Appendix D

Coordinate systems

Rectangular coordinate system

Coordinate variables
u = x,
v = y,

< x <
< y <

(D.1)
(D.2)

w = z,

< z <

(D.3)

Vector algebra
A = x A x + y A y + z A z

(D.4)

A B = A x B x + A y B y + A z Bz

(D.5)



 x y z 


A B =  A x A y A z 
 B x B y Bz 

(D.6)

Dyadic representation
a = x ax x x + x ax y y + x ax z z +
+ y a yx x + y a yy y + y a yz z +
+ z azx x + z azy y + z azz z
a = x ax + y ay + z az = ax x + a y y + az z

(D.8)

ax = ax x x + ax y y + ax z z
ay = a yx x + a yy y + a yz z
az = azx x + azy y + azz z

(D.9)

ax = ax x x + a yx y + azx z
a y = ax y x + a yy y + azy z
az = ax z x + a yz y + azz z

2001 by CRC Press LLC

(D.7)

(D.10)
(D.11)
(D.12)
(D.13)
(D.14)

Dierential operations
dl = x d x + y dy + z dz

(D.15)

d V = d x d y dz

(D.16)

d Sx = dy dz
d Sy = d x dz
d Sz = d x d y

(D.17)

(D.20)

Fy
Fx
Fz
+
+
x
y
z

(D.21)



 x y z 
 
F =  x y z 
 Fx Fy Fz 
2 f =

(D.19)

f
f
f
+ y
+ z
x
y
z

f = x
F=

(D.18)

2 f
2 f
2 f
+
+
x2
y2
z 2

2 F = x 2 Fx + y 2 Fy + z 2 Fz

(D.22)

(D.23)

(D.24)

Separation of the Helmholtz equation

2 (x, y, z) 2 (x, y, z) 2 (x, y, z)
+
+
+ k 2 (x, y, z) = 0
x2
y2
z 2

(D.25)

(x, y, z) = X (x)Y (y)Z (z)

(D.26)

k x2 + k 2y + k z2 = k 2

(D.27)

d 2 X (x)
+ k x2 X (x) = 0
d2 x 2
d Y (y)
+ k 2y Y (y) = 0
dy 2
d 2 Z (z)
+ k z2 Z (z) = 0
dz 2

(D.28)
(D.29)
(D.30)

A x F1 (k x x) + Bx F2 (k x x), k x
= 0,
ax x + bx ,
k x = 0.

(D.31)

A y F1 (k y y) + B y F2 (k y y), k y =

0,
ay y + by ,
k y = 0.

(D.32)

X (x) =

Y (y) =

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Z (z) =

0,
A z F1 (k z z) + Bz F2 (k z z), k z =
az z + bz ,
k z = 0.

j
e

e j
F1 ( ), F2 ( ) =

sin( )

cos( )

(D.33)

(D.34)

Cylindrical coordinate system

Coordinate variables
u = ,

0<

(D.35)

v = ,
w = z, < z <

(D.36)
(D.37)

x = cos
y = sin
z=z

(D.38)
(D.39)
(D.40)

x 2 + y2
y
= tan1
x
z=z

(D.41)
(D.42)
(D.43)

Vector algebra
= x cos + y sin
= x sin + y cos

z = z

(D.44)
(D.45)

+ z A z
A = A
+ A

(D.47)

A B = A B + A B + A z Bz

(D.48)




A B =  A
 B

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z 


A A z 
B Bz 

(D.46)

(D.49)

Dyadic representation
+ a
a = a
+ a
z z +

z z +
+ a + a + a
+ z azz z
+ z az + z az

(D.50)

 + z a = a + a
+ az z
a = a
 + a

(D.51)

+ az z
a = a + a
+ az z
a = a + a

(D.52)

az

+ azz z
= az + az

(D.53)
(D.54)

+ az z
a = a + a
+ az z
a = a + a
+ azz z
az = az + az

(D.56)

d + z dz
dl = d +

(D.58)

d V = d d dz

(D.59)

d S = d dz,
d S = d dz,
d Sz = d d

(D.60)
(D.61)

(D.55)
(D.57)

Dierential operations

f
1 f + z f
+

(D.63)

1 F
1
Fz
F +
+


z

(D.64)

f =

F=



z 


1 
F = 
z 

F F Fz 
1
f =

2



f
1 2 f
2 f

+ 2 2 + 2





2 F
F
2 F + 2 F F + z 2 Fz
2 F = 2 F 2
2 +

2
2

2001 by CRC Press LLC

(D.62)

(D.65)

(D.66)

(D.67)

Separation of the Helmholtz equation



1
(, , z)
1 2 (, , z) 2 (, , z)
+
+ k 2 (, , z) = 0

+ 2

2
z 2

(D.68)

(, , z) = P()()Z (z)

(D.69)

kc2 = k 2 k z2

(D.70)



k2
d 2 P()
1 d P()
2
+
+ kc 2 P() = 0
d 2
d

(D.71)

2 ()
+ k2 () = 0
2

(D.72)

d 2 Z (z)
+ k z2 Z (z) = 0
dz 2

(D.73)

A z F1 (k z z) + Bz F2 (k z z), k z =

0,
az z + bz ,
k z = 0.

