Transforming from one coordinate system to another

y
How can we relate r or q to x and y?

x (x, y) r 2  x2  y2 r  x2  y2
Pythagorean Theorem
y r y
y
q sin   y  r sin  Converts from
x r Cartesian to
(0, 0) x
x polar
cos  x  r cos coordinates.
r is standard notation for a r
length that can contain x, y
and z coordinates. y
tan   You must know how to use these
x trigonometric functions!!
Remember that positive
angles are measured
counterclockwise from 0o These definitions are based on the angle shown in the
(usually from the positive x- diagram. If you use a different angle you may have to
axis). modify these expressions.
Vector Properties
 
A B - Only when both magnitude and direction are exactly the same!
 
A B - These must be added vectorally!

   1. Draw first vector.

R  A B  2. Draw second vector from tip of first vector
B (repeat for each additional vector present)
 3. Draw resultant (R) from tail of first vector to tip
A of last vector.

   
A  B  B  A - Cumulative law of addition.
     
   
A  B  C  A  B  C - Associative law of addition.

A - Negative of a vector. Same magnitude but opposite direction.
   
A B  A  B  - Subtraction of a vector. Same rules as for addition.

mA - Multiply a vector by a scalar.
- Positive scalar changes magnitude.
- Negative scalar changes magnitude and direction.
 Vector Components

Vectors can be broken up into components. Components are used to describe part of the
vector along each of the coordinate directions for your chosen coordinate system.
- The number of components is determined by the number of dimensions.
A 2D vector in the x-y plane has 2 components
- 1 in the x direction and 1 in the y direction.
A 3D vector in spherical coordinates has 3 components
- 1 in the r direction, 1 in the q direction and 1 in the f direction.
- All vector components are defined to be orthogonal (perpendicular) to each other.
- Vector components are also vector quantities.

   Vectors can be moved as long as Ay  
A  Ax  Ay their length and orientation do sin    Ay  A sin 
A
y  not change!
Ax 
2  2  2 Ax  
A  Ax  Ay cos    Ax  A cos
   A
Ay A Ay
When you square a vector, the  These are only
q result is a square of the Ay valid for the
 x magnitude. Directional tan    specified angle.
Ax Ax
information is removed.
 Vector notation using unit vectors
A unit vector is a dimensionless vector with a magnitude of 1 that is used to describe
direction.

Cartesian coordinate unit vectors: The following notation is also used:

x – direction = iˆ x – direction = x̂
- The hat ‘^’ is used to
y – direction = ĵ distinguish unit vectors from y – direction = ŷ
other vectors.
z – direction = k̂ z – direction = ẑ

Examples of vectors using unit vector notation:

 Ax = magnitude of A along x – direction
A  Ax iˆ  Ay ˆj  Az kˆ Ay = magnitude of A along y – direction
Az = magnitude of A along z – direction

x = length along x – direction

 ˆ ˆ
r  xi  yj  zkˆ y = length along y – direction
z = length along z – direction
 Example: Adding vectors using vector notation

A  Ax iˆ  Ay ˆj  Az kˆ You add together magnitudes along similar
 directions. Remember to include appropriate sign.
B  Bx iˆ  B y ˆj  Bz kˆ
  
 
R  A  B  Ax iˆ  Ay ˆj  Az kˆ  Bx iˆ  B y ˆj  Bz kˆ 
  Ax  Bx iˆ  Ay  B y  ˆj   Az  Bz kˆ  Rx iˆ  R y  ˆj  Rz kˆ
Rx Ry Rz

You can determine magnitude and direction for 3D vectors in a similar fashion to what was
done for 2D.
Rx
cos  x  qx, qy and qz are the angles
2 R
R  Rx   R y   Rz 
2 2 2 measured between the
Ry
cos y  vector and the specified
R coordinate direction.
The magnitude can be found using
the Pythagorean Theorem. Rz
cos  z 
R