Lecture#4

Announcements
• Please cover any details skipped – fill in the gaps yourselves

• Please study all examples solved in the text
• Please expect Quizzes from now on
• Please visit me for clarifying doubts/problems in Vector Analysis and
Coordinate Systems
• Visiting time: 2:00 pm to 3:00 pm (Mon-Wed)
EE3005 by Dr. Arshad Hassan

8/31/2022 1
arshad.hassan@nu.edu.pk
Revision: Last Lecture
• Multiplication of Vectors
• Scalar Product
• Vector Product
• Components of a Vector and Projections
• Coordinate Systems
• 2D coordinate systems – planar coordinates
• Plane Cartesian Coordinates
• Plane Polar Coordinate
• 3D coordinate systems – space coordinates
• Cartesian Coordinate (x, y, z) System
• Cylindrical Coordinate System
• Spherical Coordinate System
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Cont…
• The Cylindrical Coordinate System
• A point P in cylindrical coordinates is represented as (𝜌,𝜙 , z) and is
as shown in Figure. Here we define each space variable as:
• 𝜌 is the radius of the cylinder
• 𝝓 azimuthal angle, is measured from the x-axis in the xy-
plane; and
• z is the same as in the Cartesian system.
• The ranges of the variables are Figure: Point P and orientation of unit
vectors in the cylindrical coordinate system.

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The Spherical Coordinate System
• A point P can be represented as (r,𝜃, 𝜙 ) and is illustrated in Figure below. From
Figure below, we notice that
• r is defined as the distance from the origin to point P or the radius of a sphere centered at
the origin and passing through P;
• 𝜽 (called the colatitude) is the angle between the z-axis and the position vector of P; and
• 𝜙 is measured from the x-axis (the same azimuthal angle in cylindrical coordinates).
According to these definitions, the ranges of the variables are
Figure: Point P
and unit vectors
in spherical
coordinates.

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Cont…
• Cross product o Unit vectors in spherical coordinates

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Cont…
• Conversion from cartesian or rectangular
coordinates to spherical coordinate system
• Conversion from spherical coordinates to

cartesian or rectangular coordinate system

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Conversion using Calculator
• You can use following relations for conversion when you are using
calculator

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Example
• Given point P(—2, 6, 3), Evaluate P in the Cartesian, cylindrical, and spherical
systems.

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Constant-Coordinate Surfaces
• Surfaces in Cartesian, cylindrical, or spherical coordinate systems are
easily generated by keeping one of the coordinate variables constant
and allowing the other two to vary. Constant x, y and z surfaces are:
Figure: Constant x, y and z surfaces

8/31/2022 9
Cont…
• Constant 𝜌,𝜙 and z surfaces are:
• 𝜌=constant, A right circular cylinder
• 𝜙=constant, A semi-infinite radial Plane
• z=constant, plane parallel to XY plane
Figure: Constant 𝝆,𝝓 and z surfaces

8/31/2022 10
Cont…
• Constant 𝑟, 𝜃 and 𝜙 surfaces are:
Figure: Constant 𝒓, 𝜽 𝐚𝐧𝐝 𝝓 surfaces
8/31/2022 EE3005 by Dr. Arshad Hassan

11
EE 3005: Electromagnetic Theory
Lecture#4
Coordinate Systems
Transformations

8/31/2022 12
Transformation of Coordinate systems
• We are interested in three type of transformations
• Coordinate Transformations
• Unit Vector Transformations
• Vector Component Transformations
• Please remember that each of these have differences – do not
confuse with each other

8/31/2022 13
Coordinate Transformations
• Coordinate Transformations between Cartesian and Cylindrical Systems
• The relationships between the variables (x, y, z) of the Cartesian coordinate system and those of the cylindrical
system (𝜌,𝜙 z) are easily obtained from Figure below
• To convert a point given in Cartesian coordinates following

formulas can be used, (𝝆,𝝓 z) (x, y, z)
• To convert a point given in Cylindrical coordinates following

formulas can be used,
EE3005 by Dr. Arshad Hassan Figure: Relationship between (x, y, z) and (𝝆,𝝓 z).
8/31/2022 14
Cont…
• Coordinate Transformations between Cartesian and Spherical Systems
• Conversion from cartesian or rectangular
coordinates to spherical coordinate system
• Conversion from spherical coordinates to

cartesian or rectangular coordinate system
8/31/2022 EE3005 by Dr. Arshad Hassan 15

Unit Vector Transformations
• Unit Vector Transformations Between Cartesian and Cylindrical Coordinates
Given figure

8/31/2022 16
Cont...
• Unit Vector Transformations Between Cartesian and Spherical Coordinates

8/31/2022 17
Vector Component Transformations
• Vector component Transformations Between Cartesian and Cylindrical
Coordinates
• The relationships between (Ax , Ay , Az) and (A𝜌 , A𝜙 , Az) are obtained by simply
substituting and collecting terms. Thus
8/31/2022 EE3005 by Dr. Arshad Hassan 18

