2.1.

Cylindrical Coordinate System

Imagine two planes intersecting at point 𝑷 in a cylinder as shown in the figure.

Figure 4 A cylinder figure

where: 𝜌 = radius of the cylinder

𝜙 = angle from the reference (positive x-axis)
𝑧 = height
The position of point 𝑷 is defined by the coordinates (𝜌, 𝜙, 𝑧)
Let me introduce to you the differential elements of the cylindrical coordinate system.

Figure 5 Differential Elements of the Cylindrical Coordinate System

The differential volume of cylindrical coordinate system, 𝑑𝑣 = 𝜌𝑑𝜌𝑑𝜙𝑑𝑧

The differential surface area:
𝑑𝑠1 = 𝜌𝑑𝜌𝑑𝑧

𝑑𝑠2 = 𝑑𝜌𝑑𝑧

𝑑𝑠3 = 𝜌𝑑𝜙𝑑𝜌

Prepared by: Samuel John V. Delmo

Let us not relate the Cartesian coordinate system with the Cylindrical coordinal system
Consider point 𝑃 with coordinates (𝜌1 , 𝜙1 , 𝑧1 )

Rotating the triangle where, 𝑥 is horizontal and 𝑦 is vertical

Relationship of the cylindrical coordinate system with the cartesian coordinate system
𝑥 𝑦 𝑦
cos 𝜙 = sin 𝜙 = tan 𝜙 = 𝝆 = √𝒙𝟐 + 𝒚𝟐
𝜌 𝜌 𝑥

𝒚
𝒙 = 𝝆 𝐜𝐨𝐬 𝝓 𝒚 = 𝝆 𝐬𝐢𝐧 𝝓 𝝓 = 𝐭𝐚𝐧−𝟏 𝒛=𝒛
𝒙

Table 1

𝑥 = 𝜌 cos 𝜙

𝑦 = 𝜌 sin 𝜙

𝑧=𝑧
𝑦
tan 𝜙 = , +𝑥 axis CCW is the reference
𝑥
of 𝜙

𝜌 = √𝑥 2 + 𝑦 2

Table 1 Relationship of the cylindrical coordinate system with the cartesian coordinate system

Prepared by: Samuel John V. Delmo

Dot product of unit vectors in cylindrical coordinate and cartesian coordinate system.

RECALL: cos(𝐴 ± 𝐵) = cos 𝐴 cos 𝐵 ∓ sin 𝐴 sin 𝐵

Table 2
𝑎𝜌 𝑎𝜙 𝑎𝑧
𝑎𝑥 cos 𝜙 − sin 𝜙 0
𝑎𝑦 sin 𝜙 cos 𝜙 0
𝑎𝑧 0 0 1
Table 2 Dot product of unit vectors in cylindrical coordinate and cartesian coordinate system.

PROOF:

𝑎𝑥 ∙ 𝑎𝜌 = |𝑎𝑥 ||𝑎𝜌 | cos 𝜙, since the magnitude of a unit vector is one, then

𝒂𝒙 ∙ 𝒂𝝆 = 𝐜𝐨𝐬 𝝓

𝑎𝑦 ∙ 𝑎𝜌 = |𝑎𝑦 ||𝑎𝜌 | cos(90° − 𝜙), since the magnitude of a unit vector is one, then

𝑎𝑦 ∙ 𝑎𝜌 = cos 90° cos 𝜙 + sin 90° sin 𝜙, where cos 90° = 0, sin 90° = 1

𝒂𝒚 ∙ 𝒂𝝆 = 𝐬𝐢𝐧 𝝓

𝑎𝑦 ∙ 𝑎𝜙 = |𝑎𝑦 ||𝑎𝜌 | cos(90 + 𝜙), since the magnitude of a unit vector is one, then

𝑎𝑦 ∙ 𝑎𝜙 = cos(90° + 𝜙) = cos 90° cos 𝜙 − sin 90° sin 𝜙

where, cos 90° = 0, and sin 90° = 1

𝒂𝒚 ∙ 𝒂𝝓 = − 𝐬𝐢𝐧 𝝓 Other Dot products are left for practice…

TRANSFORMATION
Steps:
1. Change the variables (use Table 1)
2. Change of component (use Table 2)

