Orthogonal

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.

 
be able to nd the gradient, divergence and
Prerequisites curl of a eld in cartesian coordinates.
Before starting this Section you should . . . be familiar with polar coordinates
 

be able to nd the divergence, gradient or

Learning Outcomes curl of a vector or scalar eld expressed
After completing this Section you should be in terms of orthogonal curvilinear coordi-
able to . . . nates.
1. Orthogonal Curvilinear Coordinates
The results shown in Section 29.2 have been given in terms of the familiar cartesian (x, y, z)
coordinate system. However, other coordinate systems can be used to better describe some
physical situations. A set of coordinates u = u(x, y, z), v = v(x, y, z) and w = w(x, y, z) where
the directions at any point indicated by u, v and w are orthogonal (perpendicular) to each other
is referred to as a set of orthogonal curvilinear coordinates.

  With each coordinate is associated
x 2
 y 2  z 2
a scale factor hu , hv or hw respectively where hu = u
+ u + u (with similar ex-
pressions for hv and hw ). The scale factor gives a measure of how a change in the coordinate
changes the position of a point.

Two commonly-used sets of orthogonal curvilinear coordinates are cylindrical polar coordinates
and spherical polar coordinates. These are similar to the plane polar coordinates introduced in
Section 17.2 but represent extensions to three dimensions.

Cylindrical Polar Coordinates

This corresponds to plane polar (, ) coordinates with an added zcoordinate directed out of
the xy plane. Normally the variables and are used instead of r and to give the three
coordinates , and z. A cylinder has equation = constant.
The relationship between the coordinate systems is given by
x = cos y = sin z=z
(i.e. the same z is used by the two coordinate systems). See Figure 1.

(x, y, z)

x,

Figure 1
The scale factors h , h and hz are given as follows
    2  2
x
2
y z 
h = + + = (cos )2 + (sin )2 + 0 = 1

   2  2
x
2
y z 
h = + + = ( sin )2 + ( cos )2 + 0 =

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28.3: Orthogonal Curvilinear Coordinates
  2  2  2
x y z 
hz = + + = (02 + 02 + 12 ) = 1
z z z

Spherical Polar Coordinates

In this system a point is referred to by its distance from the origin r and two angles and .
The angle is the angle between the positive z-axis and the line from the origin to the point.
The angle is the angle from the x-axis to the projection of the point in the xy plane. A useful
analogy is of latitude, longitude and height on Earth. The variable r plays the role of height
(but height measured above the centre of Earth rather than from the surface). The variable

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)

x,

Figure 2
The scale factors hr , h and h are given by
    2  2
x
2
y z 
hr = + + = (sin cos )2 + (sin sin )2 + (cos )2 = 1
r r r
   2   2
x
2
y z 
h = + + = (r cos cos )2 + (r cos sin )2 + (r sin )2 = r

   2   2
x
2
y z 
h = + + = (r sin sin )2 + (r sin sin )2 + 0 = r sin

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28.3: Orthogonal Curvilinear Coordinates
2. Vector Derivatives in Orthogonal Coordinates
Given an orthogonal coordinate system u, v, w with unit vectors u, v and w and scale factors,
hu , hv and hw , it is possible to nd the derivatives f , F and F .
It is found that
1 f 1 f 1 f
grad f = f = u + v + w
hu u hv v hw w
If F = Fu u + Fv v + Fw w
then

1
div F = F = (Fu hv hw ) + (Fv hu hw ) + (Fw hu hv )
hu hv hw u v w
Also if 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

Key Point
In orthogonal curvilinear coordinates, the vector derivatives f , F and F are inuenced
by the scale factors hu , hv and hw .

3. Cylindrical Polar Coordinates

In cylindrical polar coordinates (, , z), the 3 unit vectors are , and z with scale factors
h = 1, h = , hz = 1.
The quantities and are related to x and y by x = cos and y = sin . The unit
vectors are = cos i + sin j and = sin i + cos j. In cylindrical polar coordinates, grad
f 1 f f
f = f = + + z
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
div F = F = (F ) + (F ) + (Fz )
z

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28.3: Orthogonal Curvilinear Coordinates


curl F = F =
.

z

F F Fz

Example In cylindrical polar coordinates, nd f for

(a) f = 2 + z 2
(b) f = 3 sin
(c) Show that the result for (b) is consistent with that found working
in cartesian coordinates.

Solution

f f f
(a) If f = 2 + z 2 then = 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,
z
f = 32 sin + 2 cos .
(c) f = 3 sin = 2 sin = (x2 + y 2 )y = x2 y + y 3 so f = 2xyi + (x2 + 3y 2 )j.
Using cylindrical polar coordinates, from (b) we have

f = 32 sin + 3 cos
= 32 sin (cos i + sin j) + 2 cos ( sin i + cos j)
   
= 32 sin cos 2 sin cos i + 32 sin2 + 2 cos2 j
   
= 22 sin cos i + 32 sin2 + 2 cos2 j
= 2xyi + (3y 2 + x2 )j

So the results using cartesian and cylindrical polar coordinates are consistent.

Example Find F for F = F + F + Fz z = 3 + z + z sin z. Show that the

results are consistent with those found using cartesian coordinates.

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28.3: Orthogonal Curvilinear Coordinates
 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
F = (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

So F is the same in both coordinate systems

Example Find F for F = 2 + z sin + 2z cos z

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28.3: Orthogonal Curvilinear Coordinates
 Solution

z

z

F = =

F F Fz

z sin 2z cos

   
1 2 2
= 2z cos z sin + 2z cos + z z sin
z z
1 
= (2z sin sin ) + (0) + z(z sin )

(2z sin ) z sin
= + z

Example A magnetic eld B is given by B = 2 + kz. Find B and B.

