PBC lecture Notes Series: Transformation of Coordinates by Dr. A.

Kar Gupta 1

Transformation of Coordinates
(Combined Lectures, 1st Ed.)
Lecture Notes prepared by-
Dr. Abhijit Kar Gupta
Physics Department, Panskura Banamali College
Panskura R.S., East Midnapore, WB, India, Pin-code: 721152
e-mail: kg.abhi@gmail.com, abhijit_kargupta@rediffmail.com

Lecture-1

Let us start from a Rectangular Cartesian coordinate system.

P ( x, y, z ) is a point in this system where we have the position vector of this to be

r = iˆx + ˆjy + kˆz . We can then write the position vector r to be a function of the
coordinates ( x, y, z ) :
r = r ( x, y , z )
Now suppose we go over to a new coordinate system ( u1 , u 2 , u 3 ) where we write
r = r (u1 , u 2 , u 3 )
Therefore, it can be written as:

x = x(u1 , u 2 , u 3 )
y = y (u1 , u 2 , u 3 )
z = z (u1 , u 2 , u 3 )

The above are the relations between coordinates in two systems.

Example: From Cartesian to spherical Polar system

( x, y , z ) → ( r , θ , φ )
x = x(r ,θ , φ ) = r sin θ cos φ
y = y (r , θ , φ ) = r sin θ sin φ
z = z (r ,θ , φ ) = r cos θ

To express the position vector r in the new coordinate system (u1 , u 2 , u 3 ) we have to
know the unit vectors in that system (like iˆ, ˆj , kˆ in Cartesian system) along three new
axes.
We construct the tangent vectors along the positive directions of u1 , u 2 and u 3 as:

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PBC lecture Notes Series: Transformation of Coordinates by Dr. A. Kar Gupta 2

∂r ∂r ∂r
, , respectively.
∂u1 ∂u 2 ∂u 3

To understand the above physically, let us imagine the tip of the vector r on a surface
curved (or a plane surface) in general. So we can draw tangent on the surface at a
particular point in the positive directions of the coordinate axes.

We have now three unit vectors:

∂r ∂r 1 ∂r
ê1 = =
∂u1 ∂u1 h1 ∂u1

∂r ∂r 1 ∂r
ê2 = =
∂u 2 ∂u 2 h2 ∂u 2

∂r ∂r 1 ∂r
ê3 = =
∂u 3 ∂u 3 h3 ∂u 3

∂r
Where we introduce the symbols h1 , h2 and h3 in place of etc.
∂u1
Now we calculate some important vectors and relevant physical quantities in the new
coordinate system.

The Displacement Vector:

Since, r = r (u1 , u 2 , u 3 ) ,

∂r ∂r ∂r
dr = du1 + du 2 + du 3
∂u1 ∂u 2 ∂u 3
= h1 du1eˆ1 + h2 du 2 eˆ2 + h3 du 3 eˆ3 .

If ê1 , ê2 and ê3 are the basis vectors of a orthogonal coordinate system then

eˆ1 ⋅ eˆ2 = eˆ2 ⋅ eˆ3 = eˆ3 ⋅ eˆ1 = 0 .

Differential arc length:

2 2 2 2 2 2
ds 2 = d r ⋅ d r = h1 du1 + h2 du 2 + h3 du 3

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PBC lecture Notes Series: Transformation of Coordinates by Dr. A. Kar Gupta 3

Infinitesimal Volume element:

dV = (eˆ1 h1 du1 ) ⋅ (eˆ2 h2 du 2 ) × (eˆ3 h3 du 3 )

= (eˆ1 ⋅ eˆ2 × eˆ3 )h1 h2 h3 du1 du 2 du 3 = h1 h2 h3 du1 du 2 du 3 .

Here we have (eˆ1 ⋅ eˆ2 × eˆ3 ) = 1 when the unit vectors form orthogonal set.

Note: The length of a vector, or he arc or the volume etc. all physical quantities remain
invariant under any kind of coordinate transformation.

From Cartesian to Spherical Polar Coordinate System

( x, y , z ) → ( r , θ , φ )

x = r sin θ cos φ
y = r sin θ sin φ
z = r cos θ

Here, u1 = r , u 2 = θ and u 3 = φ .

