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Cartesian Coordinates
>> Basic Concepts of Vector Algebra
Scalars and Vectors
Unit Vector
Vector Addition and Subtraction
Position and Distance Vectors
Vector Multiplication
>> Differential Length, Area, and Volume
Cylindrical and Spherical Coordinate Systems
>> Cylindrical Coordinates
>> Spherical Coordinates
>> Transformation of Coordinate Systems
>> Differential Length, Area, and Volume
** This section is only a revision of your Mathematics subject.
** The knowledge is important to solve EMT problem.
Cartesian Coordinates
A coordinate system is used to uniquely specify the location
of a point in space or the direction of a vector quantity.
Commonly used coordinate system is Cartesian coordinate
system.
Other standard coordinate systems are Cylindrical and
Spherical coordinate systems
Cartesian coordinate system
x
z
y
x
y
z
A
y
O
P
A
x
A
z
Scalars & Vectors
A scalar is a quantity that has only magnitude.
A vector is a quantity that has both magnitude and direction.
A scalar is represented simply by a letter such as A and B.
A vector is written by a letter in boldface type or a letter with
an arrow on top of it such as A or .
Quantity
Scalar Vector
Scalar Quantities
Power
Current
Distance
Electric Potential
Vectors Quantities
Force
Displacement
Magnetic Field
Electric Field Intensity
A
Unit Vector
A unit vector along A is defined as a vector whose
magnitude is unity (|| = 1) and
its direction along A is given by
Vector has
- a magnitude A = |A| &
-unit vector .
Vector = (Magnitude) x
(Direction)
A
a
A
=
a A = A
a A
= A
A
a
1
A
a
A
=
x
z
y
x
y
z
A
x
A
z
A
y
O
A
In Cartesian coordinates:
A vector A can be written as
where unit vectors are called the base vectors
A
x
, A
y
, and A
z
are the components of vector A
along the directions of x, y, and z.
|A| = &
z , y , x
2 2 2
z y x
A A A A + + =
z A y A x A
z y x
+ + = A
2 2 2
z y x
z y x
A A A
z A y A x A
a
+ +
+ +
=
Example 1
A vector A is given as sketch A and determine its
magnitude and unit vector.
y x 3 2 + = A
x
z
y
x
y
z
2
3
A
Graphical representation of vector A
is shown below,
0 & 3 , 2
0 3 2
= = =
+ + =
+ + =
z y x
z y x
A A A
z y x
z A y A x A
A
A
13
3 2
13 0 3 2
| |
2 2 2
2 2 2
y x
A
a
A A A A
z y x
+
= =
= + + =
+ + = =
A
A
Example 2
A vector B is shown in Figure below. Find its magnitude and
unit vector.
z y x z B y B x B
B B B
z y x
z y x
4 5 2
as written be can vector The
4 & 5 , 2
are vector of components The
+ + = + + =
= = =
B
B
B
45
4 5 2
3 y
4 x
2
z
5 y
2 x
3
z
A
B
B sin
AXB
n
2 + + =
z y x B
=
1 1 1
4 3 2
=
z y x
B A
z
2 x
) 3 2 ( y
) 4 2 ( x
) 4 3 (
+ =
+ + + + =
Differential Length, Area &Volume
z
dz dy dx d + + = l
(1) Differential displacement is given by
From the figure,
(2) Differential normal area is given by
z s
y s
x s
z
y
x
dxdy d
dxdz d
dydz d
=
=
=
(3) Differential volume is given by
dxdydz dV =
x
z
y
dx
dz
dy
dl
dz
dy
dx
y
s d
x
ds
z
ds
Summary
x
z
y
x
y
z
Ax
Az
Ay
O
P
Cross product, A x B
Dot product, A B
Base vector properties
for P (x,y,z)
Position vector,
Vector representation, A
Coordinate variables
z y x
z y x
A A A + +
z y x z y x + +
OP
1 = = = z z y y x x
0 = = = x z z y y x
z y x =
z y x
z y x
B B B
A A A
z y x
z z y y x x
B A B A B A + +
x, y, z
x z y =
y x z =
Cylindrical & Spherical Coordinate
Systems
Introduction
Cylindrical Coordinate System
Spherical Coordinate System
Transformation of Coordinate Systems
Differential Length, Area, and Volume
Introduction
An orthogonal coordinate system is one in which the
coordinates are mutually perpendicular
Beside Cartesian coordinate system, Cylindrical and Spherical
coordinate systems are also the orthogonal coordinate
systems.