NOTE: For Cartesian 𝐴⃗ = 𝐴𝑥 𝑎𝑥 + 𝐴𝑦 𝑎𝑦 + 𝐴𝑧 𝑎𝑧 For Cylindrical 𝐴⃗ = 𝐴𝜌 𝑎𝜌 + 𝐴𝜙 𝑎𝜙 + 𝐴𝑧 𝑎𝑧

Prepared by: Samuel John V. Delmo

 ⃗⃗ = 𝑦𝑎𝑥 − 𝑥𝑎𝑦 + 𝑧𝑎𝑧 , transform into cylindrical coordinate system
EXAMPLE 1. Given 𝐵

From Table 1. 𝑥 = 𝜌 cos 𝜙, 𝑦 = 𝜌 sin 𝜙, and 𝑧 = 𝑧

⃗⃗ = 𝜌 sin 𝜙 𝑎𝑥 − 𝜌 cos 𝜙 𝑎𝑦 + 𝑧 𝑎𝑧
Step 1. Change variables 𝐵

⃗⃗ ∙ 𝑎𝜌 ,
Step 2. Solve 𝐵𝜌 = 𝐵 ⃗⃗ ∙ 𝑎𝜙 ,
𝐵𝜙 = 𝐵 ⃗⃗ ∙ 𝑎𝑧
𝐵𝑧 = 𝐵

⃗⃗ ∙ 𝑎𝜌 = (𝜌 sin 𝜙 𝑎𝑥 − 𝜌 cos 𝜙 𝑎𝑦 + 𝑧 𝑎𝑧 ) ∙ 𝑎𝜌
𝐵𝜌 = 𝐵 See Table 2 for the dot product

𝐵𝜌 = 𝜌 sin 𝜙 𝑎𝑥 ∙ 𝑎𝜌 − 𝜌 cos 𝜙 𝑎𝑦 ∙ 𝑎𝜌 + 𝑧𝑎𝑧 ∙ 𝑎𝜌 = 𝜌 sin 𝜙 cos 𝜙 − 𝜌 cos 𝜙 sin 𝜙 + 0

𝑩𝝆 = 𝟎

⃗⃗ ∙ 𝑎𝜙 = (𝜌 sin 𝜙 𝑎𝑥 − 𝜌 cos 𝜙 𝑎𝑦 + 𝑧 𝑎𝑧 ) ∙ 𝑎𝜙
𝐵𝜙 = 𝐵

𝐵𝜙 = 𝜌 sin 𝜙 ∙ − sin 𝜙 − 𝜌 cos 𝜙 ∙ cos 𝜙 + 0 = −𝜌 sin2 𝜙 − 𝜌 cos2 𝜙

𝐵𝜙 = −𝜌(sin2 𝜙 + cos2 𝜙), See Pythagorean Identity, Trigonometry

𝑩𝝓 = −𝝆

⃗⃗ ∙ 𝑎𝑧 = (𝜌 sin 𝜙 𝑎𝑥 − 𝜌 cos 𝜙 𝑎𝑦 + 𝑧 𝑎𝑧 ) ∙ 𝑎𝑧
𝐵𝑧 = 𝐵

𝑩𝒛 = 𝒛
Step 3. Obtain the solved magnitudes from Step 2 and arrange into proper cylindrical coordinates
⃗⃗⃗ = −𝝆 𝒂𝝓 + 𝒛 𝒂𝒛
𝑩