Calculations of Unit Vectors:

∂r ∂r ∂r ∂r ∂r ∂r
êr = , êθ = and êφ =
∂r ∂r ∂θ ∂θ ∂φ ∂φ

Start from the position vector:

r = iˆx + ˆjy + kˆz = iˆr sin θ cos φ + ˆjr sin θ sin φ + kˆr cos θ
∂r ˆ
= i sin θ cos φ + ˆj sin θ sin φ + kˆ cos θ …………………………….(1)
∂r
∂r
= 1 ≡ hr
∂r

∂r ˆ
= i r cos θ cos φ + ˆjr cos θ sin φ − kˆr sin θ …………………………(2)
∂θ
∂r
= r ≡ hθ
∂θ

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PBC lecture Notes Series: Transformation of Coordinates by Dr. A. Kar Gupta 4

∂r
= −iˆr sin θ sin φ + ˆjr sin θ cos φ ………………………………..(3)
∂φ
∂r
= r sin θ ≡ hφ
∂φ

Therefore,
Arc length: ds 2 = hr dr 2 + hθ dθ 2 + hφ dφ 2 = dr 2 + r 2 dθ 2 + r 2 sin 2 θdφ 2
2 2 2

Volume element: dV = hr hθ hφ drdθdφ = r 2 sin θdrdθdφ .

Now we calculate the unit vectors using the relations (1), (2) and (3):

eˆr = iˆ sin θ cos φ + ˆj sin θ sin φ + kˆ cos θ

eˆ = iˆ cos θ cos φ + ˆj cos θ sin φ − kˆ sin θ
θ

eˆφ = −iˆ sin φ + ˆj cos φ

In the Matrix form:

 eˆr   sin θ cos φ sin θ sin φ cos θ  iˆ 

    
 eˆθ  =  cos θ cos φ cos θ sin φ − sin θ  ˆj 
 eˆ   − sin φ  
 φ  cos φ 0  kˆ 

 eˆr   iˆ 
   
 eˆθ  = M  ˆj  .
 eˆ   ˆ
 φ k 
Here M is called the transformation matrix. Check that the determinant of M is unity:
M = 1.
Note: Property of Transformation Matrix.

We can calculate inverse of the matrix M −1 and thus can determine iˆ , ĵ and k̂ in terms
of êr , êθ and êφ :
 iˆ   eˆr 
   
 ˆj  = M  eˆθ  .
− 1

 ˆ  eˆ 
k   φ
Thus we can determine the position vector completely in terms of êr , êθ , êφ and r , θ ,
φ that is the unit vectors and coordinates of the new system.

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PBC lecture Notes Series: Transformation of Coordinates by Dr. A. Kar Gupta 5

Exercise:

#1. Find r = eˆr (....) + eˆθ (.....) + eˆφ (....)

#2. Verify that eˆr ⋅ eˆθ = eˆθ ⋅ eˆφ = eˆφ ⋅ eˆr = 0 (Orthogonality).

#3. Given any vector A = iˆAx + ˆjAy + kˆAz , determine A = eˆr Ar + eˆθ Aθ + eˆφ Aφ .

dr
#4. If we know the position vector r as in #1, we can determine velocity v = and
dt
d2r
acceleration a = . Thus find out:
dt 2
v = eˆr v r + eˆθ vθ + eˆφ vφ
a = eˆr a r + eˆθ aθ + eˆφ aφ .

#5. In the transformation ( x, y, z ) → (u1 , u 2 , u 3 ) the Jacobian of transformation is

∂x ∂y ∂z
∂u1 ∂u1 ∂u1
 x, y , z  ∂x ∂y ∂z
J   = .
 u1 , u 2 , u 3  ∂u 2 ∂u 2 ∂u 2
∂x ∂y ∂z
∂u 3 ∂u 3 ∂u 3
Show that for the transformation to Spherical coordinate system ( x, y, z ) → (r ,θ , φ ) the
Jacobian is J = r 2 sin θ .
[Note: dV = dxdydz = Jdrdθdφ ]

#6. Do all the exercise above for Cylindrical coordinate system ( ρ , φ , z ) .

Lecture-2

Transformation of GRADIENT:

Let us have ∇φ = f1eˆ1 + f 2 eˆ2 + f 3 eˆ3 ……………………………….(1)

Here ê1 , ê2 , ê3 are the unit vectors we already know. Now we have to determine the
coefficients (or functions) f 1 , f 2 and f 3 .
Since r = r (u1 , u 2 , u 3 ) , we can write

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PBC lecture Notes Series: Transformation of Coordinates by Dr. A. Kar Gupta 6

∂r ∂r ∂r
dr = du1 + du 2 + du 3 = h1 du1eˆ1 + h2 du 2 eˆ2 + h3 du 3 eˆ3 …………….(2)
∂u1 ∂u 2 ∂u 3
Also φ = φ (u1 , u 2 , u 3 ) .
∂φ ∂φ ∂φ
∴ dφ = du1 + du 2 + du 3 ……………………………………(3)
∂u1 ∂u 2 ∂u 3

