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L01 OCS Post
L01 OCS Post
L01 OCS Post
LECTURE 1 slide 1
zP
example
JJJ G P( x , y , z ) P P P OP
0
xP x
yP y
principal lines are intersections of principal planes: x = const., y = const. (z varies) y = const., z = const. (x varies) z = const., x = const. (y varies)
LECTURE 1 slide 3
ax a y = az a y az = ax az ax = a y
LECTURE 1 slide 4
zP
P ( P ,P , z P )
RP
R P = 1a + 0a + z1a z R P a = 1 R P a = 0 R P a z = z1
Principal Surfaces, Lines and Base Unit Vectors in CCS Principal Surfaces: = const. = const. z = const. (plane) az Principal Lines: a = const., = const. (z varies) a = const., z = const. ( varies) z = const., = const. ( varies)
4
N
Where are these lines? line = 0, = any const. line = 1, = 90D line = 180D , z = 0 line z = 0, = 4 (half-plane) a a = a z
(cylinder)
LECTURE 1
z
P
rP
P(rP , P ,P )
P
ar a a
y
P
R r P
P
R P a r = rP R P a = 0 R P a = 0
Principal Lines: r = const., = const. ( varies) = const., = const. (r varies) = const., r = const. ( varies) Where are these lines? line r = 0, = any const. line r = 1, = 90D line = 180D , = any const. line = 45D , r = 1
1
(half-plane)
LECTURE 1 slide 8
LECTURE 1 slide 9
Summary
zP
zP
z
P
P
rP
RP
xP x
PP
yP y
LECTURE 1 slide 10
TRUE OR FALSE?
LECTURE 1 slide 11
Transformation of Coordinates
Rectangular Cylindrical
y = arctan x z=z
= x2 + y2
LECTURE 1 slide 12
Transformation of Coordinates 2
Rectangular Spherical
r cos
r= x +y +z
= arccos
z
2 2 2
in s r
x
co
r sin sin s
P
y
r si
x +y +z y = arctan x
LECTURE 1 slide 13
Transformation of Coordinates 3
Cylindrical Spherical
r cos
z
= r sin = z = r cos
z
r
r = 2 + z2 =
r si n
= arccos
2 + z2
LECTURE 1 slide 14
TRUE OR FALSE?
Q1: The point (0,0,0) in a rectangular CS when transformed into spherical coordinates result in a coordinate r = 1.
LECTURE 1 slide 15
unit vectors of the rectangular coordinate system same at any point of space
az ax P a y 1 a 0 z y x az ay a xP a 2 ax P y 3
LECTURE 1 slide 16
unit vectors a and a of the CCS NOT the same at different points of space: they depend on
sin
az a a P2
x
az a P 1 a
y
explain
LECTURE 1 slide 17
unit vectors of the SCS NOT the same at different points of space: they depend on and
P 1 a
a
ar
a r a a
P2
LECTURE 1 slide 18
Vectors in RCS
vector components are projections onto the unit vectors of the respective CS at the given position vector components in general depend on position A = Ax ( x, y, z )a x + Ay ( x, y, z )a y + Az ( x, y, z )a z
az ax
0
ay
A Ax a x +
Ay a
Az a z
y
Axa x
Aya y
LECTURE 1 slide 19
Vectors in CCS
A = A ( , , z )a + A ( , , z )a + Az ( , , z )a z
do not forget that the orientation of a and a depends on the position as well
z Az
az a a
A A
LECTURE 1 slide 20
Vectors in SCS
A = Ar (r , , )a r + A (r , , )a + A (r , , )a
do not forget that the orientation of ar, a, and a depends on the position as well z
A
Ar A ar
a a
y
A
LECTURE 1 slide 21
Vector Transformations 1
RCS CCS Ax = A cos A sin Ay = A sin + A cos A = A a + A a + A a / a , a , a x x y y z z z Az = Az A = Ax cos + Ay sin A = Ax sin + Ay cos Az = Az vector components depend on the angular position
sin
1
LECTURE 1 slide 22
Vector Transformations 2
RCS SCS Ax = Ar sin cos + A cos cos A sin Ay = Ar sin sin + A cos sin + A cos Az = Ar cos A sin Ar = Ax sin cos + Ay sin sin + Az cos A = Ax cos cos + Ay cos sin Az sin A = Ax sin + Ay cos vector components depend on the angular coordinates
LECTURE 1 slide 23
a a r sin a cos a 0
a 0 0 1
az cos sin 0
LECTURE 1 slide 24
Vector Transformations 4
CCS SCS A = Ar sin + A cos A = A Az = Ar cos A sin Ar = A sin + Az cos A = A cos Az sin A = A
a a r sin a cos a 0
a 0 0 1
az cos sin 0
LECTURE 1 slide 25
A vector A = 5a exists at the point P( = 1, = 90, z = 0). (a) Give the coordinates of P in RCS. x= y= z=
LECTURE 1 slide 26
Summary
we will be using 3 orthogonal coordinate systems: RCS, CCS, SCS your can easily transform position coordinates and vector components formula sheet will be provided in exams papers the rules of vector multiplication are the same in all orthogonal CSs the choice of the CS depends on the symmetry of the problem
LECTURE 1 slide 27