3D DYNAMICS

Coordinate Frames and Position Vectors

AUGUST 3, 2023
MOHAMMAD FAZLUR RAHMAN
Sandip University, Nashik
Table of Contents
FUNDAMENTALS OF KINEMATICS ......................................................................................... 2
COORDINATE FRAME AND POSITION VECTOR .............................................. 2
TRIAD .................................................................................................................................. 2
COORDINATE FRAME AND POSITION VECTOR ............................................... 3
FUNDAMENTALS OF KINEMATICS
Before going for the advanced dynamics, it is good to look into the fundamentals of kinematics
which will help us recall and also build our founding information layout.

For understanding the events and mechanism in physics, there are two very important and also
very handy tools we always use. They help us solving the problems and analysing the results. They
are 1. Vectors and 2. Coordinate frames.

Using vectors, we are able to analyse and link many quantities and find their relations in the events.
At the same time, coordinate frames help us realise the situation and bring the analysis and result
in the framework of real-world situation.

Coordinate frame and position vector

To indicate the position of a point 𝑃 relative to another point 𝑂 in a three-dimensional (3D) space,
we need to establish a coordinate frame and provide three relative coordinates. The three
coordinates are scalar functions and can be used to define a position vector and derive other
kinematic characteristics.

Triad
Let us take four noncoplanar points 𝑂, 𝐴, 𝐵 and 𝐶. Now they are joined using lines 𝑂𝐴, 𝑂𝐵 and 𝑂𝐶.
This forms a rigid body and it is called triad. Now, if the lines are rotated in such a manner that
they become normal to the plane opposite to it i.e. 𝑂𝐴 is normal to 𝑂𝐵𝐶 and so on. Such a triad is
called orthogonal triad.

When these three lines which make triad are scaled, then such a triad is called coordinate frame.
We use an orthogonal triad 𝑂𝐴𝐵𝐶 with scaled line 𝑂𝐴, 𝑂𝐵, 𝑂𝐶 to locate a point in 3D space. This
coordinate frame is essential to locate any object in space. It requires three coordinates which can
be measured or located on the three lines mentioned above. These three lines are called axes of the
frame. In general, axis flowing right direction, upward direction or coming out normally from a
plane are taken as positive. Other axes opposite to these are called as negative axes.

Every moving body is carrying a moving or body frame that is attached to the body and moves
with the body. A body frame accepts every motion of the body and may also be called a local
frame. the position and orientation of a body with respect to other frames is expressed by the
position and orientation of its local coordinate frame.

When there are several relatively moving coordinate frames, we choose one of them as a reference
frame in which we express motions and measure kinematic information. the motion of a body may
be observed and measured in different reference frames; however, we usually compare the motion
of different bodies in the global reference frame. a global reference frame is assumed to be
motionless and attached to the ground.

It is a matter of discuss as which frame to be taken as reference frame. It is essential that the
reference frame should be stationary and should not move with the body, so that, the motion of the
body can be described with the reference of this frame. Initially Earth was taken as reference frame
and it was assumed that Earth is stationary and everything including Sun is revolving around Earth.
Such a system was referred to as Geo-centric reference of frame. However, it was discovered that
Earth is not stationary and is moving around the Sun. So, then reference frame was changed to Sun
taking as stationary object and such frame was labeled as Helio-centric reference of frame. Later
on, it was found that even sun is moving.

For the sake of convenience and ease in analysis of the problems, for all kind of motion taking
place on Earth is analysed, understood and comprehended by taking it in the reference of Geo-
stationary reference of frame.

Right hand rules

A right-handed triad can be identified by a right-hand rule that states: when we indicate the 𝑂𝐶
axis of an orthogonal triad by the thumb of the right hand, the other fingers should turn from 𝑂𝐴-
to-𝑂𝐵 to close our fist.

The right-hand rule also shows the rotation of earth when the thumb of the right hand indicates the
north pole. Push your right thumb to the center of a clock, then the other fingers simulate the
rotation of the clock’s hands.

This right-hand thumb rule also applies in so many physical phenomena to give the directions of
the vector quantities. For example, Point your index finger of the right hand in the direction of an
electric current. Then point your middle finger in the direction of the magnetic field. Your thumb
now points in the direction of the magnetic force.

The right-hand rule simulates the orthogonal triad also.

If the thumb, index finger, and middle finger of the right
hand are held so that they form three right angles, then
the thumb indicates the z -axis when the index finger
indicates the x-axis and the middle finger the y -axis.