Cont…
• In matrix form, we have the transformation of vector A from (Ax , Ay , Az) to (A𝜌 , A𝜙 , Az) as
• An alternative way of obtaining

matrix form is using the dot product
8/31/2022 19
Cont…
• Vector component Transformations Between Cartesian and Spherical Coordinates
• The relationships between (Ax , Ay , Az) and (A𝑟, A𝜃 , A𝜙) are obtained by simply
substituting and collecting terms. Thus
8/31/2022 20
Cont…
• In matrix form, the (Ax , Ay , Az) to (A𝑟, A𝜃 , A𝜙) transformation is performed according
to
• The inverse transformation (A𝑟, A𝜃 , A𝜙) (Ax , Ay , Az) can be obtained as
• An alternative way of obtaining matrix form

is using the dot product
8/31/2022 21
About Unit Vectors
• Unit vectors in the Cartesian system are not a function of space
however, the unit vectors for the cylindrical and spherical systems can
be dependent on the particular location.
• Here, az is not a function of space

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Note on Transformation
• Note that in point or vector transformation the point or vector has
not changed; it is only expressed differently.
• Thus, the magnitude of a vector will remain the same after the
transformation and this may serve as a way of checking the result of
the transformation.

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Distance Vector in EM Theory
• The distance between two points is usually necessary in EM theory.
The distance d between two points with position vectors r1 and r2 is
generally given by

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Example

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Cont… (Ax , Ay , Az) A𝜌 , A 𝜙 , A z )

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Cont…
• At point P

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Cont… (Ax , Ay , Az) (A𝑟, A𝜃 , A𝜙)

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Cont… • At point P

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Home Work#1, No. submission
1. Find the angle between face diagonals of a cube.
2. Find the angle between body diagonals of a cube.
3. 𝐄 and 𝐅 are vector fields given by 𝐄 = 2𝑥𝒂𝒙 + 𝒂𝒚 + 𝑦𝒛𝒂𝒛 and 𝐅 = 𝑥𝑦𝒂𝒙 + 𝒚𝟐 𝒂𝒚 + 𝑥𝑦𝑧𝒂𝒛 . Determine:
a) Magnitude of 𝐄 at (1,2,3)
b) The component of 𝐄 along 𝐅 at (1,2,3)
c) The vector perpendicular to both 𝐄 and 𝐅 at (0,1,-3) whose magnitude is unity
4. Express the following vector in cartesian and cylindrical coordinates. Find 𝐁 (-3,4,0) and 𝐁 (5,𝜋/2,-2)
10
𝐁= 𝒂 + 𝑟𝑐𝑜𝑠𝜃𝒂𝜽 + 𝒂𝝋
𝑟 𝒓
4. Express the following vectors in Cartesian coordinates:
a) 𝐀 = 𝜌𝑧𝑠𝑖𝑛𝜑𝒂𝝆 + 3𝜌𝑐𝑜𝑠𝜑𝒂𝝋 + 𝜌𝑐𝑜𝑠𝜑𝑠𝑖𝑛𝜑𝒂𝒛
b) 𝐁 = 𝑟 2 𝒂𝒓 + 𝑠𝑖𝑛𝜃𝒂𝝋
4. Let 𝐇 = 5𝜌𝑠𝑖𝑛𝜑𝒂𝝆 − 𝜌zcos 𝜑𝒂𝜑 + 2𝜌𝒂𝒛 . At Point P(2,30°, −1)
a) A unit vector along 𝐇
b) The component of 𝐇 parallel to 𝒂𝒙
c) The component of 𝐇 normal to 𝜌=2
d) The component of 𝐇 tangential to 𝜑 = 30° EE3005 by Dr. Arshad Hassan
8/31/2022 30

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Announcements

• Please cover any details skipped – fill in the gaps yourselves

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

• Conversion from spherical coordinates to

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

Figure: Constant x, y and z surfaces

EE3005 by Dr. Arshad Hassan

Figure: Constant 𝝆,𝝓 and z surfaces

Figure: Constant 𝒓, 𝜽 𝐚𝐧𝐝 𝝓 surfaces

8/31/2022 EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

• To convert a point given in Cartesian coordinates following

• To convert a point given in Cylindrical coordinates following

• Conversion from spherical coordinates to

8/31/2022 EE3005 by Dr. Arshad Hassan 15

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

8/31/2022 EE3005 by Dr. Arshad Hassan 18

• An alternative way of obtaining

• The inverse transformation (A𝑟, A𝜃 , A𝜙) (Ax , Ay , Az) can be obtained as

• An alternative way of obtaining matrix form

• Here, az is not a function of space

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

EE3005 by Dr. Arshad Hassan

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