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dL = d x2 + d y2 + d z2 (1)
dv = dx dy dz (2)
dL = d r 2 + r 2 d 2 + d z 2 (3)
and d v = d r r d d z (4)
dL = d r 2 + r 2 d 2 + r 2 sin 2 d 2 (5)
As the converse of (8), (9), and (10), the spherical coordinate values ( r , , ) may be
expressed in terms of rectangular coordinate distances as follows:
r = x2 + y2 + z2 r0 (14)
z
= cos −1 (0 ) (15)
x +y +z
2 2 2
y
= tan −1 (16)
x
Note that the direction cosines are simply the dot products of the spherical unit vector r̂
with the rectangular unit vectors ˆx, ˆy, and ˆz :
These and other dot product combinations are listed in the following table:
x̂ ŷ ẑ r̂ φ̂ ẑ r̂ θ̂ φ̂
x̂ 1 0 0 cos − sin 0 sin cos cos cos − sin
Rectangular
φ̂ − sin cos 0 0 1 0 0 0 1
ẑ 0 0 1 0 0 1 cos − sin 0
φ̂ − sin cos 0 0 1 0 0 0 1
Note that the unit vectors r̂ in the cylindrical and spherical systems are not the same.
For example,
Spherical Cylindrical
rˆ xˆ = sin cos rˆ xˆ = cos
rˆ yˆ = sin sin rˆ yˆ = sin
rˆ zˆ = cos rˆ zˆ = 0
In addition to rectangular, cylindrical, and spherical coordinate systems, there are many
other systems such as the elliptical, spheroidal (both prolate and oblate), and paraboloidal
systems. Although the number of possible systems is infinite, all of them can be treated
in terms of a generalized curvilinear coordinate system.
r 0 to r̂ dr Cylinder r=constant
Cylindrical 0 to 2 φ̂ r d Plane =constant
z − to + ẑ dz Plane z=constant
r 0 to r̂ dr Sphere r=constant
Spherical 0 to θ̂ r dθ Cone θ=constant
0 to 2 φ̂ r sin d Plane =constant
The following two tables give the unit vector dot products in rectangular coordinates for
both rectangular-cylindrical and rectangular-spherical coordinates.
x̂ ŷ ẑ
x y
r̂ 0
x2 + y2 x2 + y2
−y x
φ̂ 0
x2 + y2 x2 + y2
ẑ 0 0 1
x
Example: φˆ yˆ = cos =
x2 + y2
· x̂ ŷ ẑ
r̂ x y z
x2 + y2 + z 2 x2 + y2 + z 2 x2 + y2 + z 2
θ̂ xz yz x2 + y 2
−
x2 + y 2 x2 + y 2 + z 2 x2 + y 2 x2 + y 2 + z 2 x2 + y2 + z 2
φ̂ y x
− 0
x +y
2 2
x + y2
2
x
Example: xˆ rˆ = sin cos =
x + y2 + z2
2
y x
A = − Ax + Ay Ay = Ar sin φ + Aφ cos φ
x +y
2 2
x + y2
2
Az = Az Az = Az
Rectangular to spherical
x y z
Ar = Ax + Ay + Az
x + y2 + z2
2
x +y +z
2 2 2
x + y2 + z2
2
xz yz x2 + y 2
A = Ax + Ay − Az
x2 + y 2 x2 + y 2 + z 2 x2 + y 2 x2 + y 2 + z 2 x2 + y 2 + z 2
y x
A = − Ax + Ay
x2 + y 2 x2 + y 2
Spherical to rectangular
Rectangular coordinates
f f f
f = xˆ + yˆ + zˆ
x y z
A Ay Az
•A = x + +
x y z
xˆ yˆ zˆ
Az Ay Ax Az Ay Ax
A = xˆ − + yˆ − + zˆ − =
y z z x x y x y z
Ax Ay Az
Cylindrical coordinates
f 1 f f
f = rˆ + φˆ + zˆ
r r z
1 1 A Az
•A = rAr + +
r r r z
1 1
rˆ φˆ zˆ
r r
1 Az A Ar Az 1 Ar
A = rˆ − + φˆ − + zˆ rA − =
r z z r r r r z
Ar rA Az
Spherical coordinates
f ˆ 1 f 1 f
f = rˆ +θ + φˆ
r r r sin
1 1 1 A
• A = 2 r 2 Ar + ( A sin ) +
r r r sin r sin
1 A 1 1 Ar 1 A
A = rˆ ( A sin ) − + θˆ − rA + φˆ rA − r
r sin r sin r r r