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Cylindrical and Spherical Coordinates
Cylindrical and Spherical Coordinates
Coordinates
Representation and
Conversions
Representing 3D points in
Cylindrical Coordinates.
Recall polar representations in the plane
Representing 3D points in
Cylindrical Coordinates.
Cylindrical coordinates just adds a z-coordinate to the
polar coordinates (r,).
Representing 3D points in
Cylindrical Coordinates.
Cylindrical coordinates just adds a z-coordinate to the
polar coordinates (r,).
Representing 3D points in
Cylindrical Coordinates.
Cylindrical coordinates just adds a z-coordinate to the
polar coordinates (r,).
Representing 3D points in
Cylindrical Coordinates.
Cylindrical coordinates just adds a z-coordinate to the
polar coordinates (r,).
Representing 3D points in
Cylindrical Coordinates.
Cylindrical coordinates just adds a z-coordinate to the
polar coordinates (r,).
Representing 3D points in
Cylindrical Coordinates.
Cylindrical coordinates just adds a z-coordinate to the
polar coordinates (r,).
Representing 3D points in
Cylindrical Coordinates.
(r,,z)
r
Cylindrical to rectangular
x r cos( )
y r sin( )
zz
Rectangular to Cylindrical
r
r 2 x2 y2
y
tan( )
x
zz
Representing 3D points in
Spherical Coordinates
Spherical Coordinates are the 3D
analog of polar representations in
the plane.
We divide 3-dimensional space into
1.
2.
Representing 3D points in
Spherical Coordinates
(x,y,z)
Representing 3D points in
Spherical Coordinates
We use a method similar to the
method used to measure latitude
and longitude on the surface of the
Earth.
We find the great circle that goes
through the north pole, the south
pole, and the point.
Representing 3D points in
Spherical Coordinates
Note:
all angles are measured in
radians, as always.
Representing 3D points in
Spherical Coordinates
We use a method similar to the
method used to measure latitude
and longitude on the surface of the
Earth.
Next, we draw a horizontal circle
on the sphere that passes through
the point.
Representing 3D points in
Spherical Coordinates
And drop it down onto the xyplane.
Representing 3D points in
Spherical Coordinates
We measure the latitude or azimuthal
angle on the latitude circle, starting at
the positive x-axis and rotating toward
the positive y-axis.
The range of the angle is
0 2 .
Angle is called .
Note that this is the same angle as the in cylindrical coordinates!
r
sin( )
z
cos( )
r
tan( )
z
Spherical to rectangular
Rectangular to Spherical
x2 y 2 z 2
tan( )
y
x
x2 y 2
r
tan( )
z
z
z
z
cos( )
x2 y 2 z 2
Integration Elements:
Rectangular Coordinates
We know that in a Riemann Sum approximation for a
triple integral, a summand
f ( x , y , z ) xi yi zi .
*
i
*
i
*
i
f ( x , y , z ) xi yi zi .
1 4 2 4 3 14 2 43
*
i
*
i
*
i
function value
volume of the small
at a sampling point
cube
Integration Elements:
Cylindrical Coordinates
What happens when we consider small changes
r , , and z
in the cylindrical coordinates r, and z?
We no longer get a
cube, and (similarly to
the 2D case with polar
coordinates) this affects
integration.
Integration Elements:
Cylindrical Coordinates
What happens when we consider small changes
r , , and z
in the cylindrical coordinates r, and z?
Start with our previous
picture of cylindrical
coordinates:
Integration Elements:
Cylindrical Coordinates
What happens when we consider small changes
r , , and z
in the cylindrical coordinates r, and z?
Start with our previous
picture of cylindrical
coordinates:
Expand the radius by a
small amount:
r
r+r
Integration Elements:
Cylindrical Coordinates
This leaves us with a thin cylindrical shell of inner radius r
and outer radius r+ r.
r
r+r
r
r+r
Integration Elements:
Cylindrical Coordinates
Now we consider the angle
Integration Elements:
Cylindrical Coordinates
This give us a wedge.
Combining this with the cylindrical shell created by the
change in r, we get
Integration Elements:
Cylindrical Coordinates
This give us a wedge.
Intersecting this wedge with the cylindrical shell created by
the change in r, we get
Integration Elements:
Cylindrical Coordinates
Finally , we look at a small vertical change z .
dA r dr d
dV
r dr d dz
So . . .
f (r , , z ) r dr d dz
S