⃗⃗ = −𝜌 𝑎𝜙 + 𝑧 𝑎𝑧 , transform into cartesian coordinate system

EXAMPLE 2. Given 𝐵

From Table 1. 𝑥 = 𝜌 cos 𝜙, 𝑦 = 𝜌 sin 𝜙, and 𝑧 = 𝑧

⃗⃗ ∙ 𝑎𝑥 ,
Step 1. Solve 𝐵𝑥 = 𝐵 ⃗⃗ ∙ 𝑎𝑦 ,
𝐵𝑦 = 𝐵 ⃗⃗ ∙ 𝑎𝑧
𝐵𝑧 = 𝐵

𝐵𝑥 = (−𝜌 𝑎𝜙 + 𝑧 𝑎𝑧 ) ∙ 𝑎𝑥 = −𝜌 𝑎𝜙 ∙ 𝑎𝑥 + 𝑧 𝑎𝑧 ∙ 𝑎𝑥 See Table 2 for the dot product

𝑦
𝐵𝑥 = −𝜌(− sin 𝜙); but 𝑦 = 𝜌 sin 𝜙, then sin 𝜙 = 𝜌

𝑦
Therefore, 𝐵𝑥 = −𝜌 (− 𝜌) = 𝒚

𝐵𝑦 = (−𝜌 𝑎𝜙 + 𝑧 𝑎𝑧 ) ∙ 𝑎𝑦 = −𝜌 𝑎𝜙 ∙ 𝑎𝑦 + 𝑧 𝑎𝑧 ∙ 𝑎𝑦 See Table 2 for the dot product

𝑥
𝐵𝑦 = −𝜌 cos 𝜙; but 𝑥 = 𝜌 cos 𝜙, then cos 𝜙 = 𝜌

𝑥
Therefore, 𝐵𝑥 = −𝜌 (𝜌) = −𝒙

𝐵𝑧 = (−𝜌 𝑎𝜙 + 𝑧 𝑎𝑧 ) ∙ 𝑎𝑧 = −𝜌 𝑎𝜙 ∙ 𝑎𝑧 + 𝑧 𝑎𝑧 ∙ 𝑎𝑧 = 𝒛 See Table 2 for the dot product

⃗⃗⃗ = 𝒚 𝒂𝒙 − 𝒙 𝒂𝒚 + 𝒛 𝒂𝒛
Therefore, 𝑩

Prepared by: Samuel John V. Delmo

EXAMPLE 3. Given points 𝐴(𝑥 = 2, 𝑦 = 3, 𝑧 = −1) and 𝐵(𝜌 = 4, 𝜙 = −50°, 𝑧 = 2), find the distances from
a. Point 𝐴 to the origin
b. Point 𝐵 to the origin
c. Point 𝐴 to Point 𝐵
NOTE: distance = magnitude
For (a.)
⃗⃗⃗⃗⃗⃗⃗⃗
𝑅𝐴𝑂 = (0 − 2)𝑎𝑥 + (0 − 3)𝑎𝑦 + [0 − (−1)]𝑎𝑧 = −𝟐𝒂𝒙 − 𝟑𝒂𝒚 + 𝒂𝒛

⃗⃗⃗⃗⃗⃗⃗⃗
|𝑅 2 2 2
𝐴𝑂 | = √(−2) + (−3) + (1) = √𝟏𝟒 = 𝟑. 𝟕𝟒 𝐮𝐧𝐢𝐭𝐬

For (b.)
From Table 1. 𝑥 = 𝜌 cos 𝜙, 𝑦 = 𝜌 sin 𝜙, and 𝑧 = 𝑧
𝑥 = 𝜌 cos 𝜙 = 4 cos(−50°) = 2.571
𝑦 = 𝜌 sin 𝜙 = 4 sin(−50°) = −3.064
𝑧=2

Solving for ⃗⃗⃗⃗⃗⃗⃗⃗

𝑅𝐵𝑂
⃗⃗⃗⃗⃗⃗⃗⃗
𝑅𝐵𝑂 = (0 − 2.571)𝑎𝑥 + [0 − (−3.064)]𝑎𝑦 + (0 − 2)𝑎𝑧 = −𝟐. 𝟓𝟕𝟏𝒂𝒙 + 𝟑. 𝟎𝟔𝟒𝒂𝒚 − 𝟐𝒂𝒛

⃗⃗⃗⃗⃗⃗⃗⃗
|𝑅 2 2 2
𝐵𝑂 | = √(−2.571) + (3.064) + (−2) = 𝟒. 𝟒𝟕 𝐮𝐧𝐢𝐭𝐬

For (c.)

