Lecture Guide in Vector Analysis

COORDINATE SYSTEMS

At the end of this session, the student should be able to:

 Express vector field as an equation in Rectangular Coordinate System.
 Convert vectors in rectangular coordinate system to cylindrical coordinate system
 Convert vectors in rectangular coordinate system to spherical coordinate system
 Solve more related examples on problems involving vector operations and vector
transformations.

2.1 Vector Fields

Vector field is a function of position vector. In general, the magnitude and direction
of the function will change as we move throughout the region, and the value of the vector
function must be determined using the coordinate values of the point in question. In
Cartesian coordinates, the vector field is a function of the variables x, y, and z.
If we again represent the position vector as r, then a vector field G can be
expressed in functional notation as G(r); a scalar field T is written as T(r). For example,
we may write the velocity vector as
𝒗 = 𝑣𝑥 𝒂𝒙 + 𝑣𝑦 𝒂𝒚 + 𝑣𝑧 𝒂𝒛 or 𝒗(𝒓) = 𝑣𝑥 (𝑟)𝒂𝒙 + 𝑣𝑦 (𝑟)𝒂𝒚 + 𝑣𝑧 (𝑟)𝒂𝒛

Where each of the components may be a function of x, y, and z.

Example:
1. A vector field is specified as 𝑮 = 24𝑥𝑦𝒂𝒙 + 12(𝑥 2 + 2)𝒂𝒚 + 18𝑧 2 𝒂𝒛 . Given two
points, P(1,2,-1) and Q(-2,1,3), find: (a) G at P; (b) a unit vector in the direction
of G at Q; (c) a unit vector directed from Q toward P; (d) the equation of the
surface on which |G| = 60.
25
2. A field is given as 𝑮 = 𝑥 2 +𝑦 2 (𝑥𝒂𝒙 + 𝑦𝒂𝒚 ). Find (a) unit vector in the direction of
G at P(3,4,-2); (b) the angle between G and 𝒂𝒙 at P
3. Two vector fields are as 𝑭 = −10𝒂𝒙 + 20𝑥(𝑦 − 1)𝒂𝒚 and as 𝑮 = 2𝑥 2 𝑦𝒂𝒙 +
4𝒂𝒚 + 𝑧𝒂𝒛 . For the point (2,3,-4), find (a) |F|; (b) |G|; (c) a unit vector in the
direction of F-G; (d) a unit vector in the direction of F + G.

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Lecture Guide in Vector Analysis

2.2 COORDINATE SYSTEMS

In general, the physical quantities we shall be dealing are functions of space and
time. In order to describe the spatial variations of the quantities, we must be able to
define all points uniquely in space in a suitable manner. This requires using appropriate
coordinate system. A point vector can be represented in any curvilinear coordinate
system which may be orthogonal and non-orthogonal.
A considerable amount of work and time may be saved by choosing a coordinate
system that best fits a given problem. Some of the coordinate systems (orthogonal) are
Cartesian, Circular cylindrical, Spherical, elliptic cylindrical, parabolic cylindrical, conical,
prolate spheroid, oblate spheroid and ellipsoidal.
In this discussion, however, we will discuss only three: the Cartesian, circular
cylindrical and spherical coordinate systems.
2.2.1 Cartesian Coordinates (x,y,z)
As discussed previously, a point P can be represented as (x,y,z). The ranges
of the coordinate variables x,y, and z are
−∞ < 𝑥 < ∞
−∞ < 𝑦 < ∞
−∞ < 𝑧 < ∞
A vector A in Cartesian coordinates can be written as 𝐴𝑥 𝒂𝒙 + 𝐴𝑦 𝒂𝒚 + 𝐴𝑧 𝒂𝒛
Where 𝒂𝒙 , 𝒂𝒚 and 𝒂𝒛 are unit vectors along x-, y- and z-directions.

