(III) Cylindrical Coordinates (, , z):

• It is a three-dimensional version of plane polar coordinate system (polar

coordinates in xy-plane + z-axis)
• It includes three mutually
perpendicular surfaces: one circular
cylindrical and two plane surfaces
(i) Cylindrical surface of constant
radius  with z-axis as its own
axis
i.e.  = constant surface
(ii) The plane perpendicular to the
z-axis and to the cylindrical
surface
i.e. z = constant surface
(iii)  = constant plane,  is the
angle between this plane and the
xz-plane

Range of the cylindrical coordinates:

0 ≤ 𝜌 < ∞, −∞ < 𝑧 < ∞, and 0 ≤ ∅ < 2𝜋
Unit vectors (𝜌̂, 𝜑̂, 𝑘̂):
• The unit vectors 𝜌̂, 𝜑̂, and 𝑘̂ are along increasing , , and k directions,
respectively.
• 𝜌̂ is directed radially outward and normal to the cylindrical surface
• 𝜑̂ is tangent to the cylindrical surface
• 𝑘̂ is parallel to the Z-axis
• 𝜌̂, 𝜑̂, and 𝑘̂ are mutually orthogonal i.e.
𝜌̂. 𝑧̂ = 0, 𝜌̂. 𝜑̂ = 0 and 𝑧̂ . 𝜑̂ = 0
𝜌̂ × 𝜑̂ = 𝑘̂, 𝜑̂ × 𝑘̂ = 𝜌̂ and 𝑘̂ × 𝜌̂ = 𝜑̂

• Any vector can be written as 𝐴⃗ = 𝜌̂𝐴𝜌 + 𝜑̂𝐴𝜑 + 𝑘̂𝐴𝑧 , where A, A, and Az are
components of 𝐴⃗ along 𝜌̂, 𝜑̂, and 𝑘̂ directions, respectively

1
Relation between (x, y, z) and (, , z):
• Draw a perpendicular from P to the xy-plane
𝑥 = 𝜌 𝑐𝑜𝑠 𝜑,
𝑦 = ρ sin 𝜑, and 𝑧 = 𝑧
We have 𝑥 2 + 𝑦 2 = 𝜌2

 𝜌 = √𝑥 2 + 𝑦 2 ( ≥ 0)
In this case,  can be zero or positive.
𝑦
= 𝑡𝑎𝑛 𝜑
𝑥
 𝜑 = 𝑡𝑎𝑛−1 (𝑦/𝑥)
Relation among unit vectors (𝑖̂, 𝑗̂, 𝑘̂) and (𝜌̂, 𝜑̂, 𝑘̂):
• Position vector of point P w.r.t. origin O
𝑟̂ = 𝑖̂𝑥 + 𝑗̂𝑦 + 𝑘̂𝑧 = 𝑖̂𝜌𝑐𝑜𝑠𝜑 + 𝑗̂𝜌𝑠𝑖𝑛𝜑 + 𝑘̂𝑧………………..(N)
𝜕𝑟⃗ 𝜕𝑟⃗ 𝜕𝑟⃗
• The tangent vectors to the , , and z curves are given by , and ,
𝜕𝜌 𝜕𝜑 𝜕𝑧
respectively

From Eq. (N), we get

𝜕𝑟⃗ 𝜕𝑟⃗ 𝜕𝑟⃗
= 𝑖̂ cos 𝜑 + 𝑗̂ sin 𝜑 , = −𝑖̂𝜌 sin 𝜑 + 𝑗̂𝜌 cos 𝜑 , and = 𝑘̂
𝜕𝜌 𝜕𝜑 𝜕𝑧
The unit vectors in these directions are