Solving for ⃗⃗⃗⃗⃗⃗⃗⃗

𝑅𝐴𝐵
⃗⃗⃗⃗⃗⃗⃗⃗
𝑅𝐴𝐵 = (2.571 − 2)𝑎𝑥 + (−3.064 − 3)𝑎𝑦 + [2 − (−1)]𝑎𝑧 = 𝟎. 𝟓𝟕𝟏𝒂𝒙 − 𝟔. 𝟎𝟔𝟒𝒂𝒚 + 𝟑𝒂𝒛

⃗⃗⃗⃗⃗⃗⃗⃗
|𝑅 2 2 2
𝐴𝐵 | = √(0.571) + (−6.064) + (3) = 𝟔. 𝟕𝟗 𝐮𝐧𝐢𝐭𝐬

EXAMPLE 4. Transform each of the following vectors to cylindrical at the point specified.

a. 𝐴⃗ = 5𝑎𝑥 at 𝑃(𝜌 = 4, 𝜙 = 120°, 𝑧 = 2)

b. 𝐴⃗ = 5𝑎𝑥 at 𝑄(𝑥 = 3, 𝑦 = 4, 𝑧 = −1)
c. 𝐴⃗ = 4𝑎𝑥 − 2𝑎𝑦 + 4𝑎𝑧 at 𝐴(𝑥 = 2, 𝑦 = 3, 𝑧 = 5)

HINT: To transform vector from Cartesian to Cylindrical, we use

𝐴⃗ = 𝐴𝜌 𝑎𝜌 + 𝐴𝜙 𝑎𝜙 + 𝐴𝑧 𝑎𝑧

For (a.)

Solve 𝐴𝜌 = 𝐴⃗(𝑐𝑎𝑟𝑡. ) ∙ 𝑎𝜌 , 𝐴𝜙 = 𝐴⃗(𝑐𝑎𝑟𝑡. ) ∙ 𝑎𝜙 , 𝐴𝑧 = 𝐴⃗(𝑐𝑎𝑟𝑡. ) ∙ 𝑎𝑧 and see Table 2 for the

application of dot product.

Prepared by: Samuel John V. Delmo

 𝐴𝜌 = 5𝑎𝑥 ∙ 𝑎𝜌 = 5 cos 𝜙 = 5 cos(120°) = −𝟐. 𝟓

𝐴𝜙 = 5𝑎𝑥 ∙ 𝑎𝜙 = 5(− sin 𝜙) = −5 sin(120°) = −𝟒. 𝟑𝟑

𝐴𝑧 = 5𝑎𝑥 ∙ 𝑎𝑧 = 5(0) = 𝟎

Therefore, ⃗𝑨⃗(𝒄𝒚𝒍𝒊𝒏𝒅𝒓𝒊𝒄𝒂𝒍) = −𝟐. 𝟓 𝒂𝝆 − 𝟒. 𝟑𝟑 𝒂𝝓

For (b.)
Since the coordinates are given in cartesian, we need to solve for the value of 𝜙 using,
𝑦
tan 𝜙 = 𝑥 ,
𝑦 4
𝜙 = tan−1 (𝑥 ) = tan−1 (3) = 53.13°

𝐴𝜌 = 5𝑎𝑥 ∙ 𝑎𝜌 = 5 cos 𝜙 = 5 cos(53.13°) = 𝟑

𝐴𝜙 = 5𝑎𝑥 ∙ 𝑎𝜙 = 5(− sin 𝜙) = −5 sin(53.13°) = −𝟒

𝐴𝑧 = 5𝑎𝑥 ∙ 𝑎𝑧 = 5(0) = 𝟎
Therefore, 𝑨(𝒄𝒚𝒍𝒊𝒏𝒅𝒓𝒊𝒄𝒂𝒍) = 𝟑 𝒂𝝆 − 𝟒 𝒂𝝓

For (c.)
Solving again for the value of 𝜙
𝑦 3
𝜙 = tan−1 (𝑥 ) = tan−1 (2) = 56.31°