2.2.2 Circular Cylindrical coordinates (𝝆, 𝝋, 𝒁)

The circular cylindrical is used when the problem encountered is in cylindrical

symmetry. A point P in cylindrical coordinates is represented as (𝜌, 𝜑, 𝑍) and is as
shown in the figure above. By inspection, 𝜌 is the radius of the cylindrical passing
through P or the radial distance from the z-axis, 𝜑, however, is called the azimuthal

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Lecture Guide in Vector Analysis

angle, and is measured from the x-axis in the xy-plane; and z is the same as in the
Cartesian system. The rage of values of the components are:
0≤𝜌<∞
0 ≤ 𝜑 < 2𝜋
−∞ < 𝑧 < ∞
A vector A in Cartesian coordinates can be written as 𝐴𝜌 𝒂𝜌 + 𝐴𝜑 𝒂𝜑 + 𝐴𝑧 𝒂𝒛
Where 𝒂𝜌 , 𝒂𝜑 and 𝒂𝒛 are unit vectors along 𝜌 -, 𝜑 - and z-directions. The operations
in Cartesian coordinates, as well, apply to circular cylindrical coordinates. The
magnitude of A is
2 2
|𝑨| = √(𝐴𝜌 ) + (𝐴𝜑 ) + (𝐴𝑧 )2

Notice that the unit vectors in circular cylindrical coordinates are mutually
perpendicular with each other so, dot product and vector product also applies.
The relationships between the variables (x,y,z) of the Cartesian coordinate
system and those of cylindrical system (𝜌, 𝜑, 𝑍) are easily obtained by the
transformation formula as:

Or

In addition, the transformation of unit vectors is obtain geometrically or

through dot product by

or

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Lecture Guide in Vector Analysis

The relationship between the two coordinates is illustrated by the figures

below:

Finally, the relationships between (𝐴𝑥 , 𝐴𝑦 , 𝐴𝑧 )𝑎𝑛𝑑 (𝐴𝜌 , 𝐴𝜑 , 𝐴𝑧 ) are obtained

simply by substituting and collecting the terms. Thus,

In matrix form, we have the transformation of vector A from

(𝐴𝑥 , 𝐴𝑦 , 𝐴𝑧 )𝑎𝑛𝑑 (𝐴𝜌 , 𝐴𝜑 , 𝐴𝑧 ) as:

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Lecture Guide in Vector Analysis

And vice versa,

Similar result is obtained from,

Example:
1. Transform the vector B=𝑦𝒂𝒙 − 𝑥𝒂𝒚 + 𝑧𝒂𝒛 into cylindrical coordinates.
2. Give the Cartesian coodinates of the point C(𝜌 = 4.4, 𝜑 = −115°, 𝑧 = 2). Give the
cylindrical coordinates of the point D(x=-3.1, y=2.6, z=-3). Specify the distance from
C to D.
3. Transform to cylindrical coordinates: (a) 𝐅 = 10𝒂𝒙 − 8𝒂𝒚 + 6𝒂𝒛 at point P(10, -8, 6);
(b) 𝑮 = (2𝑥 + 𝑦)𝒂𝒙 − (𝑦 − 4𝑥)𝒂𝒚 at point Q((𝜌, 𝜑, 𝑍). (c) Give the Cartesian
components of the vector ) 𝑯 = 20𝒂𝜌 − 10𝒂𝜑 + 3𝒂𝑧 at P(x=5,y=2, z=1).

Answer:
1. 𝐵 = −𝜌𝒂𝜑 + 𝒛𝒂𝑧
2. a. C(x=-1.860, y=-3.99, z=2) b. D((𝜌 = 4.05, 𝜑 = 140.0°, 𝑧 = −3). And c. 8.36
3. a. 12.81𝒂𝜌 + 6𝒂𝑧 , b. (𝟐𝝆 𝒄𝒐𝒔𝟐 𝝋 − 𝝆 𝒔𝒊𝒏𝟐 𝝋 + 𝟓𝝆 𝒔𝒊𝒏𝝋 𝒄𝒐𝒔𝝋)𝒂𝜌 + (𝟒𝝆 𝒄𝒐𝒔𝟐 𝝋 −
𝝆 𝒔𝒊𝒏𝟐 𝝋 + 𝟑𝝆 𝒔𝒊𝒏𝝋 𝒄𝒐𝒔𝝋) 𝒂𝜑 ; c. 𝑯𝒙 = 𝟐𝟐. 𝟑, 𝑯𝒚 − 𝟏. 𝟖𝟓𝟕, 𝑯𝒛 = 𝟑

