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Curvilinear
Coordinates
28.3
Introduction
The derivatives div, grad and curl from Section 29.2 can be carried out using coordinate systems
other than the rectangular cartesian coordinates. This Section shows how to calculate these
derivatives in other coordinate systems. Two coordinate systems - cylindrical polar coordinates
and spherical polar coordinates - will be illustrated.
Prerequisites
Before starting this Section you should . . .
Learning Outcomes
After completing this Section you should be
able to . . .
y = sin
z=z
(i.e. the same z is used by the two coordinate systems). See Figure 1.
z
(x, y, z)
x,
Figure 1
The scale factors h , h and hz are given as follows
2 2
2
y
z
x
h =
+
+
= (cos )2 + (sin )2 + 0 = 1
2 2
2
y
z
x
+
+
= ( sin )2 + ( cos )2 + 0 =
h =
hz =
x
z
2
+
y
z
2
+
z
z
2
=
(02 + 02 + 12 ) = 1
plays the role of latitude but is modied so that = 0 represents the North Pole, = 90 =
2
represents the equator and = 180 = represents the South Pole. The variable plays the
role of longitude. A sphere has equation r = constant.
The relationship between the coordinate systems is given by
x = r sin cos
y = r sin sin
z = r cos .
See Figure 2.
(x, y, z)
r
y
x,
Figure 2
The scale factors hr , h and h are given by
2 2
2
y
z
x
hr =
+
+
= (sin cos )2 + (sin sin )2 + (cos )2 = 1
r
r
r
2 2
2
y
z
x
+
+
= (r cos cos )2 + (r cos sin )2 + (r sin )2 = r
h =
2 2
2
y
z
x
+
+
= (r sin sin )2 + (r sin sin )2 + 0 = r sin
h =
1 f
1 f
1 f
u +
v +
w
hu u
hv v
hw w
F = Fu u + Fv v + Fw w
then
1
(Fu hv hw ) +
(Fv hu hw ) +
(Fw hu hv )
div F = F =
hu hv hw u
v
w
F = Fu u + Fv v + Fw w then
hu u hv v hw w
curl F = F =
hu hv hw
u
v
w
h F h F h F
u u
v v
w w
Also if
Key Point
In orthogonal curvilinear coordinates, the vector derivatives f , F and F are inuenced
by the scale factors hu , hv and hw .
z
The scale factor is necessary in the -component because the derivatives with respect to are
distorted by the distance from the axis = 0.
If
F = F + F + Fz z then
1
(F ) +
(F ) + (Fz )
div F = F =
curl F = F =
F F
.
z
Fz
Solution
f
f
f
= 2,
= 0 and
= 2z so f = 2
+ 2z z.
z
f
f
f
(b) If f = 3 sin then
= 32 sin ,
= 3 cos and
= 0 and hence,
+ 2 cos .
f = 32 sin
(a) If f = 2 + z 2 then
Solution
Here, F = 3 , F = z and Fz = z sin so
1
F =
(F ) +
(F ) + (Fz )
z
1 4
2
=
( ) +
(z) + ( z sin )
z
1
=
43 + 0 + 2 sin
= 42 + sin
Converting to cartesian coordinates,
F = F + F + Fz z = 3 + z + z sin
z
= 3 (cos i + sin j) + z( sin i + cos j) + z sin k
= (3 cos z sin )i + (3 sin + z cos ) + zk
= 2 ( cos ) sin z i + 2 ( sin ) + cos z j + sin zk
= (x2 + y 2 )x yz i + (x2 + y 2 )y + xz j + yzk
= (x3 + xy 2 yz)i + (x2 y + y 3 + xz)j + yzk
So
3
2
(x + xy 2 yz) +
(x y + y 3 + xz) + (yz)
x
y
z
2
2
2
2
2
2
= (3x + y ) + (x + 3y ) + y = 4x + 4y + y
= 4(x2 + y 2 ) + y
= 42 + sin
F =
Solution
F =
=
=
=
F F Fz
z sin 2z cos
1
2
2
2z cos z sin +
2z cos + z
z sin
z
z
1
+ z(z sin )
(2z sin sin ) + (0)
z sin
(2z sin )
+
z
Solution
1
2
1
0+
+ k = [0 + 0 + 0] = 0
B =
=
B =
B B Bz
0
k
=0
All magnetic elds satisfy B = 0 i.e. an absence of magnetic monopoles. There is a class of
magnetic elds known as potential elds that satisfy B = O
Your solution
(a)
2
z
cos 2 + sin 2
z
Find F for F = cos
sin
+ z z
[F ],
[F ],
[Fz ]
z
(b) Combine these to nd F
(a) Find the derivatives
Your solution
1
F =
(F ) +
(F ) + (F )
z
1
=
(2 cos ) +
( sin ) + (2 z)
z
1
=
2 cos cos + 2
= cos + 2
(b)
(a) 2 cos ,
cos ,
Your solution
(a) For F =
+ ( sin + z) + z z, nd F and F .
