Div, grad and curl in curvilinear coordinates

Some useful vector identities

(a b) = (a )b + (b )a + a ( b) + b ( a)
(a )a = (a2 /2) a ( a)
(a) = a + a
(a b) = b a a b
(a) = a + a
(a b) = (b )a (a )b + a b b a
General orthogonal curvilinear coordinates q1 , q2 , q3
Let ei be a unit vector along the qi -axis, with
ds2 = h21 dq12 + h22 dq22 + h23 dq32 .
Then =

X
i

F=

1
ei
hi qi

1 X
(hj hk Fi )
h1 h2 h3 i,j,k qi

(where here and subsequently the sum is over i with j and k selected cyclically, so
that for i = 1 j and k are 2 and 3 repectively, for i = 2 they are 3 and 1, for i = 3
they are 1 and 2)
F=

1 h
(hk Fk )
(hj Fj ) ei
qk
i,j,k hj hk qj
X

2 =

1 X  hj hk 
h1 h2 h3 i,j,k qi hi qi

2 F = ( F) ( F)
(B )A =

Xn

i,j,k

B Ai +

Aj  hi
Ak  hi
hj 
hk o
Bi
+
Bi
ei
Bj
Bk
hi hj
qj
qi
hi hk
qk
qi

Cylindrical polar coordinates (R, , z)

1
+

z
R+
R
R
z
1 F Fz
1
(RFR ) +
+
F=
R R
R
z
h
i
i
h
h 1 F
FR Fz 1
F
FR i
z
R+

+
(RF )

z
F =
R
z
z
R
R R

1  
1 2 2
2 =
R
+ 2 2 + 2
R R R
R
z
h
i
1
2 F
2 F = 2 F R 2 F R 2
R
R
R
h
2 FR i
1
+ 2 Fz
z
+ 2 F 2 F + 2
R
R

(B )A =[B AR B A /R]R
+ B Az
+[B A + B AR /R]
z
=

Spherical polar coordinates (r, , )

=
F=

1
1

r+
+

r
r
r sin


1  2 
1 
1 F
r
F
sin
F
+
+
r

2
r r
r sin
r sin

F i
1 h
(sin F )

r
r sin

h
i
i
1 h 1 Fr

+ 1 (rF ) Fr
+
(rF )
r sin
r
r r

F=

2 =

1

1
1  2 
2

r
+
sin

+
r 2 r
r
r 2 sin

r 2 sin2 2



2
2 F i
2
F

sin
F

r
r

r2
r 2 sin
r 2 sin
h
2 cos F i
1
2 Fr
2 2
+ 2 F 2 2 F + 2

r
r sin
r sin
h
1
2 Fr
2 cos F i
+ 2 F 2 2 F + 2
+ 2 2

r sin
r sin
r sin
h

2 F = 2 F r

(B )A = [B Ar (B A + B A )/r]
r

+ [B A + (B Ar cot B A )/r]

+ [B A + (B Ar + cot B A )/r]