Equations of Motion in Spherical Coordinates

Arland Thompson
Chief Scientist
Advanced Technology Associates
(www.atacolorado.com)
1) Introduction
It is sometimes useful to formulate the equations of motion in spherical coordinates. For
example, when describing the trajectory of a tactical missile over a relatively short range
where Earth curvature is not a factor, it can be useful to put the equations of motion in
spherical form. In addition, it is often times necessary to be able to convert the equations of
motion from spherical form to Cartesian form, as is the case in orbit determination where
angular and angular rate measures must be taken from tracking antenna gimbal resolvers
and range and range rate are measured by Doppler radar. This brief treatise will develop
the equations of motion in spherical coordinates (position, velocity, and acceleration) along
with the conversion to Cartesian coordinates. The conversion from Cartesian to spherical
will also be developed for completeness.
2) Definition of Topocentric Coordinate Frame
Topocentric Horizon Coordinate frame: X, Y plane is the plane tangent to the Earths
surface at a defined (location of RADAR etc.) center point. The X basis vector points south,
the Y basis vector points east. The Z basis vector points up along the local vertical at the
tangent center point.

 , , - Azimuth from south, elevation from local X, Y plane of the topocentric

coordinate frame, and distance from frame center.

3) Derivation of Position, velocity, and acceleration in Spherical coordinates
The following formulas are used to convert spherical coordinates to rectangular
(Cartesian) coordinates:
x cos cos
y cos sin
z sin

Eqs. 1

Taking the derivatives to get velocity:

x cos cos sin cos cos sin
cos sin sin sin cos cos
y
z sin cos

Eqs. 2

Taking the derivatives once again to get acceleration:

cos cos sin cos cos sin
x
sin cos 2 cos cos sin cos

cos sin

cos cos cos sin

2 sin sin
cos sin sin sin cos cos
y
sin sin 2 cos sin sin sin

cos cos

cos sin cos cos

Eqs. 3

2 sin cos
sin 2 cos 2 sin cos
z

4) Derivation of Conversion from Cartesian coordinates to Spherical

For completeness, the conversion from Cartesian coordinates to spherical will also be
presented here.
The conversion from Cartesian position to spherical coordinates is accomplished
using the following equations:

x2 y2 z2
y

a tan

Eqs. 4

a sin

Note: The quadrant must be correctly resolved on . There is no quadrant issue on

.
2

Taking the derivatives to get velocity

1 2
x y2 z2
2
xx yy zz
x y z
2

2 xx 2 yy 2 zz

1
2

xy yx
xy yx
xy yx
x2

2
2
2
x y 2 Eqs. 5

y
y
2
1
x 1

x
x

z z
z z
2

2
2
z
z
2
1
1

Note that there are singularities in the above equations when the position
magnitude, x component, or y component are exactly 0. These conditions are
unlikely to arise in any practical application. However, software implementation of
these equations must deal with such eventualities.
Taking derivatives once again to get acceleration:

r r r
r
r
2

x 2 y 2 xy x y yx y x xy yx 2 xx 2 yy

x2 y 2 2

1 1 z
D

2

z
2 1

z z z
z

2 1

2
2

z z z z z z D
4 2z2