Hand-out:

Elektromagnetika 1
(Coordinate Systems and Transformation)

Prodi D-III Teknik Telekomunikasi

2021
 CONTENTS

Coordinate Systems and Transformation

Cartesian Coordinates (x, y, z)
Circular Cylindrical Coordinates (ρ, φ, z)
Spherical Coordinates (r, θ, φ)
Constant-Coordinate Surfaces
COORDINATE SYSTEMS AND TRANSFORMATION

INTRODUCTION
In general, the physical quantities we shall be dealing with in EM 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.
This requires using an appropriate coordinate system.
An orthogonal system is one in which the coordinates are mutually
perpendicular.
In this text, we shall restrict ourselves to the three best-known coor-
dinate systems: the Cartesian, the circular cylindrical, and the
spherical.
CARTESIAN COORDINATES (x, y, z)

A point P can be represented as (x, y, z) as illustrated in the figure

below. The ranges of the coordinate variables x, y, and z are,
−∞< x <∞
−∞< y <∞
−∞ < z < ∞

(a) Unit vectors ax, ay, and az (b) components of A along ax, ay, and az
A vector A in Cartesian (otherwise known as rectangular) coordinates
can be written as

Where :
Ax, Ay and Az are called the components of A in the x, y, and z
directions respectively;
ax, ay, and az are unit vectors in the x, y, and z directions, respec-
tively.
The magnitude of vector A is given by

and the unit vector along A is given by

Notice that the unit vectors ax , ay , and az are mutually perpendicular
because our coordinate system is orthogonal. Thus,

ax ⋅ ax = ay ⋅ ay = az ⋅ az = 1
ax ⋅ ay = ay ⋅ az = az ⋅ ax = 0

ax × ay = az
ay × az = ax
az × ax = ay

az × ay = −ax
ay × ax = −az
ax × az = −ay
CIRCULAR CYLINDRICAL COORDINATES (ρ, ϕ, z)
A point P in cylindrical coordinates is represented as (ρ, ϕ, z) and is
as shown in the Figure. The ranges of the variables are

A vector A in cylindrical
coordinates can be written as

or

where aρ , aϕ , and az are unit vectors in the ρ, ϕ, and z directions

The magnitude of A

Notice that the unit vectors aρ , aϕ , and az are mutually perpendicular

because our coordinate system is orthogonal. Thus,
The relationships between the variables (x, y, z) of the Cartesian
coordinate system and those of the cylindrical system (ρ, ϕ, z) are
easily obtained from Figure above.
Transforming a point from Cartesian (x, y, z) to cylindrical (ρ, ϕ, z)
coordinates:

and transforming for (ρ, ϕ, z) to (x, y, z):

The relationships between (ax , ay , az) and (aρ , aϕ , az) are obtained
geometrically from Figure below:

or
Finally, the relationships between (Ax , Ay , Az) and (Aρ , Aϕ , Az) are
obtained by simply substituting and collecting terms. Thus:

or

In matrix form, we have the transformation of vector A from (Ax , Ay ,

Az) to (Aρ , Aϕ , Az) as

The inverse of the transformation (Aρ , Aϕ , Az) (Ax , Ay , Az) is

obtained as
SPHERICAL COORDINATES (r, θ, ɸ)

A point P can be represented as (r, θ, ɸ) and is illustrated in the

Figure below. According to these definitions, the ranges of the
variables are,

A vector A in spherical coordinates may be written as

where ar , aθ, and aɸ are unit vectors along the r, θ, and ɸ directions.
The magnitude of A is
The unit vectors ar , aθ, and aɸ are mutually orthogonal, thus
The space variables (x, y, z) in Cartesian coordinates can be related to
variables (r, θ, ɸ) of a spherical coordinate system.

or
The unit vectors ax , ay , az and ar , aθ, and aɸ are related as follows:

or

The components of vector A = (Ax , Ay , Az) and A = (Ar , Aθ, Aϕ) are
related by substituting and collecting terms. Thus,
 and from this, we obtain

• In matrix form, the (Ax , Ay , Az) (Ar , Aθ, Aϕ) vector transformation
is performed according to

The inverse transformation (Ar , Aθ , Aϕ) (Ax , Ay , Az) is similarly

obtained, or we obtain it. Thus
The distance between two points is usually necessary in EM theory.
The distance d between two points with position vectors r1 and r2 is
generally given by

or

Point transformation between cylindrical and spherical coordinates

or
 Vector transformation between cylindrical and spherical coordinates

or

EXAMPLE 1

Given point P(−2, 6, 3) and vector A = y ax + (x + z) ay , express P

and A in cylindrical and spherical coordinates. Evaluate A at P in the
Cartesian, cylindrical, and spherical systems.
Solution:

At point P : x = −2, y = 6, z = 3. Hence,

Thus

In the Cartesian system, A at P is

A = 6ax + ay
For vector A, Ax = y, Ay = x + z , Az = 0. Hence, in the cylindrical
system

or

But and substituting these yield

At P
Hence

Similarly, in the spherical system

or
But and
substituting these yield

At P :

Hence
Note that |A| is the same in the three systems; that is,
PRACTICE EXERCISE 1
(a) Convert points P(1, 3, 5), T(0, −4, 3), and S(−3, −4, −10) from
Cartesian to cylindrical and spherical coordinates.
(b) Transform vector

to cylindrical and spherical coordinates.

(c) Evaluate Q at T in the three coordinate systems.
Answer:
EXAMPLE 2

Express vector in Cartesian and

cylindrical coordinates. Find B (−3, 4, 0) and B (5, π/2, −2).

