Chapter 1- part 2

Coordinate System:
Cartesian, Cylindrical and Polar
Eng. Abdullah Bani Domi

Physics 301
Physics 301 Eng. Abdullah Bani Domi 1
❑ Coordinate Systems

⚫ Used to describe the position of a point in space

⚫ Coordinate system consists of

⚫ A fixed reference point called the origin

⚫ Specific axes with scales and labels

⚫ Instructions on how to label a point relative to

the origin and the axes

Physics 301 Eng. Abdullah Bani Domi 2

 ❑ Cartesian Coordinate System
⚫ Also called rectangular coordinate
system
⚫ x- and y- axes intersect at the origin
⚫ Points are labeled (x,y)
⚫ The plural of axis is axes
⚫ ordered pair (x, y), with the x-value
first

The vertical number The horizontal number line

line is called the y- is called the x-axis
axis
Physics 301 Eng. Abdullah Bani Domi 3
 ❑ Cartesian Coordinate System
In Quadrant II, x-
values are negative,
while y-values are
positive. II
In Quadrant III, x- and
y-values are both III
Physics 301 negative.
In Quadrant I, all
values are positive
I
In Quadrant IV, x-
IV values are positive and
y-values are negative.
Eng. Abdullah Bani Domi 4
❑ Example: Give the coordinates of each point:

(2, 3)
(− 5,1)

(− 3, − 2) (2, − 4)

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 ❑ Polar Coordinate System

⚫ Origin and reference line are noted.

⚫ Point is distance r from the origin in the
direction of angle , ccw from reference line.
⚫ Points are labeled (r,).

❑ Polar to Cartesian Coordinates

⚫ Based on forming a right triangle from r and 
⚫ x = r cos 
⚫ y = r sin 
Physics 301 Eng. Abdullah Bani Domi 6
❑ Cartesian to Polar Coordinates
▪ If the Cartesian coordinates are known:

⚫ r is the hypotenuse and  an

angle

y
tan =
x
r = x2 + y 2
⚫  must be ccw from positive x
axis for these equations to be
valid.

Physics 301 Eng. Abdullah Bani Domi 7

❑ Example.1:
⚫ The Cartesian coordinates of a point in the xy
plane are (x,y) = (12,5). Find the polar
coordinates of this point.

Solution: From Equation, Answer: the point (12,5)

is (13, 22,6°) in Polar
12 5 13
Coordinates.
and from Equation,

5 12
12
??
θ = tan-1 ( 5 / 12 ) = 22,6° (to one decimal)
Physics 301 Eng. Abdullah Bani Domi 8
❑ Example.2:
⚫ The Cartesian coordinates of a point in the xy
plane are (x,y) = (-3.50, -2.50) m, as shown in the
figure. Find the polar coordinates of this point.

Solution: From Equation,

r = x 2 + y 2 = ( −3.50 m)2 + ( −2.50 m)2 = 4.30 m

and from Equation 3.3,

y −2.50 m
tan = = = 0.714
x −3.50 m
 = 216 (signs give quadrant)
Physics 301 Eng. Abdullah Bani Domi 9
❑ Example.3:
⚫ The polar coordinates are (r, ) = (12,5). Find the
Cartesian coordinates of this point. Answer: the point (13,
22,6°) is almost
❑ Solution:
exactly (12, 5) in Cartesian
❖ x = r cos  = 13 cos 22.6 = 12.002 Coordinates.
❖ y = r sin  =13 sin 22.6 = 4.996

What is (12, 195°) in Cartesian

❑ Example.4: coordinates?

❑ Solution: So the point is at (−11,59,

❖ x = r cos  = 12 cos 195 = -11.59 −3,11), which is in Quadrant
❖ y = r sin  = 12 sin 195 = -3.11 III
Physics 301 Eng. Abdullah Bani Domi 10
❑ Note:

❑ Note: Calculators may give the wrong value of tan-1 () when x or y

are negative
❑ when converting from Cartesian to Polar coordinates ...... the
calculator can give the wrong value of tan-1
It all depends what Quadrant the point is in! Use this to fix things:

Quadrant Value of tan-1

I Use the calculator value
II Add 180° to the calculator value
III Add 180° to the calculator value
IV Add 360° to the calculator value

Physics 301 Eng. Abdullah Bani Domi 11

 ❑ Example.5:
⚫ The Cartesian coordinates of a point in the xy
plane are P = (−3, 10). Find the polar
coordinates of this point.