2.2.2 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 illustrated as shown below. Radius r is defined as the distance
from the origin to the point P; 𝜃 (called the colatitude) is the angle between the z-
axis and the position vector of P; and 𝜑 is measured from the x-axis.

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According to these definitions, the range of the variables are:

0≤𝑟<∞
0 ≤ 𝜑 < 2𝜋
0 ≤ 𝜃 ≤ 2𝜋
A vector A in spherical coordinates can be written as 𝐴𝑟 𝒂𝑟 + 𝐴𝜃 𝒂𝜃 + 𝐴𝜑 𝒂𝜑

Where 𝒂𝑟 , 𝒂𝜃 and 𝒂𝝋 are unit vectors along 𝑟 -, 𝜃 - and 𝜑 -directions. The

operations in Cartesian coordinates, as well, apply to circular cylindrical
coordinates. The magnitude of A is

2
|𝑨| = √(𝐴𝑟 )2 + (𝐴𝜃 )2 + (𝐴𝜑 )

Similar to rectangular and cylindrical coordinates, spherical coordinates also

follows dot product and cross product laws on unit vector.
The relationships between the variables (x,y,z) of the Cartesian coordinate
system and those of cylindrical system (𝑟, 𝜃, 𝜑) are easily obtained by the
transformation formula as:

or

Geometrically, the relationship between unit vectors of Cartesian and

spherical coordinate system is defined by the figure below,

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Lecture Guide in Vector Analysis

Finally, the relationships between (𝐴𝑥 , 𝐴𝑦 , 𝐴𝑧 )𝑎𝑛𝑑 (𝐴𝑟 , 𝐴𝜃 , 𝐴𝜑 ) are obtained

simply by substituting and collecting the terms. Thus,

And from this we obtain,

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Lecture Guide in Vector Analysis

In matrix form, we have the transformation of vector A from

(𝐴𝑥 , 𝐴𝑦 , 𝐴𝑧 )𝑎𝑛𝑑 (𝐴𝑟 , 𝐴𝜃 , 𝐴𝜑 ) as:

And vice versa,

Similar results can be obtained from,

Example:
𝒙𝒚
1. Transform the vector field 𝑮 = ( 𝒛 ) 𝒂𝒙 into spherical components and
variables.
2. Given two points C(-3,2,1) and D(𝑟 = 5, 𝜃 = 20°, 𝜑 = −70°), find: (a) the
spherical coordinates of C; (b) the Cartesian coordinates of D; (c) the
distance from C to D.
3. Transform the following vectors to spherical coordinates at the points
given: (a) 10𝑎𝑥 at P(-3,2,4); (b) 10𝑎𝑦 at Q(𝜌 = 5, 𝜑 = 30°, 𝑧 = 4); (c)
10𝑎𝑧 at M(𝑟 = 4, 𝜃 = 110°, 𝜑 = 120°)
Answer:
cos2 𝜑
1. 𝐺𝑟 = 𝑟 sin 𝜃 cos 𝜃 sin 𝜑
2
cos 𝜑
𝐺𝜃 = 𝑟 cos 2 𝜃
sin 𝜑
𝐺𝜑 = −𝑟 sin 𝜑 cos 𝜃
2. 𝐶(𝑟 = 3.7, 𝜃 = 110°, 𝜑 = 146.3°);𝐷(0.585, −1.607,4.70);6.29
3. −5.57𝑎𝑟 − 6.18𝑎𝜃 − 5.55𝑎𝜑 ; 3.90𝑎𝑟 + 3.128𝑎𝜃 + 8.66𝑎𝜑 ; −3.42𝑎𝑟 −
9.40𝑎𝜃