Coordinate frame and position vector

Let there be an orthogonal triad 𝑂𝐴𝐵𝐶 as shown in the
figure below. A unit length on line 𝑂𝐴 is defined as unit
vector directed in the direction of going from 𝑂 to 𝐴.
This is denoted by 𝑖̂. Now, any point 𝑃1 on the line 𝑂𝐴
at a distance 𝑥 from 𝑂 (called origin) can be denoted by the vector line ⃗⃗⃗⃗⃗⃗⃗
𝑂𝑃1 where ⃗⃗⃗⃗⃗⃗⃗
𝑂𝑃1 = 𝑥𝑖̂. Now,
we have ascertained the position of the point 𝑃1 on the axis 𝑂𝐴 using unit vector 𝑖̂ and the
coordinate 𝑥 which is called 𝑖̂-coordinate. In the similar manner, we can ascertain the position of
a point 𝑃2 on the line 𝑂𝐵 using a unit vector 𝑗̂ and a coordinate 𝑦 on the 𝑂𝐵 axis. So, ⃗⃗⃗⃗⃗⃗⃗
𝑂𝑃2 = 𝑦𝑗̂.
Here, 𝑦 is again called as 𝑗̂-coordinate in the similar manner. The same goes for another point 𝑃3
𝑂𝑃3 = 𝑧𝑘̂.
also on the axis 𝑂𝐶; i.e. ⃗⃗⃗⃗⃗⃗⃗

These representations are on the line, so they need only one coordinate. If there is a point in any
plane, then we need two coordinates to ascertain its position. For example, we can fix the position
of a point in 𝐴𝑂𝐵 plane using 𝑥, 𝑦 coordinates; i.e. 𝑥𝑖̂ + 𝑦𝑗̂. In the similar manner, for the point in
space we can fix using three coordinates.

̂
⃗⃗⃗⃗⃗⃗ = 𝒙𝒊̂ + 𝒚𝒋̂ + 𝒛𝒌
𝑶𝑷

A scaled positive orthogonal triad with unit vectors 𝑖̂, 𝑗̂, 𝑘̂ is called an orthogonal coordinate
frame. The position of a point 𝑃 with respect to 𝑂 is defined by three coordinates 𝑥, 𝑦, 𝑧 and is
shown by a position vector 𝒓 = 𝒓𝑷 .

̂
𝒓 = 𝒓𝑷 = 𝒙𝒊̂ + 𝒚𝒋̂ + 𝒛𝒌

The distance between 𝑂 and 𝑃 is a scalar number 𝑟 that is called the length, magnitude, modulus,
norm, or absolute value of the vector 𝒓:

𝑟 = |𝒓| = √𝑥 2 + 𝑦 2 + 𝑧 2

We can also define a unit vector in the direction of 𝒓 and write the vector 𝒓 using it.

𝒓 = 𝑟𝑢̂𝑟

The equation 𝒓 = 𝑟𝑢̂𝑟 is called natural expression of 𝒓, while the equation 𝒓 = 𝑥𝑖̂ + 𝑦𝑗̂ + 𝑧𝑘̂ is
called the decomposition or decomposed expression of 𝒓.

Direction cosines
The unit vector in the direction of vector 𝒓 can be written as below:

𝒓 𝑥𝑖̂ + 𝑦𝑗̂ + 𝑧𝑘̂

𝑢̂𝑟 = =
|𝒓| √𝑥 2 + 𝑦 2 + 𝑧 2

𝑥 𝑦 𝑧
= 𝑖̂ + 𝑗̂ + 𝑘̂
√𝑥 2 + 𝑦 2 + 𝑧 2 √𝑥 2 + 𝑦 2 + 𝑧 2 √𝑥 2 + 𝑦 2 + 𝑧 2

The vector 𝑢̂𝑟 is unit vector, so, the components of 𝑢̂𝑟 in the above expression are the cosines of
the angles 𝛼, 𝛽, 𝛾 which unit vector 𝑢̂𝑟 makes with 𝑖̂, 𝑗̂ and 𝑘̂ respectively.
 𝑥 𝑥
cos 𝛼 = =
𝑟 √𝑥 2 + 𝑦 2 + 𝑧 2

𝑦 𝑦
cos 𝛽 = =
𝑟 √𝑥 2 + 𝑦 2 + 𝑧 2

𝑧 𝑧
cos 𝛾 = =
𝑟 √𝑥 2 + 𝑦 2 + 𝑧 2

These angles 𝛼, 𝛽, 𝛾 are called directional cosines. They show a property as below:

cos 2 𝛼 + cos2 𝛽 + cos2 𝛾 = 1

Example 1
Consider a point 𝑃 whose position vector is given by 𝑟𝑃 = 3𝑖̂ + 2𝑗̂ + 4𝑘̂. Find its distance from
the origin 𝑂. And also find its direction cosines.

While discussing the reference frame and triads, we have used the cartesian coordinate system. We
used three mutually perpendicular axes and that is the definition of cartesian coordinate system.