1.

Co-ordinate Systems
Continued… (Lecture 5)

Choice of Co-ordinate systems

Cartesian Co-ordinates: Line, area and volume element
Plane-Polar Co-ordinates: Unit vectors, transformations, Lec 1-5
Rate of change, velocity and acceleration, &
Tut1
Line element, area element
Cylindrical Co-ordinates: Unit vectors and its transformations,
Rate of change, velocity and acceleration, line, area and volume element
Spherical Polar Co-ordinates: Unit vectors and its
transformations, Rate of change, velocity and acceleration, line,
area and volume element

RKE_JJ_PH103_2019 1
 Plane polar Cylindrical polar
(r , ) ( , , z)
 
r  reˆr r   eˆ  zeˆz
 
dr  dreˆr  rd eˆ dr  d  eˆ   d eˆ  dzeˆz
eˆ  eˆx cos( )  eˆy sin( )  0eˆz
eˆr  eˆx cos( )  eˆy sin( )
eˆ  eˆx sin( )  eˆy cos( )  0eˆz
eˆ  eˆx sin( )  eˆy cos( )
eˆz  eˆz
  
   
V  r eˆr  r  eˆ V   eˆ    eˆ  z eˆz
    2     
    2
   
 
a   r  r   eˆr   r   2 r   eˆ a        eˆ      2    eˆ  z eˆz
       

RKE_JJ_PH103_2019 2
 Spherical Polar Coordinate
Z
System
ˆr
e

ê

ê


2 2 2 r
r  x  y z

  r sin  
z  r cos 
  x2  y 2
 X
 x2  y2 
  tan 1
  


z 
 x  r sin  cos 
  tan 1 
 y
 y  r sin  sin 
 x 

Y
RKE_JJ_PH103_2019
z  r cos  3
 Transformation of Coordinates

2 2 2
r x y z
 x y 
2 2
x  r sin  cos 
  tan 1  
 z  y  r sin  sin 
 
z  r cos 
 y
1
  tan  
x

RKE_JJ_PH103_2019 4
Transformation of Unit Vectors
ˆr
e
Z
ê

ê


X

RKE_JJ_PH103_2019 5
Y
 Transformation of Unit
eˆ
Vector z
ˆr
e
eˆz ˆr
e
Z
ˆr
e ê
eˆx
 eˆy ê

eˆx

eˆy

X component sin  cos 
Y component sin  sin 
Z component 
cos  X

eˆr  sin  cos  eˆx  sin  sin  eˆy  cos  eˆz

RKE_JJ_PH103_2019 6
Y
 Transformation of Unit
eˆ
Vector ê
z
eˆz ˆr
e
Z
ê
eˆx
eˆy ê
 eˆx

eˆy 



ê X
eˆ  cos  cos  eˆx  cos  sin  eˆy  sin  eˆz
X component 
cos  cos 
Y component cos  sin 
Z component
 sin  RKE_JJ_PH103_2019 7
Y
 Transformation of Unit
eˆ
Vector ê
z
eˆz ˆr
e
Z
ê
eˆx
eˆy
ê ê

 eˆx

eˆy



X

X component 
 sin 
Y component cos 
Z component
0 eˆ   sin  eˆx  cos  eˆy  0eˆz
RKE_JJ_PH103_2019 8
Y
Transformation of Unit Vectors
 eˆr   sin  cos  sin  sin  cos    eˆx 
     
eˆ   cos  cos  cos  sin   sin   eˆ y 
 eˆ    sin  cos  0   eˆz 
 

 eˆx  sin  cos  cos  cos   sin    eˆr 

eˆ    sin  sin    
 y  cos  sin  cos   eˆ 
 eˆz   cos   sin  0  eˆ 

RKE_JJ_PH103_2019 9
 Derivatives of Unit Vectors
 eˆr   sin  cos  sin  sin  cos    eˆx 
     