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Drill Problems 2.1

1. Given points A(𝜌 = 6, 𝜑 = 80°, 𝑧 = −2) and A(𝜌 = 2, 𝜑 = −30°, 𝑧 = 2), find (a)
a unit vector in Cartesian coordinates at A directed towards B; (b) a unit vector
in cylindrical coordinates at A directed toward B; (c) a unit vector un cylindrical
coordinates at B directed toward A.
2. (a) Express the vector field 𝑫 = (𝑥 2 + 𝑦 2 )−1 (𝑥 𝒂𝒙 + 𝑦 𝒂𝒚) in cylindrical
components and cylindrical variables. (b) Evaluate D at the point where 𝜌 =
6, 𝜑 = 0.9𝜋, and z=7. Express the result in both cylindrical and Cartesian
components.
3. Express in Cartesian components: (a) the vector at A(𝜌 = 4, 𝜑 = 40°, 𝑧 = −6)
that extends to B(𝜌 = 6, 𝜑 = −80°, 𝑧 = 2); (b) a unit vector at B directed toward
A; (c) a unit vector at B directed toward the origin.
4. Express in cylindrical components: (a) the vector from C(-3,-2,7) to D(1,4, -
2);(b) a unit vector at D directed toward C; (c) a unit vector at D directed toward
the origin.
5. The surfaces 𝜌 = 4 𝑎𝑛𝑑 6, 𝜑 = 200° 𝑎𝑛𝑑 230° and z= 4 and 5.5 identify a
closed surface. (a) Find the volume enclosed. (b) Find the total area of the
enclosing surface. (c) Find the total length of the twelve edges of the surface.
(d) Find the length of the longest straight line that lies entirely within the
volume.
1 𝒔𝒊𝒏𝝋
6. Let 𝐸 = 𝑟 2 (cos φ 𝒂𝒓 + 𝒔𝒊𝒏𝜽 𝒂𝝋 ), Given point P(𝑟 = 0.7, 𝜃 = 40°, 𝜑 = 60°),
determine: (a) E at P; (b) |E| at P; (c) a unit vector in the direction of E at P.
7. (a) determine an expression for 𝒂𝒚 in spherical coordinates at P((𝑟 = 0.7, 𝜃 =
40°, 𝜑 = 60°). (b) Express 𝒂𝒓 in Cartesian components at P.
8. The surfaces 𝑟 = 4 𝑎𝑛𝑑 6, 𝜃 = 200° 𝑎𝑛𝑑 230° and 𝜑= 4 and 5.5 identify a
closed surface. (a) Find the volume enclosed. (b) Find the total area of the
enclosing surface. (c) Find the total length of the twelve edges of the surface.
(d) Find the length of the longest straight line that lies entirely within the
volume.
9. (a) Determin the Cartesian components of the vector from A(𝑟 = 6, 𝜃 =
140°, 𝜑 = 160°) to B(𝑟 = 7, 𝜃 = 40°, 𝜑 = 60°). Find the spherical components of
the vector P(2, 3, 4) extendinf to Q(-3,-2,5). (c) If 𝐷 = 5𝒂𝒓 − 𝟑𝒂𝜽 + 𝟒𝒂𝝋 , find
𝑫 ∙ 𝒂𝝆 at M(-1,2,3)
10. Given A(𝑟 = 20, 𝜃 = 40°, 𝜑 = 45°), and B(𝑟 = 30, 𝜃 = 115°, 𝜑 = 160°), find: (a)
|𝑹𝐴𝐵 |; (𝑏)|𝑹𝐴𝐶 |, given C((𝑟 = 30, 𝜃 = 90°, 𝜑 = 45°); (c) the distance from A to C
on a great circle path.

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