𝐴𝜌 = 𝐴⃗(𝑐𝑎𝑟𝑡. ) ∙ 𝑎𝜌 = (4𝑎𝑥 − 2𝑎𝑦 + 4𝑎𝑧 ) ∙ 𝑎𝜌 = 4 cos 𝜙 − 2 sin 𝜙

𝐴𝜌 = 4 cos(56.31°) − 2 sin(56.31°) = 𝟎. 𝟓𝟔

𝐴𝜙 = 𝐴⃗(𝑐𝑎𝑟𝑡. ) ∙ 𝑎𝜙 = (4𝑎𝑥 − 2𝑎𝑦 + 4𝑎𝑧 ) ∙ 𝑎𝜙 = −4 sin 𝜙 − 2 cos 𝜙

𝐴𝜙 = −4 sin(56.31°) − 2 cos(56.31°) = −𝟒. 𝟒𝟒

𝐴𝑧 = 𝐴⃗(𝑐𝑎𝑟𝑡. ) ∙ 𝑎𝑧 = (4𝑎𝑥 − 2𝑎𝑦 + 4𝑎𝑧 ) ∙ 𝑎𝑧 = 𝟒

Therefore, ⃗𝑨⃗(𝒄𝒚𝒍𝒊𝒏𝒅𝒓𝒊𝒄𝒂𝒍) = 𝟎. 𝟓𝟔 𝒂𝝆 − 𝟒. 𝟒𝟒 𝒂𝝓 − 𝟒 𝒂𝒛

Prepared by: Samuel John V. Delmo

 2.2. Spherical Coordinate System
The Spherical Coordinate System

Figure 6 Differential elements of the Spherical Coordinate System

The differential volume of the Spherical Coordinate System, 𝑑𝑣 = 𝑟 2 𝑑𝑟 sin 𝜃 𝑑𝜃 𝑑𝜙

Prepared by: Samuel John V. Delmo

The table shown below is used to transform Spherical coordinates to Cartesian coordinates & vice versa.
Table 3
Spherical to Cartesian Cartesian to Spherical

𝑥 = 𝑟 sin 𝜃 cos 𝜙 𝑟 = √𝑥 2 + 𝑦 2 + 𝑧 2

𝑦 = 𝑟 sin 𝜃 sin 𝜙 𝜃 = cos−1 (

𝑧
), +𝑧 axis CCW is the
√𝑥 2 +𝑦 2 +𝑧 2
reference of 𝜃

𝑧 = 𝑟 cos 𝜃 𝑦
𝜙 = tan−1 (𝑥 ), +𝑥 axis CCW is the reference of 𝜙

Table 3 Relationship of the spherical system with the cartesian coordinate system

The table shown below is used to solve the dot product of the unit vectors in spherical coordinate system and
cartesian coordinate system

𝑎𝑟 𝑎𝜃 𝑎𝜙
𝑎𝑥 sin 𝜃 cos 𝜙 cos 𝜃 cos 𝜙 −sin 𝜙
𝑎𝑦 sin 𝜃 sin 𝜙 cos 𝜃 sin 𝜙 cos 𝜙
𝑎𝑧 cos 𝜃 −sin 𝜃 0
Table 4 Dot product of the unit vectors in spherical system with the cartesian coordinate system

𝑥𝑧
EXAMPLE 5. Transform the vector 𝐺⃗ = 𝑦 𝑎𝑥 into spherical

Using the same process in transforming cartesian to cylindrical

𝐺⃗ (𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙) = 𝐺𝑟 𝑎𝑟 + 𝐺𝜃 𝑎𝜃 + 𝐺𝜙 𝑎𝜙

𝐺𝑟 = 𝐺⃗ ∙ 𝑎𝑟 , 𝐺𝜃 = 𝐺⃗ ∙ 𝑎𝜃 , and 𝐺𝜙 = 𝐺⃗ ∙ 𝑎𝜙

𝐺⃗ (𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙) = (𝐺⃗ ∙ 𝑎𝑟 ) 𝑎𝑟 + (𝐺⃗ ∙ 𝑎𝜃 ) 𝑎𝜃 + (𝐺⃗ ∙ 𝑎𝜙 ) 𝑎𝜙