P is in Quadrant II

The calculator value for tan-1(−3,33...) is −73,3°

The rule for Quadrant II is: Add 180° to the calculator value
θ = −73,3° + 180° = 106,7°
So the Polar Coordinates for the point (−3, 10)
are (10,4, 106,7°)
Physics 301 Eng. Abdullah Bani Domi 12
 ❑ Example.6:
⚫ The Cartesian coordinates of a point in the xy
plane are Q = (5, −8). Find the polar
coordinates of this point.

The rule for Quadrant IV is: Add 360° to the calculator value
θ = −58,0° + 360° = 302,0°

So the Polar Coordinates for the point (5, −8)

are (9,4, 302,0°)
Physics 301 Eng. Abdullah Bani Domi 13
 ❑ Example.7:
⚫ The Cartesian coordinates of a point in the xy
plane are Q = (4, 1). Find the polar coordinates
of this point.

So the Polar Coordinates for the point are ( , 14)

Physics 301 Eng. Abdullah Bani Domi 14

 ❑ Example.8:
⚫ The Cartesian coordinates of a point in the xy
plane are Q = (-2, 3). Find the polar
coordinates of this point.

The rule for Quadrant II is: Add 180° to the calculator value
θ = −56,3° + 180° = 123,7°
So the Polar Coordinates for the point are ( , 123.7° ) 15
❑ 3 Dimensions
❑ Cartesian coordinates can be used for locating points in 3
dimensions as in this example:

Here the point (2, 4, 5) is shown in The three-dimensional rectangular coordinate system
consists of three perpendicular axes: the x -axis, the y -
three-dimensional
Physics 301
Cartesian coordinates. Eng. Abdullah Bani Domi
axis, and the z -axis. 16
❑ 3 Dimensions
❑ Example: Sketch the point (1,−2,3) in three-dimensional space.
(1,−2,3)

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 ❑ 3 Dimensions
❑ Two points in the 3D cartesian coordinate system.

The distance between a point P and the origin O

calculates from the Pythagorean theorem:

The distance d between points (x1,y1,z1) and

(x2,y2,z2) is given by the formula:

Physics 301 Eng. Abdullah Bani Domi 18

❑ 3 Dimensions
❑ Example: Find the distance
between the two points P1 and P2 . P1 (3,-1,5)
Solution:
Substitute values directly into the distance formula:

P2 (2,1,-1)

Exercise
Find the distance between points P1=(1,−5,4) and P2=(4,−1,−1). 19
❑ Vectors and Scalars
⚫ A scalar quantity is completely specified by a single value with an appropriate unit and
has no direction.
⚫ A vector quantity is completely described by a number and appropriate units plus a
direction.

❑ Vector Example:
⚫ A particle travels from A to B along the path shown
by the dotted red line
⚫ This is the distance traveled and is a scalar
⚫ The displacement is the solid line from A to B
⚫ The displacement is independent of the path taken
between the two points
⚫ Displacement is a vector

Physics 301 Eng. Abdullah Bani Domi 20

❑ Vector Notation
⚫ Text uses bold with arrow to denote a vector: A
⚫ Also used for printing is simple bold print: A
⚫ When dealing with just the magnitude of a vector in print, an italic letter will be used:
A or |A|
⚫ The magnitude of the vector has physical units
⚫ The magnitude of a vector is always a positive number
⚫ When handwritten, use an arrow: A
❑ Equality of Two Vectors
Two vectors are equal if they have the same magnitude
and the same direction
A = B if A = B and they point along parallel lines
Physics 301
All of the vectors shown are equal 21
❑ Adding Vectors
⚫ When adding vectors, their directions must be taken into account
⚫ Units must be the same
❑ Adding Vectors Graphically:
⚫ Choose a scale
⚫ Draw the first vector, A, with the appropriate length and in the direction specified, with respect to a coordinate system
⚫ Draw the next vector with the appropriate length and in the direction specified, with respect to a coordinate system
whose origin is the end of vector A and parallel to the coordinate system used for A