2
 𝜕𝑟⃗/𝜕𝜌 𝑖̂ cos 𝜑 + 𝑗̂ sin 𝜑
𝜌̂ = = = 𝑖̂ cos 𝜑 + 𝑗̂ sin 𝜑
|𝜕𝑟⃗/𝜕𝜌| (𝑐𝑜𝑠 2 𝜑 + 𝑠𝑖𝑛2 𝜑)1/2
𝜕𝑟⃗/𝜕𝜑 −𝑖̂𝜌 sin 𝜑 + 𝑗̂𝜌 cos 𝜑
𝜑̂ = = 2 2 = −𝑖̂ sin 𝜑 + 𝑗̂ cos 𝜑
|𝜕𝑟⃗/𝜕𝜑| (𝜌 𝑠𝑖𝑛 𝜑 + 𝜌2 𝑐𝑜𝑠 2 𝜑)1/2
𝜕𝑟⃗/𝜕𝑧 𝑘̂
𝑘̂ = = = 𝑘̂
|𝜕𝑟⃗/𝜕𝑧| 1

Derivatives of unit vectors w.r.t. the coordinates

• As we noticed above, 𝜌̂, 𝜑̂, and 𝑘̂ depend only on the coordinate  and are
independent of  and z. Therefore,
𝜕𝜌̂ 𝜕𝜌̂ 𝜕𝜌̂
= 0, = −𝑖̂ sin 𝜑 + 𝑗̂ cos 𝜑 = 𝜑̂ , and =0
𝜕𝜌 𝜕𝜑 𝜕𝑧
𝜕𝜑̂ 𝜕𝜑̂ 𝜕𝜑̂
= 0, = −𝑖̂ cos 𝜑 − 𝑗̂ sin 𝜑 = −𝜌̂ , and =0
𝜕𝜌 𝜕𝜑 𝜕𝑧
Since 𝑘̂ is a constant vector
𝜕𝑘̂ 𝜕𝑘̂ 𝜕𝑘̂
= 0, =0, and =0
𝜕𝜌 𝜕𝜑 𝜕𝑧

3
Length Element, Area Element, and Volume Element:
• Consider points P(, , z) and Q(+d, +d, z+dz)
• Line element: ⃗⃗⃗⃗
𝑑𝑙 = 𝜌̂𝑑𝑙𝜌 + 𝜑̂𝑑𝑙𝜑 + 𝑘̂ 𝑑𝑙𝑧 where, 𝑑𝑙𝜌 , 𝑑𝑙𝜑 , and 𝑑𝑙𝑧 are
components of ⃗⃗⃗⃗
𝑑𝑙
• We now draw two cylindrical surfaces of radius  and +d, two radial
planes at angles  and +d, and two horizontal planes at elevations z and
z+dz
• These surfaces enclose a small volume element

• If the line element ⃗⃗⃗⃗

𝑑𝑙 (PQ) is infinitesimally small, this volume element can
be regarded as a rectangular parallelepiped with sides,
𝑑𝑙𝜌 = 𝑑𝜌, 𝑑𝑙𝜑 = 𝜌𝑑𝜑, and 𝑑𝑙𝑧 = 𝑑𝑧

Then, ⃗⃗⃗⃗
𝑑𝑙 = 𝜌̂𝑑𝜌 + 𝜑̂𝜌𝑑𝜑 + 𝑘̂𝑑𝑧
• The infinitesimal area of the three surfaces intersecting at P are
⃗⃗⃗⃗⃗⃗⃗⃗
𝑑𝐴𝜌 = ±𝑑𝑙⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗
𝜑 × 𝑑𝑙𝑧 = ±𝜑̂𝜌𝑑𝜑 × 𝑘̂𝑑𝑧 = ±𝜌̂𝜌𝑑𝜑𝑑𝑧
⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑑𝐴𝜑 = ±𝑑𝑙 ⃗⃗⃗⃗⃗⃗⃗𝑧 × ⃗⃗⃗⃗⃗⃗⃗
𝑑𝑙𝜌 = ±𝑘̂𝑑𝑧 × 𝜌̂𝑑𝜌 = ±𝜑̂𝑑𝜌𝑑𝑧
⃗⃗⃗⃗⃗⃗⃗⃗
𝑑𝐴𝑧 = ±𝑑𝑙⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗
𝜌 × 𝑑𝑙𝜑 = ±𝜌̂𝑑𝜌 × 𝜑̂𝜌𝑑𝜑 = ±𝑧̂ 𝜌𝑑𝜌𝑑𝜑