We can also write:

dφ = ∇φ ⋅ d r
= ( f1eˆ1 + f 2 eˆ2 + f 3 eˆ3 ) ⋅ (h1 du1eˆ1 + h2 du 2 eˆ2 + h3 du 3 eˆ3 )
= h1 f1 du1 + h2 f 2 du 2 + h3 f 3 du 3 …………………….(4)

Comparing (3) and (4) we have

∂φ 1 ∂φ
h1 f1 = ⇒ f1 =
∂u1 h1 ∂u1
∂φ 1 ∂φ
h2 f 2 = ⇒ f2 =
∂u 2 h2 ∂u 2
∂φ 1 ∂φ
h3 f 3 = ⇒ f3 =
∂u 3 h3 ∂u 3

eˆ1 ∂φ eˆ2 ∂φ eˆ3 ∂φ

Hence, ∇φ = + + .
h1 ∂u1 h2 ∂u 2 h3 ∂u 3

eˆ1 ∂ eˆ ∂ eˆ ∂
Therefore, the Gradient Operator is ∇ ≡ + 2 + 3 …………(5)
h1 ∂u1 h2 ∂u 2 h3 ∂u 3

Transformation of DIVERGENCE:

Suppose we have a vector, A = A1eˆ1 + A2 eˆ2 + A3 eˆ3

Then ∇ ⋅ A = ∇ ⋅ ( A1eˆ1 + A2 eˆ2 + A3 eˆ3 )
= ∇ ⋅ ( A1eˆ1 ) + ∇ ⋅ ( A2 eˆ2 ) + ∇ ⋅ ( A3 eˆ3 )

Let us evaluate ∇ ⋅ ( A1eˆ1 ) separately.

To do that we express the unit vector ê1 in terms of the variable u1 and so on.
eˆ ∂ eˆ ∂ eˆ ∂
We have ∇ ≡ 1 + 2 + 3 as derived above.
h1 ∂u1 h2 ∂u 2 h3 ∂u 3

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PBC lecture Notes Series: Transformation of Coordinates by Dr. A. Kar Gupta 7

eˆ1
∴ ∇u1 = ⇒ eˆ1 = h1 ∇u1
h1
Similarly, eˆ2 = h2 ∇u 2 and eˆ3 = h3 ∇u 3 .
Now we can write eˆ1 = eˆ2 × eˆ3 = h2 h3 ∇u 2 × ∇u 3

∴ ∇ ⋅ ( A1eˆ1 ) = ∇ ⋅ ( A1 h2 h3 ∇u 2 × ∇u 3 )
= ∇( A1 h2 h3 ) ⋅ (∇u 2 × ∇u 3 ) + A1 h2 h3 ∇ ⋅ (∇u 2 × ∇u 3 )
eˆ eˆ
= ∇( A1 h2 h3 ) ⋅ 2 × 3 + 0
h2 h3
eˆ
= ∇( A1 h2 h3 ) ⋅ 1
h2 h3
1 ∂
= ( A1h2 h3 )
h1 h2 h3 ∂u1
Thus ∇ ⋅ A = ∇ ⋅ ( A1eˆ1 ) + ∇ ⋅ ( A2 eˆ2 ) + ∇ ⋅ ( A3 eˆ3 )
 ∂ 
∇⋅ A =
1
 ( A1h2 h3 ) + ∂ ( A2 h3 h1 ) + ∂ ( A3 h1h2 ) ………………(6)
h1 h2 h3  ∂u1 ∂u 2 ∂u 3 

If A = ∇Φ
2
∇ ⋅ A = ∇ ⋅ ∇Φ = ∇ Φ
eˆ ∂Φ eˆ2 ∂Φ eˆ3 ∂Φ
We put A = 1 + + in (6) and get
h1 ∂u1 h2 ∂u 2 h3 ∂u 3

2 1  ∂  h2 h3 ∂Φ  ∂  h3 h1 ∂Φ  ∂  h1 h2 ∂Φ 
∇ Φ =    +   +   …………….(7)
h1 h2 h3  ∂u1  h1 ∂u1  ∂u 2  h2 ∂u 2  ∂u 3  h3 ∂u 3 

In Spherical Polar ( r , θ , φ ) System:

u1 = r , u 2 = θ , u 3 = φ
eˆ1 = eˆr , eˆ2 = eˆθ , eˆ3 = eˆφ
h1 = hr = 1
h2 = hθ = r
h3 = hφ = r sin θ
Putting all the above in (7) we get