Solution:
Using eq. :

or
But

Hence
Substituting all these gives

where Bx , By , and Bz are as given above.

At (−3, 4, 0), x = −3, y = 4, and z = 0, so

Thus :

For spherical to cylindrical vector transformation

or
or

But and

Thus

Hence
At (5, π/2, −2), ρ = 5, ɸ = π/2, and z = − 2, so

Note that at (−3, 4, 0),

This may be used to check the correctness of the result whenever

possible.
PRACTICE EXERCISE 2

Express the following vectors in Cartesian coordinates:

(a) .

(b) .

Answer:
CONSTANT-COORDINATE SURFACES
Surfaces in Cartesian, cylindrical, or spherical coordinate systems are
easily generated by keeping one of the coordinate variables constant and
allowing the other two to vary.
In the Cartesian system, if we keep x constant and allow y and z to vary,
an infinite plane is generated. Thus we could have infinite planes
x = constant
y = constant
z = constant

The intersection of two

planes is a line (e.g.
line RPQ).

The intersection of
three planes is a point
(e.g. point P).
Orthogonal surfaces in cylindrical coordinates can likewise be generated.
The surfaces
ρ = constant
ɸ = constant
z = constant

Where two surfaces meet

is either a line or a circle.
Thus, z = constant, ρ =
constant. (e.g. a circle QPR).

A point is an intersection of
the three surfaces ( e.g. the
point P(2, 60°, 5)).
The orthogonal nature of the spherical coordinate system is evident by
considering the three surfaces
r = constant
θ = constant
ɸ = constant

A line is formed by the

intersection of two surfaces.
For example: r = constant,
ɸ = constan, is a semicircle
passing through Q and P.

The intersection of three

surfaces gives a point.
(e.g. the point P(5, 30°,
60°)).
EXAMPLE 3

Two uniform vector fields are given by

and
Calculate

Solution:
(b) Line x = 2, z = 3 is parallel to the y-axis, so the component of E
parallel to the given line is

But at P(5, π/2, 3)

Therefore,

(c) Utilizing the fact that the z-axis is normal to the surface z = 3, the
angle between the z-axis and E, as shown in Figure below, can be
found using the dot product:

Hence, the angle between z = 3 and E is

PRACTICE EXERCISE 3
Given the vector field :
At point (1, π/3, 0), find
(a) H · ax
(b) H × aθ
(c) The vector component of H normal to surface ρ = 1
(d) The scalar component of H tangential to the plane z = 0

Answer:
EXAMPLE 4
Given the vector field :
determine
(a) D at P(10, 150°, 330°)
(b) The component of D tangential to the spherical surface r = 10 at P
(c) A unit vector at P perpendicular to D and tangential to the cone θ =
150°

Solution:
(a) At P, r = 10, θ = 150°, and ϕ = 330°. Hence

(b) Any vector D can always be resolved into two orthogonal compo-
nents:
 where Dt is tangential to a given surface and Dn is normal to it. In
our case, since ar is normal to the surface r = 10,

Hence,

(c) A vector at P perpendicular to D and tangential to the cone θ = 150°

is the same as the vector perpendicular to both D and aθ . Hence,

A unit vector along this is

PRACTICE EXERCISE 4

If A = 3ar + 2aθ − 6 aɸ and B = 4ar + 3aɸ , determine

(a) A · B
(b) │A × B │
(c) The vector component of A along az at (1, π/3, 5π/4).

Answer: (a) −6, (b) 34.48, (c) −0.116 ar + 0.201aθ

 REVIEW QUESTIONS
1. The ranges of θ and ɸ as given by eq. above are not the only
possible ones. The following are all alternative ranges of θ and ɸ,
except

2. At Cartesian point ( −3, 4, −1), which of these is incorrect?

 REVIEW QUESTIONS

3. Which of these is not valid at point (0, 4, 0) ?

4. A unit normal vector to the cone θ = 30o is :

5. At every point in space,

(a) True
(b) False

6. If H = 4aρ − 3aɸ + 5az , at (1, π/2, 0) the component of H parallel

to surface ρ = 1 is
(a) 4aρ (d) −3aɸ + 5az
(b) 5az (e) 5aɸ + 3az
(c) −3aɸ
 REVIEW QUESTIONS

7. Given G = 20ar + 50aθ + 40aɸ , at (1, π/2, π/6) the component of

G perpendicular to surface θ = π/2 is
(a) 20ar (d) 20ar + 40aθ
(b) 50aθ (e) − 40ar + 20aɸ
(c) 40aɸ
8. Where surfaces ρ = 2 and z = 1 intersect is
(a) an infinite plane (d) a cylinder
(b) a semi infinite plane (e) a cone
(c) a circle
10. A wedge is described by z = 0, 30° < ɸ < 60°. Which of the
following is incorrect:
(a) The wedge lies in the x − y plane.
(b) It is infinitely long
(c) On the wedge, 0 < ρ < ∞
(d) A unit normal to the wedge is ± az
(e) The wedge includes neither the x-axis nor the y-axis
 REVIEW QUESTIONS

10. Match the items in the left list with those in the right list. Each
answer can be used once, more than once, or not at all.
(a) θ = π/4 (i) infinite plane
(b) ɸ = 2π/3 (ii) semi-infinite plane
(c) x = −10 (iii) circle
(d) r = 1, θ = π/3, ɸ = π /2 (iv) semicircle
(e) ρ = 5 (v) straight line
(f) ρ = 3, ɸ = 5π /3 (vi) cone
(g) ρ = 10, z = 1 (vii) cylinder
(h) r = 4, ɸ = π/6 (viii) sphere
(i) r = 5, θ = π/3 (ix) cube
(x) point