• The volume element is

𝑑𝑉 = 𝑑𝑙⃗⃗⃗⃗ ⃗⃗⃗⃗ ⃗⃗⃗ ̂𝑑𝜌. (𝜑̂𝜌𝑑𝜑 × 𝑘̂𝑑𝑧) = 𝜌𝑑𝜌𝑑𝜑𝑑𝑧
𝜌 . (𝑑𝑙𝜑 × 𝑑𝑙𝑧 ) = 𝜌

4
(IV) Spherical Polar Coordinates (r, θ, ):
• This system involves three mutually orthogonal surfaces: One sphere, one
cone, and one plane surface
(i) Sphere of radius r or, r = constant surface
(ii) The cone with its vertex at origin, symmetric about z-axis or, θ =
constant surface
(iii) The plane perpendicular to the XY-plane and contains the Z-axis or, 
= constant surface
Here,  is the angle between the positive X-axis and the projection of the line OP
in the Z = 0 plane.

Range of the Spherical Polar Coordinates:

0 ≤ 𝑟 < ∞, 0 ≤ 𝜃 < 𝜋, and 0 ≤  < 2𝜋
Unit Vectors:
• Through any point P(r1,θ1,1) we can pass a sphere (r = r1), a cone (θ = θ1),
and a plane ( = 1)
• One thus obtains three curves at point P where these surfaces intersect
• The unit vectors 𝑟̂ , 𝜃̂, and 𝜑̂ are along the tangents to these curves at P and are
mutually perpendicular. They are in the directions of increasing r, θ, and .
• The unit vector 𝑟̂ is directed radially outward and normal to the sphere r =
constant
• The unit vector 𝜃̂ is normal to the conical surface and tangent to the sphere r
= constant

5
• The unit vector 𝜑̂ is normal to the plane  = constant and tangent to both the
cone and sphere
• 𝑟̂ , 𝜃̂, and 𝜑̂ are mutually orthogonal i.e.
𝑟̂ . 𝜃̂ = 0, 𝜃̂. 𝜑̂ = 0 and 𝜑̂. 𝑟̂ = 0
𝑟̂ × 𝜃̂ = 𝜑̂, 𝜃̂ × 𝜑̂ = 𝑟̂ and 𝜑̂ × 𝑟̂ = 𝜃̂

• Any arbitrary vector can be written as 𝐴⃗ = 𝑟̂ 𝐴𝑟 + 𝜃̂𝐴𝜃 + 𝜑̂𝐴𝜑 , where Ar, Aθ,
and A are components of 𝐴⃗ along 𝑟̂ , 𝜃̂, and 
̂ directions, respectively

Cartesian (x, y, z) vs Spherical Polar (r, θ, ) Coordinates:

• Consider a point in P in space. Draw a perpendicular PM to the XY-plane
• Draw MN parallel to the Y-axis
• Draw MT parallel to the X-axis
Here, TM = ON = x
OT = NM = y
PM = z
In the right-angled triangle ONM

ON = x = OM cos
NM = y = OM sin ---------(A)

In the right-angled triangle POM

OM = r sinθ ------------------(B)

PM = z = r sin(90°-θ) = r cosθ

From Eqs. (A) and (B), we get

x = r sinθ cos
y = r sinθ sin
z = r cosθ

Thus,

6
 𝑟 = √𝑥 2 + 𝑦 2 + 𝑧 2

−1
√𝑥 2 + 𝑦 2
𝜃 = 𝑡𝑎𝑛
𝑧
𝜑 = 𝑡𝑎𝑛−1 (𝑦/𝑥)

