MR.S.

S BADNERKAR

Co-ordinate Systems
In physical problems to describe a wave in a space accurately or in order to locate a point in a space we need to study coordinate system. A point or vector can be represented in a coordinate system that may be orthogonal or non-orthogonal. An orthogonal system is one in which the co-ordinates are mutually perpendicular to each other and in Non-orthogonal system co-ordinate are not perpendicular to each other, but the use of non orthogonal system is very limited. In this subject we will study orthogonal systems only in which all coordinates are perpendicular There are many types of system available but as far as our application is concern related to our subject we are going to study three types of system. 1) Cartesian ( Rectangular ) Coordinate system 2) Cylindrical coordinate system. 3) Spherical (polar) coordinate system. Description of each system is as follows Cartesian Co-ordinate System: Cartesian co-ordinate system which is the basic coordinate system and less complex than other coordinate system. A point P(x0, y0, z0) in Cartesian co-ordinate system is represented as intersection of three planes x = x0, y = y0 and z = z0. Hence the unit vectors along the three planes is given by ax along x direction, a y along y direction and az along z direction. Ranges of the three coordinates is given by

Also the three unit vectors must satisfy the following relation of dot product and cross product

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MR.S.S BADNERKAR

In Cartesian co-ordinate system, a vector can be written as Where Ax , Ay and Az are the magnitudes in x y and z direction respt. The dot and cross product of two vectors and can be written as follows: DOT PRODUCT

. The differential length, area and volume in Cartesian system are defined respectively as DIFFERENTIAL LENGTH

Let us consider to distance points P(x, y, z) and Q ( x+dx, y+dy, z+dz) connected to each other by a line. Where dx, dy and dz are the incremental distance along three different directions. Hence the value of vector displacement dL from P to Q is given by dL = ( x + dx x)ax + ( y + dy y )ay + ( z + dz z )az

DIFFERENTIAL SURFACES As there are three planes available and any surface is represented by two different variables along three coordinates (i.e. x, y, and z) Hence along three different directions surfaces are given by Along x direction differential surface is given by 2 CBSCEM/EMF/SSB

MR.S.S BADNERKAR dsx = dydzax Where sign indicates the direction of unit vector ax in y-z plane Likewise rest of the two surfaces in y and z direction is given by ds y = dxdza y dsz = dxdyaz

DIFFERENTIAL VOLUME Also the differential volume in Cartesian coordinate system is given by the product of all the three coordinates because volume includes three parameter to describe i.e. dv = dxdydz

NOTE: - always remember that the direction of increment of surface is given along the normal direction because any surface always increments along its depth (i.e. volume) in order to complete the surface.

Cylindrical Co-ordinate System:

Cylindrical coordinate systems which are somewhat complex than that of Cartesian system which describe the shape of cylinder. The Parameters which will describe cylinder will be the coordinates of this system. Three coordinates of cylindrical coordinate system is given by Radius of a cylinder which will be constant thought the cylinder denoted by symbol . The angle between horizontal axis(x) and which will vary from 0 to 2 and denoted by . 3 CBSCEM/EMF/SSB

MR.S.S BADNERKAR And the height of a cylinder varies along vertical axis denoted by z axis and this is exactly equal to the z axis of Cartesian coordinate system. The range of three coordinates in cylindrical system is given

And hence we have a point

is determined as the point of intersection of a

cylindrical surface r = r0, half plane containing the z-axis and making an angle ; with the xz plane and a plane parallel to xy plane located at z=z0 as shown in figure on next page. In cylindrical coordinate system, the unit vectors along the direction of three planes is given by a along direction, a along direction and az along z direction also the three unit vectors should satisfy the following relationship of cross product

A vector

can be written in cylindrical coordinate system as,

Consider a small infinitesimal displacement dL from point P1 to P2. this vector can be decomposed into d a along direction, d a along and dz aZ along z direction. Hence by combining these three differential lengths is given by 4 CBSCEM/EMF/SSB

MR.S.S BADNERKAR

NOTE: - for direction d is multiplied by because as angle is changing but point p is having a constant distance apart from origin and this distance is given by (radius of cylinder)

Differential areas for cylindrical system is given by:

From the above fig it is clear that there will be three differential surfaces each along a , a and az direction 1) Differential Surface along a direction is given by the product of dz and d where dz is small increment along z direction and d is the small increment along direction which gives

(refer above fig)

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MR.S.S BADNERKAR 2) Likewise for Differential Surface along a direction is given by the product of d and dz where d is small increment along direction and dz is the small increment along z direction which gives

3) Similarly for Differential Surface along az direction is given by the product of d and d where d is small increment along direction and d is the small increment along direction which gives

And Differential volume for cylindrical system is given by,

dv = dd dz This is the product of all the three variables of cylindrical system because volume covers all three coordinates Transformation between Cartesian and Cylindrical coordinates: Let us consider is to be expressed in Cartesian co-ordinate as

. In doing so we note that and it applies for other components as well.