(D.74)

A F1 (k ) + B F2 (k ), k
= 0,
a + b ,
k = 0.

(D.75)

Z (z) =

() =

kc = k = 0,
a ln + b ,
k
k

P() = a
+ b ,
kc = 0 and k
= 0,

A G 1 (kc ) + B G 2 (kc ), otherwise.

j
e

e j
F1 ( ), F2 ( ) =

sin( )

cos( )

Jk ( )

N ( )
k
G 1 ( ), G 2 ( ) =
(1)

k ( )

(2)
Hk ( )

(D.76)

(D.77)

(D.78)

Spherical coordinate system

Coordinate variables
u = r, 0 r <
v = , 0
w = ,
2001 by CRC Press LLC

(D.79)
(D.80)
(D.81)

x = r sin cos
y = r sin sin
z = r cos
r =

x 2 + y2 + z2

x 2 + y2
1
= tan
z
y
= tan1
x

(D.82)
(D.83)
(D.84)

(D.85)
(D.86)
(D.87)

Vector algebra
r = x sin cos + y sin sin + z cos
= x cos cos + y cos sin z sin
= x sin + y cos

(D.88)

A = r Ar + A + A

(D.91)

A B = Ar Br + A B + A B

(D.92)


 r

A B =  Ar
 Br

A
B





A 
B 

(D.89)
(D.90)

(D.93)

Dyadic representation
+
a = r arr r + r ar + r ar
r r + a

+
+ a
+ a
r r + a

+ a
+ a

(D.94)

 + a
 = ar r + a + a
a = r ar + a

(D.95)

ar = arr r + ar + ar

a = ar r + a + a


a = ar r + a + a

(D.96)

2001 by CRC Press LLC

(D.97)
(D.98)

ar = arr r + ar + ar

a = ar r + a + a

(D.100)

a = ar r + a + a

(D.101)

(D.99)

Dierential operations
d + r
sin d
dl = r dr + r

(D.102)

d V = r 2 sin dr d d

(D.103)

d Sr = r 2 sin d d
d S = r sin dr d

(D.104)
(D.105)

d S = r dr d

(D.106)

f = r

f
1 f
1 f
+
+
r
r
r sin

(D.107)

1
1 2

1 F

r Fr +
(sin F ) +
2
r r
r sin
r sin



 r r r sin

1 


F= 2
r



r sin 
Fr r F r sin F 




2 f
1
f
1

1
2
2f
f = 2
r
+ 2
sin
+ 2 2
r r
r
r sin

r sin 2



F
2
cos
1 F
2
2
F = r Fr 2 Fr +
F +
+
+
r
sin
sin




1
cos F
1
Fr
+ 2 F 2
F 2
+2 2
+
2
r

sin
sin



1
cos F
1 Fr
2 F 1
+

2
F

r 2 sin2
sin
sin2
F=

Separation of the Helmholtz equation





1
1
(r, , )

2 (r, , )
r
+ 2
sin
+
r 2 r
r
r sin

1
2 (r, , )
+ 2 2
+ k 2 (r, , ) = 0
2
r sin

(D.110)

(D.111)

(D.112)
(D.113)

= cos

(D.114)



d R(r )
r2
+ k 2r 2 = n(n + 1)
dr



d 2 ()
d()
2
() = 0,

2
+
n(n
+
1)

d2
d
1 2

2001 by CRC Press LLC

(D.109)

(r, , ) = R(r )( )()

1 d
R(r ) dr

(1 2 )

(D.108)

(D.115)

1 1

(D.116)

d 2 ()
+ 2 () = 0
d 2

(D.117)


() =

A sin() + B cos(),
= 0,
a + b ,
= 0.

( ) = A Pn (cos ) + B Q n (cos )

R(r ) =

R(r ) = Ar r n + Br r (n+1) , k = 0,
Ar F1 (kr ) + Br F2 (kr ),
otherwise.

jn ( )

n ( )
n
F1 ( ), F2 ( ) =

h (1)

n ( )

(2)
h n ( )

2001 by CRC Press LLC

(D.118)

(D.119)

(D.120)

(D.121)