⚫ Continue drawing the vectors “tip-to-tail”

⚫ The resultant is drawn from the origin of to
the end of the last vector
⚫ Measure the length of and its angle
⚫ Use the scale factor to convert length to actual
magnitude Eng. Abdullah Bani Domi 22
❑ Adding Vectors, Rules
⚫ When two vectors are added, the sum is independent of the
order of the addition.
⚫ This is the Commutative Law of Addition
⚫ A +B = B+ A

⚫ When adding three or more vectors, their sum is independent of the way in
which the individual vectors are grouped
⚫ This is called the Associative Property of Addition

( ) ( )
⚫
A + B+C = A +B +C

Physics 301 Eng. Abdullah Bani Domi 23

❑ Adding Vectors, Rules final
⚫ When adding vectors, all of the vectors must have the same units
⚫ All of the vectors must be of the same type of quantity
⚫ For example, you cannot add a displacement to a velocity

❑ Negative of a Vector
⚫ The negative of a vector is defined as the vector that, when added
to the original vector, gives a resultant of zero
⚫ Represented as
⚫ −A

⚫
( )
A + −A = 0
The negative of the vector will have the same magnitude, but point
in the opposite direction Eng. Abdullah Bani Domi 24
❑ Subtracting Vectors
❑ To subtract two vectors use A − B as A + ( −B)
❑ Continue with standard vector addition procedure.

❑ Multiplying or Dividing a Vector by a Scalar

⚫ The result of the multiplication or division of a vector by a scalar is a vector
⚫ The magnitude of the vector is multiplied or divided by the scalar
⚫ If the scalar is positive, the direction of the result is the same as of the
original vector
⚫ If the scalar is negative, the direction of the result is opposite that of the
original vector
Physics 301 Eng. Abdullah Bani Domi 25
❑ Component Method of Adding Vectors
⚫ A x and A y are the component vectors of A
⚫ They are vectors and follow all the rules for vectors
⚫ Ax and Ay are scalars, and will be referred to as the components of A

⚫ component of A
A = Ax + Ay

These three vectors form a right triangle

Physics 301 Eng. Abdullah Bani Domi 26

❑ Components of a Vector
⚫ The x-component of a vector is the projection along the x-axis
Ax = A cos
⚫ The y-component of a vector is the projection along the y-axis
Ay = A sin 
⚫ This assumes the angle θ is measured with respect to the x-axis
⚫ If not, do not use these equations, use the sides of the triangle directly

⚫ The components are the legs of the right triangle whose hypotenuse is the length
of A
−1 Ay
A = Ax + Ay and  = tan
2 2

Ax
⚫ May still have to find θ with respect to the positive x-axis
⚫ In a problem, a vector may be specified by its components or its magnitude and 27
❑ Unit Vectors
⚫ A unit vector is a dimensionless vector with a magnitude of exactly 1.
⚫ Unit vectors are used to specify a direction and have no other physical
significance
⚫ The symbols
î , ĵ, and k̂
represent unit vectors
⚫ They form a set of mutually
perpendicular vectors in a right-
handed coordinate system
⚫ Remember, ˆi = ˆj = kˆ = 1
Physics 301 Eng. Abdullah Bani Domi 28
❑ Unit Vectors
⚫ Ax is the same as Ax and Ay is the same as Ay etc.
⚫ The complete vector can be expressed as A = Ax ˆi + Ay ˆj

