Lecture2 PDF

EE 2513: Electromagnetic Fields and Waves
Lecture 2:
Vector Analysis (continued)
Cylindrical and Spherical Coordinate Systems
2/22/2020 Capital University of Science and Technology Electromagnetic Field & Waves EE2513 1
Cartesian Coordinates
1
Relations for Basis Vectors
 The three basis vectors of right handed cartesian
coordinate system satisfy the following equations:
Relations for Basis Vectors (Continued)
2
Scalar and Vector product in Cartesian Coordinates
Scalar and Vector Product in Cartesian Coordinates
3
Scalar or Dot Product (Properties)
Vector or Cross Product (Properties)
4
Products of Three Vectors: Scalar Triple Product
and Vector Triple Product
Cylindrical Coordinates
 The point P(ρ1,f1,z1) is located as the intersection of
three mutually perpendicular surfaces:
– ρ= ρ1 (a circular cylinder)
 f= f1 (a half-plane containing the z-axis)
– z=z1 (a plane)
 The base vectors are aˆ  , aˆf , aˆ z
– â  is a unit vector in the direction of increasing ρ
– âf is a unit vector in the direction of increasing f
– âz is a unit vector in the direction of increasing z
5
Vector representation in Cylindrical Coordinates
z
Cylindrical representation uses: ρ ,f , z ρ
P

A  A aˆ   Af aˆf  Az aˆ z z
âz x f y
UNIT VECTORS:
âf
aˆ  aˆ f aˆ z 
â 
The Unit Vectors imply :
â  Points in the direction of increasing ρ
âf Points in the direction of increasing ϕ
âz Points in the direction of increasing z
Cylindrical Coordinates: Example
6
Cylindrical Coordinates (continued)
 The base vectors satisfy the following relations:
aˆ   aˆf  aˆ z â 
aˆf  aˆ z  aˆ 
aˆ z  aˆ   aˆf
Cylindrical Coordinates: Directions of Base Vectors
P(ρ1, f1, z1) â 
ρ1
Slide taken from James T. Aberle

7
 In contrast to Cartesian coordinates, the base vectors in

cylindrical coordinates are functions of position.
 Specifically, the base vectors aˆ  and aˆf depend on the

value of f.
 The position vector to the point P(ρ1, f1, z1) is

given by:

R  aˆ  ρ1  aˆ z z1 P(ρ1, f1, z1)
Note that the position vector

has no component in the
f-direction. The dependence
of the position vector on f1is
implicit in â 
8
 Consider an arbitrary vector in cylindrical
coordinates: 
 A  A  aˆ 
A  A aˆ   Af aˆf  Az aˆ z 
Af A  aˆf


Az  A  aˆ z
 Consider another arbitrary vector:

B  B aˆ   Bf aˆf  Bz aˆ z

 Scalar (dot) product:
 
A  B  A B  Af Bf  Az Bz
 Vector (cross) product:

aˆ  aˆf aˆ z
 
A  B  A Af Az
B Bf Bz
 aˆ   Af Bz  Az Bf   aˆf  Az B  A Bz   aˆ z  A Bf  Af B 
9
Spherical Coordinates
 Geographers specify a location
on the Earth’s surface using three
scalar values: longitude, latitude,
and altitude.
 Both longitude and latitude are
angular measures, while altitude
is a measure of distance.
 Latitude, longitude, and altitude
are similar to spherical coordinates.
 Spherical coordinates consist of
one scalar value (r), with units of
distance, while the other two
scalar values (θ, ϕ) have angular
units (degrees or radians).
Vector representation in Spherical Coordinates
Spherical representation uses: r ,q , f

 z
A  Ar aˆ r  Aq aˆq  Af aˆf q P
r
âf
UNIT VECTORS:
x f y
âr
aˆ r aˆ q aˆf 
The Unit Vectors imply : âq

âr Points in the direction of increasing r
âq Points in the direction of increasing q
âf Points in the direction of increasing ϕ
10
Spherical Coordinates
 For spherical coordinates, r (0≤r<∞)
expresses the distance of the point from
the origin (i.e., similar to altitude).
 Angle θ (0 ≤θ ≤π) represents the angle
formed with the z-axis (i.e., similar to
latitude).
 Angle ϕ (0≤ϕ<2π) represents the
rotation angle around the z-axis,
precisely the same as the cylindrical
coordinate ϕ.
 Thus, using spherical coordinates, a
point in space can be unambiguously
defined by one distance and two angles.
Spherical Coordinates (continued)
âr âr
âr
âr
11
 The position vector to the point P(ρ1, f1, z1) is

given by:
 P(r1, θ1, ϕ1)
R  aˆr r1
 Note that the position vector

has no component in the
ϕ-direction or θ-direction. The dependence of the position
vector on ϕ1 and θ1 is implicit in âr

 Consider an arbitrary vector in cylindrical
coordinates: 
 Ar  A  aˆ r
A  Ar aˆ r  Aq aˆq  Af aˆf 
Aq  A  aˆq

Af  A  aˆf
 Consider another arbitrary vector:


B  Br aˆ r  Bq aˆq  Bf aˆf
12
 Scalar (dot) product:
 
A  B  Ar Br  Aq Bq  Af Bf
 Vector (cross) product:

aˆ r aˆq aˆf
 
A  B  Ar Aq Af
Br Bq Bf
 aˆ r  Aq Bf  Af Bq   aˆq  Af Br  Ar Bf   aˆf  Ar Bq  Aq Br 
13

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EE 2513: Electromagnetic Fields and Waves

Relations for Basis Vectors (Continued)

Scalar and Vector Product in Cartesian Coordinates

Vector or Cross Product (Properties)

â  Points in the direction of increasing ρ

âf Points in the direction of increasing ϕ

âz Points in the direction of increasing z

Cylindrical Coordinates: Example

Cylindrical Coordinates: Directions of Base Vectors

P(ρ1, f1, z1) â 

Slide taken from James T. Aberle

 In contrast to Cartesian coordinates, the base vectors in

 Specifically, the base vectors aˆ  and aˆf depend on the

Cylindrical Coordinates (continued)

 The position vector to the point P(ρ1, f1, z1) is

Note that the position vector

Cylindrical Coordinates (continued)

 Vector (cross) product:

Vector representation in Spherical Coordinates

Spherical representation uses: r ,q , f

The Unit Vectors imply : âq

âq Points in the direction of increasing q

âf Points in the direction of increasing ϕ

Spherical Coordinates (continued)

 The position vector to the point P(ρ1, f1, z1) is

 Note that the position vector

Spherical Coordinates (continued)

 Consider another arbitrary vector:

 Vector (cross) product:

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