Cylindrical (, , z) vs Spherical Polar (r, θ, ) Coordinates:

• Distance of point P from Z-axis is rsinθ. This is the radius of the cylinder
passing through point P and having Z-axis as its axis.
Thus,  = rsinθ
• The height of point P above the Z = 0 plane is rcosθ.
This is the value of z on the z = constant plane passing through the point P.
Thus, z = rcosθ
• The angle  is same in both coordinate systems
 = rsinθ,  = , and z = rcosθ
𝜌 𝜌
= 𝑡𝑎𝑛𝜃  𝜃 = 𝑡𝑎𝑛−1 ⁄𝑧
𝑧
𝜌2 + 𝑧 2 = 𝑟 2  𝑟 = √𝜌2 + 𝑧 2
𝜑= 𝜑

Relation among unit vectors (𝑖̂, 𝑗̂, 𝑘̂ ) and (𝑟̂ , 𝜃̂ , 𝜑̂):

• The position vector of the point P relative to origin O is
𝑟⃗ = 𝑖̂𝑥 + 𝑗̂𝑦 + 𝑘̂𝑧
• In terms of spherical polar coordinates,
𝑟⃗ = 𝑖̂𝑟 sin 𝜃 cos 𝜑 + 𝑗̂𝑟 sin 𝜃 sin 𝜑 + 𝑘̂𝑟 cos 𝜃
7
• The tangent vectors to the r, θ,  curves are
𝜕𝑟⃗
= 𝑖̂ sin 𝜃 cos 𝜑 + 𝑗̂ sin 𝜃 sin 𝜑 + 𝑘̂ cos 𝜃
𝜕𝑟
𝜕𝑟⃗
= 𝑖̂𝑟 cos 𝜃 cos 𝜑 + 𝑗̂𝑟 cos 𝜃 sin 𝜑 − 𝑘̂𝑟 sin 𝜃
𝜕𝜃
𝜕𝑟⃗
= −𝑖̂ 𝑟 sin 𝜃 sin 𝜑 + 𝑗̂ 𝑟 sin 𝜃 cos 𝜑 = 𝑟 sin 𝜃 (−𝑖̂𝑠𝑖𝑛𝜑 + 𝑗̂ cos 𝜑)
𝜕𝜑
• Their magnitudes are
𝜕𝑟⃗
| | = [𝑠𝑖𝑛2 𝜃𝑐𝑜𝑠 2 𝜑 + 𝑠𝑖𝑛2 𝜃𝑠𝑖𝑛2 𝜑 + 𝑐𝑜𝑠 2 𝜃]1/2
𝜕𝑟
= [𝑠𝑖𝑛2 𝜃(𝑐𝑜𝑠 2 𝜑 + 𝑠𝑖𝑛2 𝜑) + 𝑐𝑜𝑠 2 𝜃]1/2 = 1

𝜕𝑟⃗
| | = 𝑟[𝑐𝑜𝑠 2 𝜃𝑐𝑜𝑠 2 𝜑 + 𝑐𝑜𝑠 2 𝜃𝑠𝑖𝑛2 𝜑 + 𝑠𝑖𝑛2 𝜃]1/2
𝜕𝜃
= 𝑟[𝑐𝑜𝑠 2 𝜃(𝑐𝑜𝑠 2 𝜑 + 𝑠𝑖𝑛2 𝜑) + 𝑠𝑖𝑛2 𝜃]1/2 = 𝑟

𝜕𝑟⃗
| | = 𝑟[𝑠𝑖𝑛2 𝜃𝑠𝑖𝑛2 𝜑 + 𝑠𝑖𝑛2 𝜃𝑐𝑜𝑠 2 𝜑]1/2 = 𝑟 sin 𝜃
𝜕𝜑
• The unit vectors along the tangential directions are

