Calculus Iii: CHAPTER 5: Orthogonal Curvilinear Coordinates

CALCULUS III
CHAPTER 5: Orthogonal curvilinear coordinates
ORTHOGONAL CURVILINEAR COORDINATES

• (Plane) polar coordinates
• Cylindrical coordinates
• Spherical coordinates
• General orthogonal curvilinear coordinates
VECTOR FIELDS IN CURVILINEAR COORDINATES

• Scalar and vector fields in orthogonal curvilinear coordinates
• The gradient operator in curvilinear coordinates
• The divergence operator in curvilinear coordinates
• The curl operator in curvilinear coordinates
ORTHOGONAL CURVILINEAR COORDINATES
 In the previous chapters, we have mainly worked in ℝ𝑚 using cartesian coordinates
 However, in some cases it is easier to work in other systems of coordinates:

if the system has for instance spherical symmetry, it is easier to describe it using spherical
coordinates
 We have already seen some concepts from curvilinear coordinates:
- Calculus II
- 2D and 3D integration of scalar functions in polar, cylindrical, and spherical variables (Chapter 1)
- parametrisation of curves and surfaces in polar, cylindrical, spherical variables and others (Chapter 2)
- Integrals of vector fields over parametrised surfaces (chapter 4)
 In this chapter we will develop a framework where vector fields calculus can be extended to generic
curvilinear coordinate systems.
(Plane) polar coordinates
Definition
Relation between partial derivatives
Transformation from (x,y) to (u,v): area element In polar (u,v)=(r,θ)
𝑑𝑥𝑑𝑦 → 𝑟𝑑𝑟𝑑𝜃
where
Unit vectors in polar coordinates
are orthogonal, just like i and j, and have unit norm.

Reminder of cylindrical coordinates
It’s like 2D polars with a third dimension described by the cartesian coordinate 𝑧:
Comment: watch out the change of notation

from previous chapters in the angle 𝜃 → φ
Unit vectors and area and volume elements in cylindrical coordinates
Area element
Volume element
( The Jacobian determinant of the transformation is again 𝐽 = 𝑟)

Reminder of spherical coordinates
General orthogonal curvilinear coordinates
 In the former examples, unit vectors were orthogonal. One can construct other systems of
coordinates in ℝ𝑚 , whose coordinate lines will in general be curvilinear, and whose unit vectors will
be orthogonal (that is, in every point the tangent vectors to each of the 𝑚 coordinate lines will be
orthogonal).
 For the sake of being concrete, we focus on ℝ3 (𝑚 = 3)
General orthogonal curvilinear coordinates
Cartesian, cylindrical, and spherical coordinates as special cases of curvilinear coordinates:

VECTOR FIELDS IN CURVILINEAR COORDINATES
Scalar fields in orthogonal curvilinear coordinates
Vector fields in orthogonal curvilinear coordinates
projection in different basis
Coordinate systems act as basis where vector functions and vector fields can be expressed (projected).
Up to know we have expressed vector fields in cartesian coordinate system
Any vector field can be indeed expressed in other basis:
Each component can be found using the matrix transformation R

projection in different basis
Recipe
1. Express 𝐹𝑥 , 𝐹𝑦 , 𝐹𝑧 in terms of 𝜃, 𝜑 through
2. Then you have

𝑭 = 𝐹𝑥 𝜃, 𝜑 𝒊Ԧ + 𝐹𝑦 𝜃, 𝜑 𝑗Ԧ + 𝐹𝑧 𝜃, 𝜑 𝑘
3. Use the matrix transformation 𝑹𝑇 to express 𝒊Ԧ in terms of 𝒆𝑟 , 𝒆𝜃 , 𝒆𝜑
4. Proceed analogously for 𝒋 and 𝒌
5. Substitute those expressions in 2.
6. Collect terms
scalar and vector product
Consider two vectors v and w defined in a given curvilinear system in ℝ3
 The scalar (dot) and vector (cross) products are defined as usual
Vector differentiation (with respect to a variable other than position)
In this particular case things are easy. For instance, consider cylindrical coordinates
and differentiate with respect to time. Applying chain’s rule,
Vector differentiation with respect to position: GRADIENT OPERATOR
Vector differentiation with respect to position: GRADIENT OPERATOR
Vector differentiation with respect to position: DIVERGENCE OPERATOR
Consider a vector field 𝑭 = 𝐹1 𝑢1 , 𝑢2 , 𝑢3 𝒆1 + 𝐹2 𝑢1 , 𝑢2 , 𝑢3 𝒆2 + 𝐹3 𝑢1 , 𝑢2 , 𝑢3 𝒆3

Vector differentiation with respect to position: DIVERGENCE OPERATOR
Vector differentiation with respect to position: CURL OPERATOR
Consider a vector field 𝑭 = 𝐹1 𝑢1 , 𝑢2 , 𝑢3 𝒆1 + 𝐹2 𝑢1 , 𝑢2 , 𝑢3 𝒆2 + 𝐹3 𝑢1 , 𝑢2 , 𝑢3 𝒆3

Vector differentiation with respect to position: CURL OPERATOR

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CALCULUS III

CHAPTER 5: Orthogonal curvilinear coordinates

ORTHOGONAL CURVILINEAR COORDINATES

VECTOR FIELDS IN CURVILINEAR COORDINATES

 However, in some cases it is easier to work in other systems of coordinates:

 We have already seen some concepts from curvilinear coordinates:

Relation between partial derivatives

Transformation from (x,y) to (u,v): area element In polar (u,v)=(r,θ)

are orthogonal, just like i and j, and have unit norm.

Comment: watch out the change of notation

( The Jacobian determinant of the transformation is again 𝐽 = 𝑟)

Cartesian, cylindrical, and spherical coordinates as special cases of curvilinear coordinates:

Up to know we have expressed vector fields in cartesian coordinate system

Any vector field can be indeed expressed in other basis:

Each component can be found using the matrix transformation R

2. Then you have

3. Use the matrix transformation 𝑹𝑇 to express 𝒊Ԧ in terms of 𝒆𝑟 , 𝒆𝜃 , 𝒆𝜑

4. Proceed analogously for 𝒋 and 𝒌

5. Substitute those expressions in 2.

Consider two vectors v and w defined in a given curvilinear system in ℝ3

Consider a vector field 𝑭 = 𝐹1 𝑢1 , 𝑢2 , 𝑢3 𝒆1 + 𝐹2 𝑢1 , 𝑢2 , 𝑢3 𝒆2 + 𝐹3 𝑢1 , 𝑢2 , 𝑢3 𝒆3

Consider a vector field 𝑭 = 𝐹1 𝑢1 , 𝑢2 , 𝑢3 𝒆1 + 𝐹2 𝑢1 , 𝑢2 , 𝑢3 𝒆2 + 𝐹3 𝑢1 , 𝑢2 , 𝑢3 𝒆3

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