M. M.
ALI
COORDINATE SYSTEM
Introduction to three dimensional coordinate systems
Electromagnetics deals with vector fields at a point in space and the vectors are easy to
handle when they are resolved into their components along three mutually perpendicular
coordinates/directions. Cartesian or rectangular, Cylindrical, and Spherical coordinate
systems are most commonly used coordinate systems to specify the location of a point in
space with respect to a reference origin and components of a vector accurately.
Therefore, before going to main text of electromagnetics, we will discuss first the
coordinate systems in brief.
Cartesian Coordinate System
The Cartesian or rectangular coordinate system is formed by three mutually
perpendicular straight lines named as x, y, and z axes. Once the x and y-axes are fixed,
the z-axis is determined by using cork-screw rule whereby one curls the fingers of his/her
right hand in the direction from x to y then the thumb points in the z-direction. The
location of any point P in space can be specified uniquely by defining its x, y and z
coordinates. The coordinates x, y and z are the perpendicular distances of P from yz-
plane at x=0, zx-plane at y=0 and xy-plane at z=0, respectively, as shown in Fig. 1.1(a).
Here, ax, ay, and az are unit vectors used to indicate the directions of the components of
any vector along the x, y, and z axes, respectively. A differential volume dv=dxdydz can
be obtained by six differential planes/surfaces at x, x+dx, y, y+dy, z, z+dz as illustrated in
Fig. 1.1(b). Each surface is defined by a unit vector normal to it.
yay xax
P(x,y,z)
az z az
ay y
ax
x
(a)
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z-axis
y-axis
x-axis
(b) (c)
Fig. 1.1
Thus the differential surfaces in the positive direction of the unit vectors are, respectively,
dsx=dydz ax, dsy=dzdx ay and dsz=dxdy az as shown in Fig. 1.1(c). The differential length
from P to Q in vector form is obtained from the difference between the position vector of
point Q and that of point P, and is given as dL=dx ax+dy ay +dz az.
Cylindrical Coordinate System
Any point in this system is specified by assigning its coordinates (ρ, φ, z) as illustrated in
Fig. 1.2. Here ρ is the perpendicular distance of the point from z-axis, φ is the angle
between x and ρ axes and is measured from the x axis in the anti clockwise direction, and
z is the perpendicular distance of the point along z axis from the xy plane at z=0.
z
ρ aρ
0
90
ρ,Ф,z)
P(ρ
x Ф
z az
az aФ
y
aρ
x
Fig. 1.2
A differential volume dv= ρdρdφdz is formed by the surfaces at ρ, ρ+dρ, φ, φ+dφ, z and
z+dz as illustrated in Fig. 1.3. Thus differential surfaces in the positive direction of the
unit vectors aρ, aφ and az.are, respectively, dsρ = ρdφdz aρ, dsφ= dρdz aφ and dsz= ρdρdφ
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az. The elemental length from P(ρ, φ, z) to Q(ρ+dρ, φ+dφ, z+dz) in vector form is dL= dρ
aρ + ρdφ aφ +dz az.
dSz
dSФ
dSρ
Fig. 1.3
Spherical Coordinate System
A point P in space in spherical coordinate system is represented in terms of r, θ and φ as
shown in Fig. 1.4. Here r is the radial distance from the origin to the point P, θ is the
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angle that r makes with the positive z axis, and φ is the angle between x and ρ axes and is
measured from the x axis in the anti clockwise direction.
z-axis
ϕ P
ρ-axis
θ
r
x-axis y-axis
Fig. 1.4
dSr
P(r, ϑ, Ф) dSФ
dSϑ
Q(r+dr, ϑ+dϑ, Ф+dФ)
Fig. 1.5
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Six differential surfaces at r, r+dr, θ, θ+dθ, φ and φ+dφ formed a differential volume dv=
r2sinθ drdθdφ as illustrated in Fig. 1.5. The differential surfaces in the positive direction
of the unit vectors ar, aθ and aφ.are, respectively, dsr = r2sinθdθdφ ar, dsθ= r sinθdrdφ aθ
and dsφ= rdrdθ aφ. The elemental length from P(r, θ, φ) to Q(r+dr, θ+dθ, φ+dφ) in vector
form is dL= dr ar + rdθ aθ + r sinθ dφ aφ.
Transformation between Coordinate Systems
Sometimes it is easy to handle the problem of electromagnetic field in one coordinate
system but desirable to have an answer in other coordinate system. The following
discussion on transformation between the coordinate systems, therefore, plays an
important role in this subject. The transformation system involves two steps: (i) changing
of independents variables and (ii) changing of vector components.