𝜕𝑟⃗/𝜕𝑟
𝑟̂ = = 𝑖̂ sin 𝜃 cos 𝜑 + 𝑗̂ sin 𝜃 sin 𝜑 + 𝑘̂ cos 𝜃
|𝜕𝑟⃗/𝜕𝑟|
𝜕𝑟⃗/𝜕𝜃
𝜃̂ = = 𝑖̂ cos 𝜃 cos 𝜑 + 𝑗̂ cos 𝜃 sin 𝜑 − 𝑘̂ sin 𝜃
|𝜕𝑟⃗/𝜕𝜃|
𝜕𝑟⃗/𝜕𝜑
𝜑̂ = = −𝑖̂ sin 𝜑 + 𝑗̂ cos 𝜑
|𝜕𝑟⃗/𝜕𝜑|

Derivatives of 𝑟̂ , 𝜃̂ , and 𝜑̂:

Differentiating 𝑟̂ , 𝜃̂, and 𝜑̂ with respect to (r, θ, ) we get
𝜕𝑟̂
=0
𝜕𝑟
𝜕𝑟̂
= 𝑖̂ cos 𝜃 cos 𝜑 + 𝑗̂ cos 𝜃 sin 𝜑 − 𝑘̂ sin 𝜃 = 𝜃̂
𝜕𝜃
𝜕𝑟̂
= −𝑖̂ sin 𝜃 sin 𝜑 + 𝑗̂ sin 𝜃 cos 𝜑 = sin 𝜃 (−𝑖̂𝑠𝑖𝑛𝜑 + 𝑗̂𝑐𝑜𝑠𝜑) = 𝜑̂𝑠𝑖𝑛𝜃
𝜕𝜑

8
 𝜕𝜃̂
=0
𝜕𝑟
𝜕𝜃̂
= −𝑖̂ sin 𝜃 cos 𝜑 − 𝑗̂ sin 𝜃 sin 𝜑 − 𝑘̂ cos 𝜃 = −𝑟̂
𝜕𝜃
𝜕𝜃̂
= −𝑖̂ cos 𝜃 sin 𝜑 + 𝑗̂ cos 𝜃 cos 𝜑 = 𝜑̂ cos 𝜃
𝜕𝜑
𝜕𝜑̂ 𝜕𝜑̂ 𝜕𝜑̂
= 0; = 0; = −𝑖̂ cos 𝜑 − 𝑗̂ sin 𝜑
𝜕𝑟 𝜕𝜃 𝜕𝜑

Line Element, Area Element, and Volume Element:

• Consider the points P(r,θ,) and Q(r+dr, θ+dθ, +d)

• The directed line element 𝑃𝑄 ⃗⃗⃗⃗⃗⃗

⃗⃗⃗⃗
𝑑𝑙 = 𝑟̂ 𝑑𝑙𝑟 + 𝜃̂𝑑𝑙𝜃 + 𝜑̂𝑑𝑙𝜑
Here, 𝑑𝑙𝑟 𝑑𝑙𝜃 , and 𝑑𝑙 are components of ⃗⃗⃗⃗
𝑑𝑙
• At P, we draw a spherical surface of radius ‘r’, a cone of semi-vertical angle
θ, and a plane at angle 
• Similarly, at Q, we draw a spherical surface of radius r+dr, a cone of semi-
vertical angle θ+dθ, and a plane at angle +d
• These six surfaces enclose a small volume element which is a rectangular box
• The sides of this box are made up of the length elements