1
P
O
x
z
y
r1
z1
r
z
y
x
O
P
1
1
z r
A A A + +
|
Cross product, A x B
Dot product, A B
Base vector properties
for P1(r1, 1, z1)
The position vector
Vector representation, A
Magnitude of A, A=|A|
r, , z Coordinate variables
z r
1 1
z r +
1 = = = z z r r
0 = = = r z z r
r z
r z z r
, ,
=
= =
z z r r
B A B A B A + +
| |
z r
z r
B B B
A A A
|
|
z r
2 2 2
z r
A A A + +
|
1
OP
< <
< s
< s
z
r r
angle azimuth : , 2 0
distance radial : , 0
| t |
1
P
O
x
z
y
r1
z1
r
| u
A A A
R
+ +
R
1
R
1
= = = R R
0
= = = R R
R
R R
,
=
= =
| | u u
B A B A B A
R R
+ +
| u
| u
B B B
A A A
R
R
R
2 2 2
| u
A A A
R
+ +
1
OP
Magnitude of A, A
t |
u t u
2 0
angle zenith : , 0
radius : , 0
< s
s s
< s R R
z
y
x
O
P
1
1
R1
Cartesian Cylindrical Transformations
Cartesian
Cylindrical
Cylindrical
Cartesian
Coordinate Variables Unit Vectors Vector Components
z z
x y
y x r
=
=
+ =
) / ( tan
1
2 2
|
z z
r y
r x
=
=
=
|
|
sin
cos
z z
y x
y x r
cos sin
sin cos
=
+ =
+ =
| |
| |
z z
r y
r x
cos sin
sin cos
=
+ =
=
| |
| |
z z
y x
y x r
A A
A A A
A A A
=
+ =
+ =
| |
| |
|
cos sin
sin cos
z z
r y
r x
A A
A A A
A A A
=
+ =
=
| |
| |
|
|
cos sin
sin cos
y = r sin
r
x
z
y
P(x, y, z)
x = r cos
z
r
x
y
x
y
| cos r
| sin
x
| cos
| sin
1
Cartesian Spherical Transformations
Cartesian
Spherical
Spherical
Cartesian
Coordinate Variables Unit Vectors Vector Components
) / ( tan
) / ( tan
1
2 2 1
2 2 2
x y
z y x
z y x R
=
+ =
+ + =
|
u
u
| u
| u
cos
sin sin
cos sin
R z
R y
R x
=
=
=
| |
u | u
| u
u | u
| u
cos sin
sin sin cos
cos cos
y x
z y
x
z y
x R
+ =
+
=
+ +
=
u u
| | u
| u
| | u
| u
sin
cos
sin sin
cos sin
R z
R y
R x
=
+
+ =
+ =
| |
u | u
| u
u | u
| u
|
u
cos sin
sin sin cos
cos cos
cos sin sin
cos sin
y x
z y
x
z y
x R
A A A
A A
A A
A A
A A
+ =
+
=
+ +
=
u u
| | u
| u
| | u
| u
u
| u
| u
sin cos
cos sin cos
sin sin
sin cos cos
cos sin
A A A
A A
A A
A A
A A
R z
R y
R x
=
+ +
=
+
=
Cylindrical Spherical Transformations
Cylindrical
Spherical
Spherical
Cylindrical
Coordinate Variables Unit Vectors Vector Components
| |
u
=
=
+ =
) / ( tan
1
2 2
z r
z r R
u
| |
u
cos
sin
R z
R r
=
=
=
z r
z r R
sin cos
cos sin
=
=
+ =
u u
u u
u u
u u
sin
cos
cos
sin
R z
R r
=
=
+ =
| |
u
u u
u u
A A
A A A
A A A
z r
z r R
=
=
+ =
sin cos
cos sin
u u
u u
u
| |
u
sin cos
cos sin
A A A
A A
A A A
R z
R r
=
=
+ =
Differential Length, Area &Volume
dz rd dr d z r l + + = |
(1) Differential displacement is given by
(2) Differential normal area is given by
|
|
|
rdrd d
drdz
d
dz rd
d
r
z s
s
r s
z
=
=
=
(3) Differential volume is given by
dz rdrd dV | =
x
z
y
dz
rd dr
Differential Length, Area & Volume
| u u d R Rd dR d sin
R l + + =
(1) Differential displacement is given by
(2) Differential normal area is given by
u
| u
| u u
|
u
RdRd d
dRd R d
d d R d
R
s
s
R s
sin
sin
2
=
=
=
(3) Differential volume is given by
| u u d dRd R dV sin
2
=
x
z
y
Rd
Rsind
dR
Example 6
0
= 30
0
x
z
y
z
1
= 3
r = 5
z
0
= 0
1
= 30
0
Find the area of a cylindrical surface described by r = 5, 30
0
60
0
and 0 z 3
Example 6 (cont.)
Find the area of a cylindrical surface described by r = 5, 30
0
60
0
and 0 z 3
0
= 30
0
x
z
y
z
1
= 3
r = 5
z
0
= 0
1
= 30
0
| |
| |
2
5
6 3
5
6 3
5
5
3
0
3
0
3
0
3 /
6 /
3
0
3 /
6 /
2
1
2
1
2
1
2
1
2
1
2
1
t
t t t t
| |
|
|
|
t
t
t |
t |
|
|
=
|
.
|
\
|
=
|
.
|
\
|
=
= =
=
=
=
}
} } }
} } }
=
=
=
=
=
=
=
=
s
z dz
dz dz d r S
dz rd dS
dz rd dS
dz rd d
z
z
z
z
z
z
z
z
r
r
Example 7
z
z
1
= 3
r = 5
z
0
= -3
x
y
A circular cylinder of r = 5 cm is concentric with the z axis and
extends between z = - 3 cm and z = 3 cm. Find the cylinders volume.
Example 7 (cont.)
z
z
1
= 3
r = 5
z
0
= -3
x
y
A circular cylinder of r = 5 cm is concentric with the z axis and
extends between z = - 3 cm and z = 3 cm. Find the cylinders volume.
| |
| | | | ( )( )
3
3
3
2
0
5
0
2
3
3
2
0
5
0
2
3
3
2
0
5
0
2
3
3
2
0
5
0
cm 150 6 2
2
25
2
2 2
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
t t |
| |
|
|
|
t
t
t |
|
t |
|
|
|
=
|
.
|
\
|
=
(
=
(
=
(
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
} } }
} } }
} } } }
z
r
V
dz
r
dz d
r
V
dz rdrd V
dz rdrd dV
dz rdrd dV
z
z
z
z
z
z
r
r
z
z
r
r