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MR.S.S BADNERKAR

Unit Vectors in Cartesian and Cylindrical Coordinates

These relations can be put conveniently in the matrix form as:

themselves may be functions of

as:

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MR.S.S BADNERKAR From above fig cos = x therefore we can write -------- (1) Similarly we may write -------- (2) from above fig

And z coordinate will be same as that of cartesian system z=z Also to calculate reversely coordinate of cylindrical system from that of Cartesian we can go for squaring and adding equation (1) and (2) for the value of and dividing (2) by (1) for coordinate we get

z coordinate will be same for both

Spherical Polar Coordinate System Thus we see that a vector in one coordinate system is transformed to another coordinate system through two-step process: Finding the component vectors and then variable transformation. Spherical Polar Coordinates: For spherical polar coordinate system, we have, represented as the intersection of (i) Spherical surface r=r0 (ii) Conical surface ,and . A point is

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MR.S.S BADNERKAR (iii) half plane containing z-axis making angle with the xz plane as shown in the

figure

The unit vectors satisfy the following relationships: The orientation of the unit vectors are shown in the figure 1.11.

Orientation of Unit Vectors A vector in spherical polar co-ordinates is written as : For spherical polar coordinate system we have h1=1, h2= r and h3= . and

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MR.S.S BADNERKAR

Differential volume in s-p coordinates

Exploded view With reference to the Figure 1.12, the elemental areas are:

and elementary volume is given by

Coordinate transformation between rectangular and spherical polar: With reference to the above figure we can write the following equations:

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MR.S.S BADNERKAR

Coordinate transformation Given a vector in the spherical polar coordinate system, its component in the Cartesian coordinate system can be found out as follows:

Similarly,

The above equation can be put in a compact form 11 CBSCEM/EMF/SSB

MR.S.S BADNERKAR

The components related to x,y and z as:

themselves will be functions of

are

And conversely

Using the variable transformation listed above, the vector components, which are functions of variables of one coordinate system, can be transformed to functions of variables of other coordinate system and a total transformation can be done THE SCALAR PRODUCT OR DOT PRODUCT There are two different ways in which we can usefully define the multiplication of two vectors. The first of these is called the scalar or dot product. The picture below gives its definition for two vectors A and B and also shows a very neat practical application.

The man is pulling the block with a constant force A so that it moves along the horizontal ground. The work done in moving the block through a distance B is then given by the distance moved through multiplied by the magnitude of the component of the force in the direction of motion. This is A B cos so we define the scalar or dot product as 12 CBSCEM/EMF/SSB

MR.S.S BADNERKAR A.B = A B cos Where is the angle between A and B when they are placed tail to tail. To use the least amount of force possible, we would need to pull horizontally, so that we are pulling in the same direction as we want the object to move. Then we would have =0 and cos =1 so that Work done = A.B = A B = magnitude of the force x distance moved in the direction of the force. As from the above definition of dot product it is clear that resultant of two vector dot product always results in the scalar quantity and hence this product is also called as Scalar Product. THE VECTOR PRODUCT OR CROSS PRODUCT As the result of dot product of two vectors is scalar field what will happen when result is associated with vector quantity? From that the concept of cross product comes into existence in which if two vectors let us take A and B available in one plane the cross product of these two vectors is given by A B = A B sin an Where A B = product of magnitudes of A and B . = is the angle between A and B and an =unit vector perpendicular to the A and B

The cross product of two vectors is perpendicular to both; the right hand rule picks the one out of two possible perpendicular directions. The diagrams show the right hand rule. The order of operands is important. The result of u v points in the same direction a screw must point if twisting from u to v drives it into the wood. Or, think of the direction your thumb points when your fingers curl around from u to v. Application of Cross Product 13 CBSCEM/EMF/SSB

MR.S.S BADNERKAR

The Fig shows two vectors u and v and the parallelogram they define between them. The area of the parallelogram is: | u | | v | sin where is the enclosed angle between two sides. This area is the same as the magnitude of the cross product. And the direction of increment of area is perpendicular to the plane containing two sides of parallelogram given by a N . If angle between u and v is 900 then sin 900 =1 and we will get the area of square. This is the application of cross product.

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