9
 𝑑𝑙𝑟 = 𝑑𝑟, 𝑑𝑙𝜃 = 𝑟𝑑𝜃, and 𝑑𝑙𝜑 = 𝑟 𝑠𝑖𝑛𝜃𝑑𝜑
⃗⃗⃗⃗ = 𝑟̂ 𝑑𝑟 + 𝜃̂𝑟𝑑𝜃 + 𝜑̂ 𝑟 𝑠𝑖𝑛𝜃𝑑𝜑
Now, 𝑑𝑙
• The infinitesimal areas in three surfaces intersecting at point P are
𝑑𝐴 ⃗⃗⃗⃗⃗𝑟 = ±𝑑𝑙⃗⃗⃗⃗ ⃗⃗⃗⃗ 2
𝜃 × 𝑑𝑙𝜑 = ±𝑟̂ 𝑟 𝑠𝑖𝑛𝜃 𝑑𝜃𝑑𝜑
𝑑𝐴 ⃗⃗⃗⃗⃗ ⃗⃗⃗ ⃗⃗⃗ ̂
𝜃 = ±𝑑𝑙 × 𝑑𝑙𝑟 = ±𝜃 𝑟𝑑𝑟 𝑠𝑖𝑛𝜃𝑑𝜑

𝜃 = ±𝑟𝑑𝑟𝑑𝜃
⃗⃗⃗⃗⃗ = ±𝑑𝑙⃗⃗⃗𝑟 × 𝑑𝑙⃗⃗⃗⃗
𝑑𝐴 ̂

• Volume of the box

𝑑𝑉 = 𝑑𝑙⃗⃗⃗𝑟 . (𝑑𝑙⃗⃗⃗⃗ ⃗⃗⃗⃗ ̂ ̂𝑟 𝑠𝑖𝑛𝜃𝑑𝜑) = 𝑟 2 𝑑𝑟 𝑠𝑖𝑛𝜃𝑑𝜃𝑑𝜑
𝜃 × 𝑑𝑙𝜑 ) = 𝑟̂ 𝑑𝑟. (𝜃 𝑟𝑑𝜃 × 𝜑

Summary of Coordinate Systems

Cartesian Cylindrical Spherical
Orthogonal three planes a cylinder and a sphere, a cone
Surfaces two planes and a plane
Coordinates x, y, z , , z r, θ, 
Unit vectors 𝑖̂, 𝑗̂, 𝑘̂ 𝜌̂, 𝜑̂, 𝑧̂ 𝑟̂ , 𝜃̂ , 𝜑̂
Limits of −∞ < 𝑥 < ∞ 0≤𝜌<∞ 0≤𝑟<∞
Coordinates −∞ < 𝑦 < ∞ 0 ≤ 𝜑 < 2𝜋 0≤𝜃<𝜋
−∞ < 𝑧 < ∞ −∞ < 𝑧 < ∞ 0 ≤ 𝜑 < 2𝜋
Differential 𝑖̂𝑑𝑥 𝜌̂𝑑𝜌 𝑟̂ 𝑑𝑟
length elements 𝑗𝑑𝑦 𝜑̂𝜌𝑑𝜑 𝜃̂𝑟𝑑𝜃
𝑘̂𝑑𝑧 𝑘̂𝑑𝑧 𝜑̂𝑟 sin 𝜃 𝑑𝜑
Differential area 𝑘̂𝑑𝑥𝑑𝑦 𝑘̂𝜌𝑑𝜌𝑑𝜑 𝜑̂𝑟𝑑𝑟𝑑𝜃
2
elements 𝑖̂𝑑𝑦𝑑𝑧 𝜌̂𝜌𝑑𝜑𝑑𝑧 𝑟̂ 𝑟 sin 𝜃 𝑑𝜃𝑑𝜑
𝑗̂𝑑𝑧𝑑𝑥 𝜑̂𝑑𝜌𝑑𝑧 𝜃̂𝑟𝑑𝑟 sin 𝜃 𝑑𝜑
Differential 𝑑𝑥𝑑𝑦𝑑𝑧 𝜌𝑑𝜌𝑑𝜑𝑑𝑧 𝑟 2 𝑑𝑟 sin 𝜃 𝑑𝜃𝑑𝜑
volume elements

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Question 1: Write the equation of a sphere in spherical polar coordinates.
Solution:

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