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PBC lecture Notes Series: Transformation of Coordinates by Dr. A. Kar Gupta 8

2 1 ∂  2 ∂Φ  ∂  r sin θ ∂Φ  ∂  r ∂Φ 
∇ Φ =   r sin θ +  ⋅ +  ⋅ 
r sin θ
2
 ∂r  ∂r  ∂θ  r ∂θ  ∂φ  r sin θ ∂φ 
1  ∂  2 ∂Φ  ∂  ∂Φ  1 ∂ 2Φ 
= 2 sin θ  r +  sin θ + ⋅ .
r sin θ  ∂r  ∂r  ∂θ  ∂θ  sin θ ∂φ 2 

Transformation of CURL:

∇ × A = ∇ × ( A1eˆ1 + A2 eˆ2 + A3 eˆ3 )

= ∇ × ( A1ê1 ) + ∇ × ( A2 ê2 ) + ∇ × ( A3 ê3 ) ……………………………..(8)

To evaluate the first term:

We use eˆ1 = h1 ∇u1 as before.

(
∇ × ( A1eˆ1 ) = ∇ × A1 h1 ∇u1 )
= ∇( A1 h1 ) × ∇u1 + A1 h1 ∇ × ∇u1 [we used: ∇ × (φ A) = ∇φ × A + φ ∇ × A ]
eˆ
= ∇( A1 h1 ) × 1 + 0
h1
 eˆ ∂ eˆ ∂ eˆ ∂  eˆ
∴ ∇ × ( A1ê1 ) =  1 ( A1 h1 ) + 2 ( A1 h1 ) + 3 ( A1 h1 ) × 1
 h1 ∂u1 h2 ∂u 2 h3 ∂u 3  h1
 eˆ ∂  eˆ  eˆ ∂  eˆ  eˆ ∂  eˆ
=  1 ( A1 h1 ) × 1 +  2 ( A1 h1 ) × 1 +  3 ( A1 h1 ) × 1
 h1∂u1  h1  h2 ∂u 2  h1  h3 ∂u 3  h1
 eˆ ∂   eˆ2 ∂ 
= 0 + − 3 ( A1 h1 ) +  ( A1 h1 )
 h1 h2 ∂u 2   h1 h3 ∂u 3 
eˆ2 ∂ eˆ ∂
= ( A1 h1 ) − 3 ( A1 h1 )
h3 h1 ∂u 3 h1 h2 ∂u 2
We can evaluate the other terms of equation (8) in a similar fashion.
Thus we can write
eˆ ∂ eˆ ∂ eˆ ∂ eˆ ∂
∇× A = 2 ( A1 h1 ) − 3 ( A1 h1 ) + 3 ( A2 h2 ) − 1 ( A2 h2 ) +
h3 h1 ∂u 3 h1 h2 ∂u 2 h1 h2 ∂u1 h2 h3 ∂u 3
eˆ1 ∂ eˆ ∂
( A3 h3 ) − 2 ( A3 h3 )
h2 h3 ∂u 2 h3 h1 ∂u1
eˆ1  ∂ ∂  eˆ  ∂ ∂ 
=  ( A3 h3 ) − ( A2 h2 ) + 2  ( A1 h1 ) − ( A3 h3 ) +
h2 h3  ∂u 2 ∂u 3  h3 h1  ∂u 3 ∂u1 
eˆ3  ∂ ∂ 
 ( A2 h2 ) − ( A1 h1 ) ………(9)
h1 h2  ∂u1 ∂u 2 

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PBC lecture Notes Series: Transformation of Coordinates by Dr. A. Kar Gupta 9

Expression (9) can be written as

∇× A =
1   ∂ ∂   ∂ ∂   ∂ ∂ 
h1eˆ1  ( A3 h3 ) − ( A2 h2 )  + h2 eˆ2  ( A1 h1 ) − ( A3 h3 )  + h3 eˆ3  ( A2 h2 ) − ( A1 h1 ) 
h1 h2 h3   ∂u 2 ∂u 3   ∂u 3 ∂u1   ∂u1 ∂u 2 

h1eˆ1 h2 eˆ2 h3 eˆ3

1 ∂ ∂ ∂
= ………………………………………….(10)
h1 h2 h3 ∂u1 ∂u 2 ∂u 3
A1 h1 A2 h2 A3 h3

In Spherical Polar Coordinate system:

eˆr reˆθ r sin θ .eˆφ

1 ∂ ∂ ∂
∇× A = 2 .
r sin θ ∂r ∂θ ∂φ
Ar rAθ r sin θ . Aφ