eˆ
    cos  cos  cos  sin  ˆ
 sin   e y 
 eˆ    sin  cos  0   eˆz 
 

deˆr deˆ deˆ

0 0 0
dr dr dr
deˆr deˆ deˆ
 eˆ   eˆr 0
d d d
deˆr deˆ deˆ
 sin  eˆ  cos  eˆ   cos  eˆ  sin  eˆr
d d d
RKE_JJ_PH103_2019 10
Derivatives of Unit Vectors (Geometrical approach)
ˆr
e
Z
ê

eˆr  ê ê

 ˆr '
e
'
ê
eˆr ' deˆ
deˆr 
0
0 ê '
dr dr

deˆr deˆ X
 eˆ 0
d d
deˆr deˆ 
 sin  eˆ   cos  eˆ  sin  eˆr
d d
RKE_JJ_PH103_2019 11
Y
 Infinitesimal line element
r  reˆr
Z

 

r
dr
'  
r  dr


' X

RKE_JJ_PH103_2019 12
Y
 How to find the line element?
Independent variation’s of dr in r, ϴ and ɸ direction

Z Z  Z



 dr2
ɵ’ r dr 3
dr1
+ ɵ
dɵ
+
r

X X X
dɸ

Y
Y Y
ˆr direction
Variation dr 1 in e Variation dr2 in ê direction Variation dr3 in ê direction

Keeping ϴ and ɸ constant Keeping r and ɸ constant Keeping r and ɵ constant

 
    
dr  dr1  dr2  dr3
 Infinitesimal line element
eˆr
Z  
Case 1: ê r  d r1

 and  is constant ê


r


d r1  dreˆr



X

RKE_JJ_PH103_2019 14
Y
 Infinitesimal line element
ˆr
e
Z
Case 2: ê

r and  is constant ê

 
r d r2

ˆr '
e
'
 ê

d r 2  rd eˆ   
r  d r2 ê '


X

RKE_JJ_PH103_2019 15
Y
 Infinitesimal line element
ˆr '
e ˆr
e
Z
Case 3: ê
ê '
r and  is constant 
d r3 ê
ê ' 
  r
r  d r3

d r3   d eˆ

 r sin  d eˆ

X
'

 


d r3
RKE_JJ_PH103_2019 16
Y
 Infinitesimal line element
 Z
r  reˆr 
dr


r

 
r  dr

Try
mathematical
approach and X
verify!

d r  dreˆr  rd eˆ  r sin  d eˆ
RKE_JJ_PH103_2019 17
Y
 Infinitesimal area element

dA  (rd )(r sin  d )eˆr  r 2 sin  d d eˆr

RKE_JJ_PH103_2019 18
 Infinitesimal volume element
2
dV  (dr )(rd )(r sin  d )  r sin  drd d

RKE_JJ_PH103_2019 19
 Velocity and acceleration

r  reˆr
 dr  deˆr 
  
dr  deˆr d deˆr d 
V  r eˆr  r V  r eˆr  r   
dt dt dt  d dt d dt 
   
V  r eˆr  r  eˆ  r sin   eˆ
 2 2
 ar  r  r   r sin 2  
 dV
2
a   

dt a  2 r   r sin  cos    r 
    
a  2 r RKE_JJ_PH103_2019
sin   2r   cos   r sin   20
 Cylindrical polar Spherical polar
( , , z) (r , ,  )
 
r   eˆ  zeˆz r  reˆr
 
dr  d  eˆ   d eˆ  dzeˆz d r  dreˆr  rd eˆ  r sin  d eˆ
eˆ  eˆx cos( )  eˆy sin( )  0eˆz  eˆr   sin  cos  sin  sin  cos    eˆx 
  
eˆ  eˆx sin( )  eˆ y cos( )  0eˆz eˆ   cos  cos  cos  sin   sin    eˆy 
 eˆ    sin  cos  0   eˆz 
eˆz  eˆz  

       
V   eˆ    eˆ  z eˆz V  r eˆr  r  eˆ  r sin   eˆ
 2 2
   2
   
  2
ar  r  r   r sin  
a        eˆ      2    eˆ  z eˆz
      2 
a  2 r   r sin  cos    r 
    
RKE_JJ_PH103_2019
a  2 r  sin   2r   cos   r sin   21