❑ Adding Vectors Using Unit Vectors

⚫ Using R = A + B
⚫ ( ) (
Then R = Ax ˆi + Ay ˆj + Bx ˆi + By ˆj )
R = ( Ax + Bx ) ˆi + ( Ay + By ) ˆj
R = Rx ˆi + Ry ˆj
Ry
⚫ and so Rx = Ax + Bx and Ry = Ay + By R = R +R2
x
2
y  = tan −1

Rx 29
❑ Adding Vectors Using Unit Vectors
⚫ Note the relationships among the components of the resultant and the components
of the original vectors
⚫ Rx = Ax + Bx
⚫ Ry = Ay + By

Physics 301 Eng. Abdullah Bani Domi 30

❑ Three-Dimensional Extension

• Using R = A +B
• Then
( ) (
R = Ax ˆi + Ay ˆj + Azkˆ + Bx ˆi + By ˆj + Bzkˆ )
R = ( Ax + Bx ) ˆi + ( Ay + By ) ˆj + ( Az + Bz ) kˆ
R = Rx ˆi + Ry ˆj + Rzkˆ

⚫ and so Rx= Ax+Bx, Ry= Ay+By, and Rz =Ax+Bz

Rx
R = R +R +R
2
x
2
y  = cos
2
z
−1
, etc.
Physics 301 Eng. Abdullah Bani Domi R 31
❑ Example.1:

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❑ Example.1: Solution

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❑ Example.2:

❑ Solution:

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❑ Example.2: Solution

❑ Solution:

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❑ Example.3:

❑ Solution:

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❑ Example.4:

❑ Solution:

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❑ Example.4: Solution

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❑ Example.4:

❑ Solution:

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❑ Example.4:

❑ Solution:

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 Cylindrical Coordinates

Cylindrical coordinates provide a natural extension of polar

coordinates to three dimensions.

In the cylindrical coordinate system, a point in space is represented by the ordered triple
(r,θ,z) , where
• (r,θ) are the polar coordinates of the point’s projection in the xy-plane
• z is the usual z -coordinate in the Cartesian coordinate system

Physics 301 Eng. Abdullah Bani Domi 41

 ❑ Cylindrical Coordinate System
⚫ Cylindrical coordinates provide a natural extension of
polar coordinates to three dimensions.
⚫ In a cylindrical coordinate system, a point P in
space is represented by an ordered triple (r, θ,z).
⚫ (r, θ) is the polar representation of a point in the
xy- plane.
⚫ r is the directed distance from the origin in the
xy- plane.
⚫ θ is angle counter clockwise from the polar axis
or positive x- axis in the xy- plane.
⚫ Z is the directed distance up or down from (r, θ)
Eng. Abdullah Bani Domi 42
to the point.
 ❑ Cylindrical Coordinate System

❑ Cylindrical Coordinate System

Physics 301 Eng. Abdullah Bani Domi 43

 Coordinate Transformation
• Cartesian to Cylindrical
(x, y, z) to (r,θ,z)

▪ from cylindrical to Cartesian

(r,θ,z) to (x, y, z)

Physics 301 Eng. Abdullah Bani Domi 44

 Radians
Radian: the angle made when we take the radius
and wrap it round the circle.

1 Radian is about 57,2958 Degrees.

In a half circle there are π radians, which is also 180°

π radians =180°
So 1 radian =180°/π
=57,2958...°
(approximately)
Physics 301 Eng. Abdullah Bani Domi 45
 To go from radians to degrees: multiply by 180,
divide by π
To go from degrees to radians: multiply by π, divide
by 180
Here is a table of equivalent values:

Radians Radians
Degrees
(exact) (approx)
30° π/6 0,524
45° π/4 0,785
60° π/3 1,047
90° π/2 1,571
180° π 3,142
270° 3π/2 4,712
360° 2π 6,283

Physics 301 Eng. Abdullah Bani Domi 46

Physics 301 Eng. Abdullah Bani Domi 47
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❑ Example.1:

Solution
Conversion from cylindrical to rectangular coordinates requires a
simple application of the equations listed in Note:

Physics 301 Eng. Abdullah Bani Domi 49

❑ Example.1:

x= -2

r=4
z=-2

Physics 301 Eng. Abdullah Bani Domi 50

❑ Example.2:
❑ Convert the rectangular coordinates (1,−3,5) to cylindrical
coordinates.
Solution: Use the second set of equations from Note to translate from
rectangular to cylindrical coordinates:

− − 1.24904577

IV
Add 2π to the
- 1.24904577+
calculator value
2π= 5.03

Physics 301 Eng. Abdullah Bani Domi 51

❑ Example.3:
Convert the coordinates as indicated:
a) (3, π/3, -4) from cylindrical to Cartesian.

b) (-2, 2, 3) from Cartesian to cylindrical.

