthogonal) unit basis vectors;
e
^r = r
^= sin(θ) cos(ϕ) x
− sin(ϕ) x
^ + cos(ϕ) y
^
unlike classical cartesian bases, these basis vectors depend on ϕ and θ, the angles of P.
2
) = cos
ϕ = tan
0 ≤ ϕ ≤ 2π
y = r sin(θ) sin(ϕ),
−1
−1
^ + r cos(θ)^
^ + sin(θ) sin ϕ y
cos(θ) cos(ϕ) x
sin(θ) sin ϕ
cos(θ) sin(ϕ)
cos(ϕ)
z
(
x
)
^ + cos(θ) z
^ + cos(θ) sin(ϕ) y
^
^ − sin(θ) z
^
If I have a vector A expressed in the spherical bases r^, ϕ^ and θ^ constructed at a point P with angles ϕ and θ as A = A
cos(θ) cos ϕ
cos(θ) sin(ϕ)
− sin(θ)
z
z = r cos(θ)
√x 2 +y 2 +z 2
cos(θ)
− sin(θ)
− sin(ϕ)
cos(ϕ)
0
⎤ ⎡
Ar
)
Therefore, to be able to perform vector operations (addition, dot product, ...) expressed in spherical basis vectors, they need to be expressed
at points with the same angles ϕ and θ.
→ →
If I have a vector A expressed in cartesian bases as A = A ^ + Ay y and I want to express it in the spherical bases r^, ϕ^ and θ^ constructed at a
⎤ ⎡
⎦ ⎣
⎦ ⎣
Ax
Aϕ
⎤
Ay
Az
Aθ
⎦
⎦
→
r r
^
^ + Aϕ ϕ , and I want to
^
+ Aθ θ