(a) Transformation between Cartesian & Cylindrical Coordinate System
The coordinates of a point P in both Cartesian and Cylindrical coordinate systems are
shown in Fig. 2.1 (a).
z
y
x ρ
ϕ
z
az
ρ aϕ y
ϕ aρ
x
x Fig. 2.1 (a)
Fig. 2.1(b)
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The relation among the independent variables is therefore:
Cartesian to Cylindrical Cylindrical to Cartesian
ρ=√(x2 + y2) x= ρ cos φ
φ= tan-1(y/x) y= ρ sin φ
z=z z=z
If a vector A=Aρ aρ + Aφ aφ + Az az is given in cylindrical coordinate system, it can be
expressed in the rectangular coordinate system as A=Ax ax + Ay ay + Az az. The vector
components Ax, Ay and Az can be obtained in terms of the vector components and
independent variables of cylindrical system by dot multiplying the vector A in both
systems by ax, ay, and az, respectively.
(Ax ax + Ay ay + Az az) • ax = (Aρ aρ + Aφ aφ + Az az) • ax
or Ax= (Aρ aρ + Aφ aφ + Az az) • ax
From Fig. 2.1(b), we have
aρ=cos φ ax+ sin φ ay and aφ= - sin φ ax+ cos φ ay
Hence, aρ • ax= cos φ, aφ • ax= - sin φ, and az • ax= 0.
∴ Ax= Aρ cos φ - Aφ sin φ ............................................................................(2.1)
Ay can be obtained from
(Ax ax + Ay ay + Az az) • ay = (Aρ aρ + Aφ aφ + Az az) • ay
or Ay= (Aρ aρ + Aφ aφ + Az az) • ay
Now,
aρ • ay= sin φ, aφ • ay= cos φ, and az • ay= 0.
∴ Ay= Aρ sin φ + Aφ cos φ ............................................................................(2.2)
And Az can be obtained from
(Ax ax + Ay ay + Az az) • az = (Aρ aρ + Aφ aφ + Az az) • az
or Az= (Aρ aρ + Aφ aφ + Az az) • az
Hence,
aρ • az= 0, aφ • az= 0, az • az= 1.
∴ Az= Az .........................................................................................................(2.3)
Similarly, the vector components Aρ, Aφ and Az can be obtained in terms of the vector
components and independent variables of Cartesian system by dot multiplying the vector
A in both systems by aρ, aφ, and az, respectively.
(Aρ aρ + Aφ aφ + Az az) • aρ =(Ax ax + Ay ay + Az az) • aρ
or Aρ =(Ax ax + Ay ay + Az az) • aρ
= Ax cos φ + Ay sin φ = Ax (x/(x2 + y2)1/2) + Ay (y/(x2 + y2)1/2) .............(2.4)
Aφ can be obtained from
(Aρ aρ + Aφ aφ + Az az) • aφ =(Ax ax + Ay ay + Az az) • aφ
or Aφ =(Ax ax + Ay ay + Az az) • aφ
= -Ax sin φ + Ay cos φ = -Ax (y/(x2 + y2)1/2) + Ay (x/(x2 + y2)1/2) .............(2.5)
Az can be obtained from
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(Aρ aρ + Aφ aφ + Az az) • az =(Ax ax + Ay ay + Az az) • az
or Az =(Ax ax + Ay ay + Az az) • az = Az ............................................................(2.6)
The result of vector transformation from Cartesian to Cylindrical and vice-versa are
summarized in the following table.
Cartesian to Cylindrical Cylindrical to Cartesian
Aρ= Ax (x/(x2 + y2)1/2) + Ay (y/(x2 + y2)1/2) Ax= Aρ cos φ - Aφ sin φ
Aφ= -Ax (y/(x2 + y2)1/2) + Ay (x/(x2 + y2)1/2) Ay= Aρ sin φ + Aφ cos φ
Az = Az Az = Az
(b) Transformation between Cartesian & Spherical Coordinate System
From the projection of r on the z axis and onto the xy-plane as shown in Fig. 2.2, we have
z y
x ρ=r sin θ
ϕ
θ
r
z= r cos θ
ρ y
ϕ
x
x Fig. 2.2
x=r sinθ cosφ, y= r sinθ sinφ and z=r cosθ.
The relation among the independent variables is therefore:
Cartesian to Spherical Spherical to Cartesian
r=√(x + y2 +z2)
2
x= r sin θ cos φ
θ= cos-1(z/√(x2 + y2 +z2)) y= r sin θ sin φ
φ=tan-1(y/x) z= r cos θ
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z
ar
ρ
900-ϑ
ϑ r aρ
x
z
900-ϑ
ar
ρ
900-ϑ
ϑ r az aө
aρ
y
y
x
Fig. 2.3
From Fig. 2.3, we have
ar =sinθ aρ+ cosθ az=sinθ(cos φ ax+ sin φ ay)+ cosθ az= r/r=(xax+yay+zaz)/(x2+y2+z2)1/2
aθ = cosθ aρ - sinθ az= cosθ(cos φ ax+ sin φ ay) - sinθ az and from our previous result
aφ= - sin φ ax+ cos φ ay
Now if a vector A=Ar ar + Aθ aθ + Aφ aφ is given in spherical coordinate system, it can be
expressed in the rectangular coordinate system as A=Ax ax + Ay ay + Az az. The vector
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components Ax, Ay and Az can be obtained in terms of the vector components and
independent variables of cylindrical system by dot multiplying the vector A in both
systems by ax, ay, and az, respectively.