From Table 3. 𝑥 = 𝑟 sin 𝜃 cos 𝜙, 𝑦 = 𝑟 sin 𝜃 sin 𝜙, and 𝑧 = 𝑟 cos 𝜃

𝑥𝑧 𝑟 sin 𝜃 cos 𝜙 𝑟 cos 𝜃 𝑟 cos 𝜃 cos 𝜙
𝐺⃗ = 𝑎𝑥 = 𝑎𝑥 = 𝑎𝑥
𝑦 𝑟 sin 𝜃 sin 𝜙 sin 𝜙

𝑟 cos 𝜃 cos 𝜙 𝑟 cos 𝜃 cos 𝜙 sin 𝜃 cos 𝜙 𝑟 cos 𝜃 cos 2 𝜙 sin 𝜃

𝐺𝑟 = 𝐺⃗ ∙ 𝑎𝑟 = ( 𝑎𝑥 ) ∙ 𝑎𝑟 = =
sin 𝜙 sin 𝜙 sin 𝜙

𝑟 cos 𝜃 cos 𝜙 𝑟 cos 𝜃 cos 𝜙 cos 𝜃 cos 𝜙 𝑟 cos 𝜃 cos 2 2𝜙

𝐺𝜃 = 𝐺⃗ ∙ 𝑎𝜃 = ( sin 𝜙 𝑎𝑥 ) ∙ 𝑎𝜃 = sin 𝜙
= sin 𝜙

𝑟 cos 𝜃 cos 𝜙 𝑟 cos 𝜃 cos 𝜙(− sin 𝜙)

𝐺𝜙 = 𝐺⃗ ∙ 𝑎𝜙 = ( sin 𝜙
𝑎𝑥 ) ∙ 𝑎𝜙 = sin 𝜙
= −𝑟 cos 𝜃 cos 𝜙

𝑟 cos 𝜃 cos 2 𝜙 sin 𝜃 𝑟 cos2 𝜃 cos2 𝜙

𝐺⃗ (𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙) = 𝑎𝑟 + 𝑎𝜃 − 𝑟 cos 𝜃 cos 𝜙 𝑎𝜙
sin 𝜙 sin 𝜙

⃗⃗(𝒔𝒑𝒉𝒆𝒓𝒊𝒄𝒂𝒍) = 𝒓 𝐜𝐨𝐬 𝜽 𝐜𝐨𝐬 𝝓 (𝐬𝐢𝐧 𝜽 𝐜𝐨𝐬 𝝓 𝒂𝒓 + 𝐜𝐨𝐬 𝜽 𝐜𝐨𝐬 𝝓 𝒂𝜽 − 𝒂𝝓 )

⃗𝑮
𝐬𝐢𝐧 𝝓 𝐬𝐢𝐧 𝝓

Prepared by: Samuel John V. Delmo

EXAMPLE 6. Transform each of the following vectors to spherical coordinate at the point specified.
a. 5 𝑎𝑥 at 𝐴(𝑟 = 4, 𝜃 = 25°, 𝜙 = 120°)
b. 5 𝑎𝑥 at 𝐵(𝑥 = 2, 𝑦 = 3, 𝑧 = −1)
c. 4 𝑎𝑥 − 2𝑎𝑦 − 4𝑎𝑧 at 𝑝(−2, −3, 4)

SOLUTION.
For (a.)

