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Cross Product and Dot Product in Cylindrical Coordinate
Cross Product and Dot Product in Cylindrical Coordinate
Cross Product and Dot Product in Cylindrical Coordinate
! ^
z
Transforms
^
"
The forward and reverse coordinate transformations are z r ^
!
!= x +y 2 2
x = ! cos"
" = arctan ( y, x ) y = ! sin " y
z= z z= z
where we formally take advantage of the two argument arctan x "
function to eliminate quadrant confusion.
Unit Vectors
The unit vectors in the cylindrical coordinate system are functions of position. It is convenient to express them in terms of
the cylindrical coordinates and the unit vectors of the rectangular coordinate system which are not themselves functions of
position.
!
! x xˆ + yyˆ
!ˆ = = = xˆ cos" + yˆ sin "
! !
"ˆ = ˆz # !ˆ = $ xˆ sin " + ˆy cos "
ˆz = zˆ
Path increment
!
We will have many uses for the path increment dr expressed in cylindrical coordinates:
!
dr = d (! !ˆ + zˆz) = !ˆ d! + ! d!ˆ + ˆzdz + zdˆz
$ "!ˆ "!ˆ "!ˆ ' $ "zˆ "zˆ "zˆ '
= !ˆ d! + !& d! + d# + dz ) + zˆdz + z & d! + d# + dz)
% "! "# " z ( % "! "# "z (
= !ˆ d! + #ˆ! d# + zˆdz
Time derivatives of the unit vectors
We will also have many uses for the time derivatives of the unit vectors expressed in cylindrical coordinates:
"!ˆ ˙ "!ˆ ˙ "!ˆ
!˙ˆ = !+ #+ z˙ = #ˆ#˙
"! "# "z
˙ "#ˆ ˙ "#ˆ ˙ "#ˆ
#ˆ = !+ #+ z˙ = $ !ˆ #˙
"! "# "z
˙zˆ = "zˆ !˙ + "ˆz #˙ + "zˆ z˙ = 0
"! "# "z
$ & ˆ $u %ˆ $u ˆ $u )
= #ˆ " (# + +z +
$# ' $# # $% $z *
%ˆ $ & ˆ $u %ˆ $u ˆ $u )
+ " (# + +z +
# $% ' $# # $% $z *
$ & $u %ˆ $u $u )
+ zˆ " ( #ˆ + + zˆ +
$z ' $# # $% $z *
With the help of the partial derivatives previously obtained, we find
' $ 2u &ˆ $u &ˆ $ 2u $ 2u *
! 2 u = "ˆ # ) "ˆ 2 % 2 + + zˆ ,
( $" " $& " $&$" $z$" +