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    Chapter 4 Coordinate Systems and Transformations

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    Josamy Martinez
    The document describes three common coordinate systems - Cartesian, cylindrical, and spherical. It explains how to represent points and vectors in each system using the appropriate variables. Transformations between the different systems allow representing the same physical quantity in multiple ways. Choosing the best-fitted coordinate system can simplify engineering problems.

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    Chapter 4 Coordinate Systems and Transformations

    Uploaded by

    Josamy Martinez
    44 views35 pages
    The document describes three common coordinate systems - Cartesian, cylindrical, and spherical. It explains how to represent points and vectors in each system using the appropriate variables. Transformations between the different systems allow representing the same physical quantity in multiple ways. Choosing the best-fitted coordinate system can simplify engineering problems.

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    The document describes three common coordinate systems - Cartesian, cylindrical, and spherical. It explains how to represent points and vectors in each system using the appropriate variables. Transformations between the different systems allow representing the same physical quantity in multiple ways. Choosing the best-fitted coordinate system can simplify engineering problems.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    44 views35 pages

    Chapter 4 Coordinate Systems and Transformations

    Uploaded by

    Josamy Martinez
    The document describes three common coordinate systems - Cartesian, cylindrical, and spherical. It explains how to represent points and vectors in each system using the appropriate variables. Transformations between the different systems allow representing the same physical quantity in multiple ways. Choosing the best-fitted coordinate system can simplify engineering problems.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 35

    Chapter 4

    COORDINATE SYSTEMS
    AND TRANSFORMATIONS
    4.1 Introduction

    ➢ In general, the physical quantities that most


    engineering problems deal with are functions of
    space and time.
    ➢ In order to describe the spatial variations of the
    quantities, we must be able to define all points
    uniquely in space in a suitable manner.
    4.1 Introduction

    ➢ A point or vector can be represented in any


    curvilinear coordinate system, which may be
    orthogonal or nonorthogonal.
    ➢ An orthogonal system is one in which the
    coordinates are mutually perpendicular
    ➢ Nonorthogonal systems are hard to work with and
    they are of little or no practical use.
    4.1 Introduction

    ➢ A considerable amount of work and time may be


    saved by choosing a coordinate system that best
    fits a given problem
    ➢ A hard problem in one coordinate system may
    turn out to be easy in another system.
    ➢ We will restrict ourselves to the three best-known
    coordinate systems: the Cartesian, the circular
    cylindrical, and the spherical.
    Examples of Orthogonal Coordinate
    4.2 Systems

    Cartesian (or rectangular)

    Figure 4.1 3-D Cartesian Coordinate System


    Examples of Orthogonal Coordinate
    4.2 Systems

    Circular Cylindrical

    Figure 4.2 3-D Circular Cylindrical System


    Examples of Orthogonal Coordinate
    4.2 Systems

    Spherical

    Figure 4.3 3-D Spherical System


    4.3 Cartesian Coordinate System (x, y, z)

    ➢ As mentioned earlier, a point P can be represented


    as (x, y, z). The ranges of the coordinate variables
    x, y, z are
    4.3 Cartesian Coordinate System (x, y, z)

    ➢ A vector A in Cartesian (or rectangular)


    coordinates can be written as
    (Ax , Ay , Az) or Axax + Ay ay + Azaz
    where ax, ay, and az are unit vectors along the
    x-, y-, and z- directions.
    4.4
    4.4
    ➢ The ranges of the variables are

    Figure 4.4 Point P and unit vectors in the cylindrical coordinate system.
    4.4
    4.4
    4.4

    Note that
    4.4

    ➢ The relationships between the variables (x, y, z)


    of the Cartesian coordinate system:
    4.4

    Figure 4.5 Point P and unit vectors in the cylindrical coordinate system.
    4.4

    Figure 4.6 Unit vector transformation: (a) cylindrical components of ax


    4.4

    Figure 4.6 Unit vector transformation: (b) cylindrical components ay


    4.4
    4.4

    ➢ In Matrix Form

    4.2

    ➢ The inverse transformation is obtained as

    4.3
    4.4

    ➢ Or directly from

    4.4

    ➢ An alternative way is using the dot product:

    4.5
    4.5
    4.5 Spherical Coordinate System (r, , 𝝓)

    Figure 4.7 Point P and unit vectors in spherical coordinates


    4.5
    4.5 Spherical Coordinate System (r, , 𝝓)
    4.5 Spherical Coordinate System (r, , 𝝓)

    ➢ The unit vectors ar, a , and a𝝓 are mutually orthogonal;


    and
    4.5 Spherical Coordinate System (r, , 𝝓)

    ➢ The space variables (x, y, z) in Cartesian coordinates can


    be related to variables (r, , 𝝓) of a spherical
    coordinate system ;
    ➢

    ➢ 4.6

    4.7
    4.5 Spherical Coordinate System (r, , 𝝓)

    ➢ The unit vectors are related as follows:

    4.8

    4.9
    4.5 Spherical Coordinate System (r, , 𝝓)

    Figure 4.8 Relationships between space variables (x, y, z), (r, , 𝝓), and
    (𝝆, 𝝓, z)
    4.5 Spherical Coordinate System (r, , 𝝓)

    ➢ The components of vector A = (Ax, Ay, Az) and A = (Ar, A, A𝝓)
    are related by:

    4.10
    ➢ From this, we obtain

    4.11
    4.5 Spherical Coordinate System (r, , 𝝓)

    ➢ The components of vector A = (Ax, Ay, Az) and


    A = (Ar, A, A𝝓) are related by:

    4.10
    ➢ In matrix form, the vector transformation can be performed:

    4.11
    4.5 Spherical Coordinate System (r, , 𝝓)

    ➢ The inverse transformation is similarly obtained:

    4.10

    ➢ Alternatively,

    4.11
    4.6 Distance Between Two Points
    4.6 Distance Between Two Points

    Figure 4.8 Unit vector transformations for cylindrical and spherical


    coordinates
    Thank You

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