Solving for 𝐴𝑟 , 𝐴𝜃 , and 𝐴𝜙 to obtain 𝐴⃗(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙)

𝐴𝑟 = 5 𝑎𝑥 ∙ 𝑎𝑟 = 5 sin 𝜃 cos 𝜙 = 5 sin(25°) cos(120°) = −1.06

𝐴𝜃 = 5 𝑎𝑥 ∙ 𝑎𝜃 = 5 cos 𝜃 cos 𝜙 = 5 cos(25°) cos(120°) = −2.27
𝐴𝜙 = 5 𝑎𝑥 ∙ 𝑎𝜙 = −5 sin 𝜙 = −5 sin(120°) = −4.33

Therefore, ⃗𝑨⃗(𝒔𝒑𝒉𝒆𝒓𝒊𝒄𝒂𝒍) = −𝟏. 𝟎𝟔 𝒂𝒓 − 𝟐. 𝟐𝟕 𝒂𝜽 − 𝟒. 𝟑𝟑 𝒂𝝓

Solving for the unit vector ⃗⃗⃗⃗⃗(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙)

𝑎𝐴

|𝐴⃗|(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙) = √(−1.06)2 + (−2.27)2 + (−4.33)2 = 5

𝐴⃗(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙) −1.06 𝑎𝑟 −2.27 𝑎𝜃 −4.33 𝑎𝜙
𝑎𝐴
⃗⃗⃗⃗⃗(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙) = =
|𝐴⃗|(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙) 5

⃗⃗⃗⃗⃗(𝒔𝒑𝒉𝒆𝒓𝒊𝒄𝒂𝒍)
𝒂𝑨 = −𝟎. 𝟐𝟏𝟐 𝒂𝒓 − 𝟎. 𝟒𝟓𝟒 𝒂𝜽 − 𝟎. 𝟖𝟔𝟔 𝒂𝝓

For (b.)
Solving for 𝜃, and 𝜙
𝑧 𝑦
From Table 3. 𝑟 = √𝑥 2 + 𝑦 2 + 𝑧 2 , 𝜃 = cos −1 (𝑟), and 𝜙 = tan−1 (𝑥 )

𝑟 = √(2)2 + (3)2 + (−1)2 = √14

3
𝜙 = tan−1 (2) = 56.31°

NOTE: Remember that 𝜃 should be from the reference +𝑧 axis at

+CCW direction

1
𝜃𝑖𝑛𝑖𝑡𝑖𝑎𝑙 = cos −1 ( ) = 74.49°, from −𝑧 axis at CW direction
√14

−1
𝜃𝑓𝑖𝑛𝑎𝑙 = cos−1 ( ) = 180° − 74.49° = 105.51°, from +𝑧
√14
axis at CCW direction

Prepared by: Samuel John V. Delmo

 ⃗⃗(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙)
Solving for 𝐵𝑟 , 𝐵𝜃 , and 𝐵𝜙 to obtain 𝐵

See Table 4 for the dot product

𝐵𝑟 = 5 𝑎𝑥 ∙ 𝑎𝑟 = 5 sin 𝜃 cos 𝜙 = 5 sin(105.51°) cos(56.31°) = 2.67
𝐵𝜃 = 5 𝑎𝑥 ∙ 𝑎𝜃 = 5 cos 𝜃 cos 𝜙 = 5 cos(105.51°) cos(56.31°) = −0.7417
𝐵𝜙 = 5 𝑎𝑥 ∙ 𝑎𝜙 = −5 sin 𝜙 = −5 sin(56.31°) = −4.16

⃗⃗⃗(𝒔𝒑𝒉𝒆𝒓𝒊𝒄𝒂𝒍) = 𝟐. 𝟔𝟕 𝒂𝒓 − 𝟎. 𝟕𝟒𝟏𝟕 𝒂𝜽 − 𝟒. 𝟏𝟔 𝒂𝝓
Therefore, 𝑩

Solving for the unit vector ⃗⃗⃗⃗⃗(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙)

𝑎𝐵

⃗⃗|(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙) = √(2.67)2 + (−0.7417)2 + (−4.16)2 = 5

|𝐵
⃗⃗(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙)
𝐵 2.67 𝑎𝑟 −0.7417 𝑎𝜃 −4.16 𝑎𝜙
𝑎𝐵
⃗⃗⃗⃗⃗(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙) = ⃗⃗|(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙)
=
|𝐵 5

