Spherical Unit Vectors in relation to Cartesian Unit Vectors

r , , can be rewritten in terms of x , y , z using the following transformations:

r sin cos x sin sin y cos z

cos cos x cos sin y sin z

sin x cos y

NOTICE: Unlike x , y , z ; r , , are NOT uniquely defined!

The game can be played in reverse to find x , y , z in terms of r , , :

x sin cos r cos cos sin

y sin sin r cos sin cos

z cos r sin