Solution

1 2 1
B = 0+ + k = [0 + 0 + 0] = 0
z

z

z

B =
=

z

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

(a) Using cylindrical polar coordinates, nd f for f = r2 z sin

(b) Using cylindrical polar coordinates, nd f for f = z sin 2

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28.3: Orthogonal Curvilinear Coordinates
 Your solution
(a)

2z sin + z cos + 2 sin z

Your solution
(b)

cos 2 + sin 2z 2
z

Find F for F = cos sin + z z

(a) Find the derivatives [F ], [F ], [Fz ]
z
(b) Combine these to nd F

Your solution

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28.3: Orthogonal Curvilinear Coordinates
 = cos + 2

= 2 cos cos + 2
1 
z
= (2 cos ) + ( sin ) + (2 z)
1

z
F =
(F ) +
(F ) + (F ) z
1

(b)
2 cos , (a) 2 cos ,

Find F for F = F + F + Fz z = 3 + z + z sin z. Show that the

results are consistent with those found using cartesian coordinates.

(a) Find the curl F

(b) Find F in cartesian coordinates.
(c) Hence nd F in cartesian coordinates.
(d) Using r = cos i + sin j and = sin i + cos j show that the
solution to part (a) is equal to the solution for part (c).

Your solution

(c) (z x)i yj + 2zk

(b) (x3 + xy 2 yz)i + (x2 y + y 3 + xz) + yzk
(a) (z cos ) 2 sin + 2z z

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28.3: Orthogonal Curvilinear Coordinates
 (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)

4. Spherical Polar Coordinates

In spherical polar coordinates (r, , ), the 3 unit vectors are r, and with scale factors hr = 1,
h = r, h = r sin . The quantities r, and are related to x, y and z by x = r sin cos ,
y = r sin sin and z = r cos . In spherical polar coordinates,
f 1 f 1 f
grad f = f = r + + 2
r r r sin

If F = Fr r + F + F
then

1 2
div F = F = 2 (r sin Fr ) + (r sin F ) + (rF )
r sin r

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28.3: Orthogonal Curvilinear Coordinates


r r r2 sin

curl F = F = 2
r sin

Fr rF r sin F

Example In spherical polar coordinates, nd f for

(a) f = r
1
(b) f =
r
(c) f = r2 sin( + )

Solution

(a)

f 1 f 1 f
f = r + + 2
r r r sin
(r) 1 (r) 1 (r)
= r + + 2
r r r sin
= 1r = r

(b)

f 1 f 1 f
f = r + + 2
r r r sin
( 1r ) 1 ( 1r ) 1 ( 1r )
= r + + 2
r r r sin
1
= 2 r
r

(c)

f 1 f 1 f
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

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28.3: Orthogonal Curvilinear Coordinates
Example Using spherical polar coordinates, nd F for the following vector functions.
(a) F = rr (b) F = r2 sin r (c) F = r sin r +r2 sin +r cos

Solution

(a)

1 2
F = 2 (r sin Fr ) + (r sin F ) + (rF )
r sin r

1 2
= 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)

1 2
F = (r sin Fr ) + (r sin F ) + (rF )
r2 sin r

1 2
= (r sin r sin ) + (r sin 0) +
2
(r 0)
r2 sin r

1 4 2
= (r sin ) + (0) + (0)
r2 sin r
1  3 2 
= 4r sin + 0 + 0 = 4r sin
r2 sin

(c)

1 2
F = (r sin Fr ) + (r sin F ) + (rF )
r2 sin r

1 2
= (r sin r sin ) + (r sin r sin ) +
2
(r r cos )
r2 sin r

1 3 2 3 2
= (r sin ) + (r sin sin ) + (r cos )
r2 sin r
1  2 2 
= 2
3r sin + r3 cos sin + 0 = 3 sin + r cot sin
r sin

Example Find F for the following vector elds F .

(a) F = rk r, where k is a constant
(b) F = r2 cos r + sin + sin2

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28.3: Orthogonal Curvilinear Coordinates
 Solution
(a)

r r r 2
sin

F = 2

r sin

Fr rF r2 sin F

r r r2 sin

= 2

r sin
r

r r 0 r sin 0

2
   
1 k
= 2 (0) (0) r + (r ) (0) r
r sin r
 

+ (0) (rk ) r2 sin
r
= 0 r + 0 + 0 = 0

(b)

r r r 2
sin

r r r 2
sin

1


1

F =
=

r2 sin

r
r2 sin
r

Fr rF r2 sin F

r2 cos r sin r2 sin sin2

   
1 2 3 2 2 3
= (r sin ) (r sin ) r + (r cos ) (r sin ) r
r2 sin r
 

+ (r sin ) (r2 cos ) r2 sin
r
1  2 2      2 
= 3r sin cos + 0 r + 0 2r sin 3
r + sin + r 2
sin r sin
r2 sin
= 3 sin cos r 2 sin2 + (1 + r2 ) sin

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28.3: Orthogonal Curvilinear Coordinates
 (a) Using spherical polar coordinates, nd f for
i. f = r4
r
ii. f =
r2
+1
iii. f = r2 sin 2 cos
(b) For F = r sin r + r cos + r sin , nd F and F .
(c) For F = r4 cos r + r4 sin , nd F and F .
(d) For F = r2 cos r + cos nd ( F ).

Your solution
(a)

(1 + r2 )2
r, (iii) 2r sin 2 cos r + 2r cos 2 cos 2r cos sin (i) 4r3 r, (ii)
1 r2

Your solution
(b)

cos (cot + cosech) + 3 sin ,cot 2 sin r 2 sin + (2 cos cos )

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28.3: Orthogonal Curvilinear Coordinates
Your solution
(c)

0,2r5 sin

Your solution
(d)

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28.3: Orthogonal Curvilinear Coordinates