EE 2513: Electromagnetic Fields and Waves

Lecture 3:
Vector Analysis (continued)
Spherical Coordinate System
Differential length
Surface and volume integrals in EM
Del, Gradient and Divergence

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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

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 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.

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Spherical Coordinates (continued)

âr âr
âr
âr

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 Spherical Coordinates (continued)

 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
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Spherical Coordinates (continued)

 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

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 Spherical Coordinates (continued)
 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 

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Coordinate Transformation

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 Coordinate Transformation (continued)

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Example 1

Is it correct????
No
Why???

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 Example 1 Continued

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Example 2
 Coordinate Transformation for scalar field

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 Example 2 Continued

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Example 2 Continued

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 Transformation of Vector fields: Base Vectors

 A vector field has magnitude as well as direction.

 Therefore representing vector fields include:
– Representing position in a specific coordinate system
– Resenting vector direction as addition of base vectors
of the coordinate system to be used
 Therefore transformation also needs transforming
basis vectors

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Transformation of basis vectors

 Any vector A can be written as:

 Therefore base vectors in cylindrical coordinate system

can also be written as:
     
aˆ  aˆ   aˆ x aˆ x  aˆ   aˆ y aˆ y  aˆ   aˆ z aˆ z
aˆf  aˆf  aˆ  aˆ  aˆf  aˆ  aˆ  aˆf  aˆ  aˆ
x x y y z z

 Similarly from cylindrical to Cartesian coordinates:

aˆ x  aˆ x  aˆ   aˆ  aˆ x  aˆf  aˆf  aˆ x  aˆ z  aˆ z
aˆ y  aˆ y  aˆ   aˆ   aˆ y  aˆf  aˆf  aˆ y  aˆ z  aˆ z
aˆ z  aˆ z
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 Transformation of basis vectors
 Where the dot products are given as:

 Therefore
aˆ   cos f aˆ x  sin f aˆ y aˆ    cosf sin f 0  aˆ x 
 aˆ    sin f 0 aˆ 
aˆf   sinf aˆ x  cosf aˆ y  f  cosf  y
aˆ z  aˆ z  aˆ z   0 0 1  aˆ z 
 Similarly
aˆ x  cos f aˆ   sin f aˆf  aˆ x  cosf  sin f 0 aˆ  
aˆ    sin f cosf 0  aˆ 
aˆ y  sin f aˆ   cos f aˆf  y   f
aˆ z  aˆ z  aˆ z   0 0 1  aˆ z 
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Transformation: Spherical and Cartesian

 Therefore base vectors in cylindrical coordinate system
can also be written as:
 
aˆr  aˆr  aˆ x  aˆ x  aˆr  aˆ y aˆ y  aˆr  aˆ z  aˆ z
aˆq  aˆ  aˆ  aˆ  aˆ  aˆ  aˆ  aˆ  aˆ  aˆ
q x x q y y q z z

aˆf f aˆ  aˆ  aˆ  aˆ  aˆ  aˆ  aˆ  aˆ  aˆ

x x f y y f z z

 Similarly from cylindrical to Cartesian coordinates:

aˆ x  aˆ x  aˆr  aˆr  aˆ x  aˆq  aˆq  aˆ x  aˆf  aˆf
aˆ y  aˆ y  aˆr  aˆr  aˆ y  aˆq  aˆq  aˆ y  aˆf  aˆf

aˆ z  aˆ z  aˆr  aˆr  aˆ z  aˆq  aˆq  aˆ z  aˆf  aˆf

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 Transformation: Spherical and Cartesian
 Where the dot products are given as:

 Therefore
aˆr  sinq cosf aˆ x  sinq sinf aˆ y  cosq aˆ z
aˆq  cosq cosf aˆ x  cosq sinf aˆ y  sinq aˆ z
aˆf   sinf aˆ x  cosf aˆ y
 Similarly
aˆ x  sinq cosf aˆr  cosq cosf aˆq  sinf aˆf
aˆ y  sinq sinf aˆr  cosq sinf aˆq  cosf aˆf
aˆ z  cosq aˆr  sinq aˆq
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Rotations around one of the three axes

kA
kB
kA

kA
kB 
jB


 jB jA
jA
 jA 
iA
iB iA
iB iA

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 3D rotation matrices
Rotation matrix about k axis for counter clockwise rotation (CC)
 cos sin  0 k

R k   sin  cos 0 
 0 0 1  

Rotation matrix about j axis (CC)

 j
cos  0  sin   i

R j   0 1 0 
 sin  0 cos  

Rotation matrix about i axis (CC) 1 0 0 


R i  0 cos sin  
0  sin  cos 
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From Cartesian to Spherical coordinates

z z
q
R
f
f

x f y
r f
q
r
q

aˆ    cosf sin f 0  aˆ x  aˆq  cosq 0  sin q  aˆ  

 aˆ    sin f  aˆ    0 0   aˆf 
 f  cosf 0 aˆ y   f  1
 aˆ z   0 0 1  aˆ z   aˆ r   sin q 0 cosq   aˆ z 
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 Transformations of scalar and vector fields
 Example 2.1

 Example 2.2

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