(b) For f = r2 z 2 cos2, nd (f ).
Your solution
(a)
1 + cos + ,
z cos + (2 sin + z)
z
Your solution
(b)
f
1 f
1 f
r +
+ 2
r
r
r sin
If F = Fr r + F + F
then
1
2
(r sin Fr ) + (r sin F ) +
(rF )
div F = F = 2
r sin r
10
curl F = F = 2
r sin
Fr
rF
r2 sin
2
r sin F
Solution
(a)
f
1 f
1 f
r +
+ 2
r
r
r sin
(r)
1 (r)
1 (r)
=
r +
+ 2
r
r
r sin
= 1
r = r
f =
(b)
f
1 f
1 f
r +
+ 2
r
r
r sin
( 1r )
1 ( 1r )
1 ( 1r )
=
r +
+ 2
r
r
r sin
1
= 2 r
r
f =
(c)
f
1 f
1 f
r +
+ 2
r
r
r sin
(r2 sin( + )
1 (r2 sin( + )
1 (r2 sin( + )
=
r +
+ 2
r
r
r sin
1
1
= 2r sin( + )
r + r2 cos( + ) + 2
r2 cos( + )
r
r sin
cos(
+ )
= 2r sin( + )
r + r cos( + ) +
sin
f =
11
Example Using spherical polar coordinates, nd F for the following vector functions.
(b) F = r2 sin
r
r
(a) F = r
Solution
(a)
1
2
F = 2
(r sin Fr ) + (r sin F ) +
(rF )
r sin r
1
= 2
(r sin r) + (r sin 0) +
(r 0)
r sin r
1
3
1 2
= 2
(r sin ) + (0) +
(0) = 2
3r sin + 0 + 0 = 3
r sin r
r sin
Note :- in cartesian coordinates, the corresponding vector is F = xi + yj + zk with
F = 1 + 1 + 1 = 3 (hence consistency).
(b)
F =
=
=
=
1
2
(r sin Fr ) + (r sin F ) +
(rF )
r2 sin r
1
2
(r sin r sin ) + (r sin 0) +
(r 0)
r2 sin r
1
4 2
(r sin ) + (0) +
(0)
r2 sin r
1 3 2
sin
+
0
+
0
= 4r sin
4r
r2 sin
(c)
F =
=
=
=
2
1
(r sin Fr ) + (r sin F ) +
(rF )
r2 sin r
1
2
2
(r sin r sin ) + (r sin r sin ) +
(r r cos )
r2 sin r
1
3
2
3 2
(r sin ) + (r sin sin ) +
(r cos )
r2 sin r
1 2 2
3r sin + r3 cos sin + 0 = 3 sin + r cot sin
2
r sin
12
Solution
(a)
F =
r r r2 sin
r2 sin
Fr rF r2 sin F
r
r
r2 sin
r2 sin
r
k
2
r r 0 r sin 0
1
k
(0)
(0) r +
(r ) (0) r
r2 sin
r
+
(0) (rk ) r2 sin
r
0 r + 0 + 0 = 0
(b)
F =
=
=
13
r r r2 sin
r
sin
1
1
r2 sin
r
r2 sin
Fr rF r2 sin F
1
2
2 3
2 3
(r sin )
(r sin ) r +
(r cos ) (r sin ) r
r2 sin
r
+
(r sin ) (r2 cos ) r2 sin
r
2 2
1
3
+ sin + r2 sin r2 sin
sin
cos
+
0
r
+
0
2r
sin
3r
r2 sin
3 sin cos r 2 sin2 + (1 + r2 ) sin
r
+1
iii. f = r2 sin 2 cos
ii. f =
r2
nd F and F .
r + r cos + r sin ,
(b) For F = r sin
nd F and F .
(c) For F = r4 cos
r + r4 sin ,
(d) For F = r2 cos
r + cos nd ( F ).
Your solution
(a)
1 r2
r, (iii) 2r sin 2 cos
r + 2r cos 2 cos 2r cos sin
(1 + r2 )2
Your solution
(b)
14
Your solution
(c)
0,2r5 sin
Your solution
(d)
0
15