(Ax ax + Ay ay + Az az) • ax = (Ar ar + Aθ aθ + Aφ aφ) • ax
or Ax= (Ar ar + Aθ aθ + Aφ aφ) • ax
Hence,
ar • ax= { sinθ(cos φ ax+ sin φ ay)+ cosθ az } • ax = sin θ cos φ
aθ • ax={ cosθ(cos φ ax+ sin φ ay) - sinθ az} • ax=cos θ cos φ
aφ • ax= - sin φ.
∴ Ax= Ar sin θ cos φ+Aθ cos θ cos φ - Aφ sin φ.........................................(2.7)
Ay can be obtained from
(Ax ax + Ay ay + Az az) • ay = (Ar ar + Aθ aθ + Aφ aφ) • ay
or Ay= (Ar ar + Aθ aθ + Aφ aφ) • ay
Now,
ar • ay= { sinθ(cos φ ax+ sin φ ay)+ cosθ az } • ay = sin θ sin φ
aθ • ay={ cosθ(cos φ ax+ sin φ ay) - sinθ az} • ay =cos θ sin φ
aφ • ay= cos φ.
∴ Ay= Ar sin θ sin φ+Aθ cos θ sin φ + Aφ cos φ.........................................(2.8)
And Az can be obtained from
(Ax ax + Ay ay + Az az) • az = (Ar ar + Aθ aθ + Aφ aφ) • az
or Az= (Ar ar + Aθ aθ + Aφ aφ) • az
Now,
ar • az= { sinθ(cos φ ax+ sin φ ay)+ cosθ az } • az = cos θ
aθ • az={ cosθ(cos φ ax+ sin φ ay) - sinθ az} • az = - sin θ
aφ • az= 0.
∴ Az= Ar cos θ - Aθ sin θ...........................................................................(2.9)
Similarly the vector components Ar, Aθ and Aφ can be obtained in terms of the vector
components and independent variables of catesian system by dot multiplying the vector A
in both systems by ar, aθ, and aφ, respectively.
(Ar ar + Aθ aθ + Aφ aφ) • ar =(Ax ax + Ay ay + Az az) • ar
or Ar=(Ax ax + Ay ay + Az az) • ar
= Ax sin θ cos φ + Ay sin θ sin φ + Az cos θ= Ax (x/r)+ Ay (y/r)+ Az(z/r)
= Ax (x/(x2 + y2 +z2)1/2) + Ay (y/( x2 + y2 +z2)1/2) + Az(z/(x2 + y2 +z2)1/2)..........(2.10)
Aθ can be obtained from
(Ar ar + Aθ aθ + Aφ aφ) • aθ =(Ax ax + Ay ay + Az az) • aθ
or Aθ=(Ax ax + Ay ay + Az az) • aθ
= Ax cos θ cos φ + Ay cos θ sin φ - Az sin θ
= Ax (zx/((x2 + y2)1/2 (x2 + y2 +z2)1/2)) + Ay (zy/((x2 + y2)1/2 ( x2 + y2 +z2)1/2)) - Az ((x2
+ y2)1/2/(x2 + y2 +z2)1/2))............................................(2.11)
Aφ can be obtained from
(Ar ar + Aθ aθ + Aφ aφ) • aφ =(Ax ax + Ay ay + Az az) • aφ
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or Aφ=(Ax ax + Ay ay + Az az) • aφ
= -Ax sin φ + Ay cos φ
= - Ax (y/(x2 + y2)1/2) + Ay (x/(x2 + y2)1/2) ....................(2.12)
The result of vector transformation from Cartesian to spherical and vice-versa are
summarized in the following table.
Cartesian to Spherical Spherical to Cartesian
Ar= Ax (x/(x2 + y2 +z2)1/2) + Ay (y/( x2 + y2 Ax= Ar sin θ cos φ+Aθ cos θ cos φ - Aφ
+z2)1/2) + Az(z/(x2 + y2 +z2)1/2) sin φ
2 2 1/2 2 2 2 1/2
Aθ= Ax (zx/((x + y ) (x + y +z ) )) + Ay= Ar sin θ sin φ+Aθ cos θ sin φ + Aφ
Ay (zy/((x2 + y2)1/2 ( x2 + y2 +z2)1/2)) - Az cos φ
((x2 + y2)1/2/(x2 + y2 +z2)1/2)) Az= A r cos θ - Aθ sin θ
Aφ=- Ax (y/(x2 + y2)1/2) + Ay (x/(x2 + y2)1/2)
Divergence theorem: ∫ A • ds = ∫ (∇ • A)dv
s v
Stocks theorem: ∫ A • dl = ∫ (∇ × A) • ds
l s