Physics 301 Eng. Abdullah Bani Domi 52

❑ Example.4:
Convert the coordinates as indicated:
a) from cylindrical to Cartesian.

b) from Cartesian to cylindrical.

Physics 301 53
❑ Example.5:
Point R has cylindrical and describe its location in space
using rectangular, or Cartesian, coordinates.

π
𝒙 = 𝟓 𝒄𝒐𝒔 = …………………………..
𝟔

π
y = 𝟓 𝒔𝒊𝒏 = …………………………..
𝟔

Physics 301 Eng. Abdullah Bani Domi 54

❑ Example.6:
Convert point(−8,8,−7) from Cartesian coordinates to cylindrical
coordinates.

𝑟= (−8)2 + (8)2 = 128 = 2 8

θ = tan −1 (−1) =

Physics 301 Eng. Abdullah Bani Domi 55

 ❑ Spherical Coordinates
❑In the Cartesian coordinate system, the location
of a point in space is described using an ordered
triple in which each coordinate represents a
distance.
❑In the cylindrical coordinate system, location of
a point in space is described using two distances
(r and z) and an angle measure (θ) .
❑In the spherical coordinate system, we again
use an ordered triple to describe the location of
a point in space. In this case, the triple
describes one distance and two angles.
Physics 301 Eng. Abdullah Bani Domi 56
 ❑ Spherical Coordinates
❑In the spherical coordinate system, a point P in
space (Figure) is represented by the ordered
triple (ρ,θ,φ) where
ρ (the Greek letter rho) is the
distance between P and the
origin (ρ≠0);
θ is the same angle used to
describe the location in
cylindrical coordinates;
φ (the Greek letter phi) is the
angle formed by the positive
z -axis and line segment OP ,
where O is the origin and
Physics 301 Eng. Abdullah Bani Domi 57
0≤φ≤π.
❑ Spherical Coordinates

Rectangular coordinates (x,y,z) ,

cylindrical coordinates (r,θ,z),
and spherical coordinates (ρ,θ,φ)

The equations that convert from one system to another are

Physics 301 derived from right-triangle relationships 58
❑ Spherical Coordinates
❑ These equations are used to convert from spherical coordinates
to rectangular coordinates.

x=ρ.sinφ.cosθ
y=ρ.sinφ.sinθ
z=ρ.cosφ
❑ These equations are used to convert from spherical coordinates
to rectangular coordinates. ρ= 𝒙𝟐 + 𝒚𝟐 + 𝒛𝟐
𝑦
Θ = tan-1 ( )
𝑥
Φ= cos -1 ( 𝑧 )
Physics 301 Eng. Abdullah Bani Domi
ρ 59
❑ Spherical Coordinates
Plot the point with spherical coordinates (8,π/3,π/6) and express its location in
both rectangular and cylindrical coordinates.

Physics 301 Eng. Abdullah Bani Domi 60

❑ Spherical Coordinates
Plot the point with spherical coordinates ( ) and
describe its location in both rectangular and cylindrical
coordinates.

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Physics 301 Eng. Abdullah Bani Domi 62
❑ Example.1:
Convert the point ( 𝟔,π/4, 𝟐) from cylindrical to spherical
coordinates.

Physics 301 Eng. Abdullah Bani Domi 63

❑ Example.2:
Convert the point (-1 ,1 , − 𝟐) rom Cartesian to spherical
coordinates.

Physics 301 Eng. Abdullah Bani Domi 64