Lecture 1

Orthogonal Coordinate Systems and Transformations

Sections: 1.3, 1.4, 1.5, 1.8, 1.9 (1.2, 1.6, 1.7 covered at T01) Homework: D1.1, D1.2, D1.3, D1.4, D1.5, D1.6, D1.7, D1.8; 1.24, 1.26, 1.28

LECTURE 1 slide 1

Coordinates and Position Vector in RCS

zP

example

JJJ G P( x , y , z ) P P P OP
0

JJJ G OP R P position coordinates: ( xP , yP , z P ) JJJ G position vector: OP JJJ G R P = 1a x + 2a y + 3a z R P = xP a x + y P a y + z P a z OQ R Q = 2a x 2a y + 1a z R P a x = xP R P a y = yP LECTURE 1 slide 2 R P a z = zP

xP x

yP y

Principal Planes and Principal Lines in RCS

Where are these lines? line x = 0, y = 0 line y = 0, z = 0 line z = 0, x = 0

principal planes satisfy: x = const. y = const. z = const.

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

Principal Lines and Base Unit Vectors in RCS

base unit vectors are along principal lines pointing in the direction of coordinate increase base unit vectors always right-hand triplets cyclic substitutions apply x y z x

ax a y = az a y az = ax az ax = a y

LECTURE 1 slide 4

Coordinates and Position Vector in CCS

zP

P ( P ,P , z P )
RP

position coordinates: ( P , P , z P ) position vector: R P = P a + 0a + z P a z

LECTURE 1 slide 5

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

base unit vectors: a a z = a slide 6 a z a = a

Coordinates and Position Vector in SCS

z
P
rP

P(rP , P ,P )
P
ar a a

y
P

R r P
P

position coordinates: (rP , P , P ) position vector: R P = rP a r + 0a + 0a

LECTURE 1 slide 7

R P a r = rP R P a = 0 R P a = 0

Principal Surfaces and Principal Lines in SCS

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)

Principal Surfaces: r = const. = const. = const.

LECTURE 1 slide 8

Principal Lines and Base Unit Vectors in SCS

base unit vectors: a r a = a

a a = a r a a r = a

LECTURE 1 slide 9

Coordinates in the Three Basic Orthogonal CS

Summary

zP

zP

z
P

P
rP

RP

xP x

PP

yP y

LECTURE 1 slide 10

TRUE OR FALSE?

Q1: In cylindrical CS, the surface = const. is a half-plane.

Q2: In spherical CS, the surface = const. is a sphere.

LECTURE 1 slide 11

Transformation of Coordinates

Rectangular Cylindrical

x = cos y = sin z=z

y = arctan x z=z

= x2 + y2

LECTURE 1 slide 12

Transformation of Coordinates 2

Rectangular Spherical

r cos

x = r sin cos y = r sin sin z = 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.

Q2: The point (r,0,0), r 0, in spherical coordinates lies on the x axis.

LECTURE 1 slide 15

More on Unit Vectors 1

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

More on Unit Vectors 2

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

More on Unit Vectors 3

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

Vector Transformations 3 Let us derive CCS SCS

a x = sin cos a r + cos cos a sin a = cos a sin a

a = sin a r + cos a (same result if the ay equation is used) a z = cos a r sin a = a z

a = sin a r + cos a a = a a z = cos a r sin a

a r = sin a + cos a z a = cos a sin a z a = a

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=

(b) What are the components of A in RCS? Ax = Ay = Az =

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