⃗⃗⃗⃗⃗⃗(𝒔𝒑𝒉𝒆𝒓𝒊𝒄𝒂𝒍)
𝒂𝑩 = 𝟎. 𝟓𝟑𝟒 𝒂𝒓 − 𝟎. 𝟏𝟒𝟖 𝒂𝜽 − 𝟎. 𝟖𝟑𝟐 𝒂𝝓

For (c.)
Solving for 𝜃, and 𝜙
𝑧 𝑦
From Table 3. 𝑟 = √𝑥 2 + 𝑦 2 + 𝑧 2 , 𝜃 = cos −1 (𝑟), and 𝜙 = tan−1 (𝑥 )

NOTE: Remember that 𝜃 should be from the reference +𝑧 axis at +CCW direction and 𝜙 from the reference +𝑥
axis at +CCW direction.

𝑟 = √(−2)2 + (−3)2 + (4)2 = √29

−3
𝜙𝑖𝑛𝑖𝑡𝑖𝑎𝑙 = tan−1 (−2) = 56.31°, from −𝑥 axis
at CW direction

𝜙𝑓𝑖𝑛𝑎𝑙 = 180° − 56.31° = −123.69°, from

+𝑥 axis at CW direction
4
𝜃 = cos−1 ( ) = 42.03°, from +𝑧 axis at
√29
CCW direction
⃗⃗ (𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙)
Solving for 𝑉𝑟 , 𝑉𝜃 , and 𝑉𝜙 to obtain 𝑉

𝑉𝑟 = (4 𝑎𝑥 − 2𝑎𝑦 − 4𝑎𝑧 ) ∙ 𝑎𝑟 = 4 sin 𝜃 cos 𝜙 − 2 sin 𝜃 sin 𝜙 − 4 cos 𝜃

𝑉𝑟 = 4 sin(42.03°) cos(−123.69°) − 2 sin(42.03°) sin(−123.69°) − 4 cos(42.03°) = −3.34

𝑉𝜃 = (4 𝑎𝑥 − 2𝑎𝑦 − 4𝑎𝑧 ) ∙ 𝑎𝜃 = 4 cos 𝜃 cos 𝜙 − 2 cos 𝜃 sin 𝜙 + 4 sin 𝜃

𝑉𝜃 = 4 cos(42.03°) cos(−123.69°) − 2 cos(42.03°) sin(−123.69°) + 4 sin(42.03°) = 2.27

Prepared by: Samuel John V. Delmo

 𝑉𝜙 = (4 𝑎𝑥 − 2𝑎𝑦 − 4𝑎𝑧 ) ∙ 𝑎𝜙 = −4 sin 𝜙 − 2 cos 𝜙 − 4(0)

𝑉𝜙 = −4 sin(−123.69°) − 2 cos(−123.69°) = 4.44

Therefore, ⃗𝑽⃗(𝒔𝒑𝒉𝒆𝒓𝒊𝒄𝒂𝒍) = −𝟑. 𝟑𝟒 𝒂𝒓 − 𝟐. 𝟐𝟕 𝒂𝜽 + 𝟒. 𝟒𝟒 𝒂𝝓

Solving for unit vector ⃗⃗⃗⃗⃗(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙)

𝑎𝑉

⃗⃗ |(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙) = √(−3.34)2 + (−2.27)2 + (4.44)2 = 6

|𝑉
⃗⃗ (𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙)
𝑉 −3.34 𝑎𝑟 −2.27 𝑎𝜃 +4.44 𝑎𝜙
𝑎𝑉
⃗⃗⃗⃗⃗(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙) = ⃗⃗ |(𝑠𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙)
= 6
|𝑉

⃗⃗⃗⃗⃗(𝒔𝒑𝒉𝒆𝒓𝒊𝒄𝒂𝒍)
𝒂𝑽 = −𝟎. 𝟓𝟓𝟕 𝒂𝒓 − 𝟎. 𝟑𝟕𝟖 𝒂𝜽 + 𝟎. 𝟕𝟒𝟎 𝒂𝝓

Prepared by: Samuel John V. Delmo