eajasthan, 2005) 8.19. (1) ORTHOGONAL CURVILINEAR CO-ORDINATES Lot tho rectangular co-ordinates @ y, « - 942) of any point bo expressed as functions of w, v,w s0 440, w),y =y(U, v, w), Suppose that (1) ean be solved far uso, , usury, 2), = (u,v, w) ‘w in lorms of x,y,z, 60 that (Xs Ys 2), W = Ww (x,y, 2) 1 te ezeuma in tho finetlond in CD) and (2) are single-valued and have continuous partial derivatives so that the correspondence betwoon (, is uni called curvilinear co-ordinates of (4, y, 2) 972) and (4 4, is usigue. Then ew) are Each of u,v, has 2 level surface ti hrough an arbitrary point, The surfaces w= up, v = vo, weg are called co-ordinate surfaces through P(ug, vp, wo). Each pair of these coordinate surfaces intersect in curves called the Co-ordinate curves, The curve of intersection of =ug and v= vp will be called the to-curvo, for only w changes along this curve. Similarly we define u and vecurves. In vector notation, (1) can be written as R. ‘x(u, v, wT +y(u, v, w)J +2(u, v, w)K aR = OB yy 4 BR gy FR yy, (8) au At ay de Ho Then AR/Au is a tangent vector to the u-curve at P, IfT,, is a unit vector at Pin this direction, then 9R/au = hy Ty whore hy = | AR/au |, Similarly if T, and T,, be unit tangent 4 oe vectors to v- and w-curves at P, then a4 SR sgt, and Ro igt where fy = | IR/av | and hg= | AR/aw |. Vy, hg, Ay are called scalar factors.) Then (3) can be written as AR = hy du Ty + hgdv Ty + hg dw Ty (4) Since Vu is normal to the surface u=ugatP, therefore, a unit vector in this vi direction is given by Nu= yi] * Vu Similarly the unit veetors Ny=-y,_7 and Ne Tey are normal to the surfaces w Fig. 826,388 HIGHER ENGINEERING MATHEMATiCg v =ug and w=woatP respectively. exist two triads of unit vectors : Tyy to the co-ordinates surfaces (Fig. 826). In particular, when the co-ordinate surfaces intersect at right angles, the three co-ordinate curves are also mutually orthogonal and u, v, w are called the orthogonal curvilinear ‘Thus at each point P ofa curvilinear coordinate system there Ty, Tyy tangents to u, v, w-curves and Nuy Nyy Nip normals spordinates. In this case Ty, Tyy Ty and Ny, Nyy Nw are mutually perpendicular unit vector triads and hence become identical. Henceforth, we shall refer to orthogonal curvilinear co-ordinates only. Multiplying (3) scalarly by Vu, we get IR Yu-dR =du= 0 GF e+ i =) 5) whence Vu - Similarly Vo: and vw- 22-0, Vw: au These relations show that the sets 3R/du,R/av, AR/aw and Vu, Vu, Vw constitute reciprocal system of vectors. aR aR ne ae ow tha) x Ta) FR aR. an) Waly): (eT) x (isha [F-xd] highs TXT _ Ta - - ~Fahighs (Ty TyTal ~ F Ue MyTeTad = 1 or Ty=hy Vu - Similarly T,=/gVu and Ti, =hs Vw} Also Ty, =Ty x Typ = highg Vo x Vo Similarly T, =hghy Vw x Vu and Ty, =hyho Vu x wl Are, area and volume elements ( Arc element. The element of arc length ds is determined from (4). E) ds? =dR-dR=hy2du? + hgdv? + hs? dw? AD ‘The arc length ds, along u-curve at P is hydu for v and w are constants, Therefore the vector arc element along the u-curve is du = hyduT,, Similarly veetor are elements along v and w curves at P are dv = hydvT, and dw = hsdwT,. The arc element ds therefore corresponds to the length of the diagonal of the rectangular parallelopiped of Fig. 8:27. (ii) Area elements. The area of the parallelogram formed by du and dv is called the area element on the wv surface which is perpendicular to w-curve and we denote it by dS,,. Hence, dS, =|duxdv| =hyhgdudv. Similarly dS, = hghs dudw, dS, = hgh,dwdu. (iii) Volume element is the volume of the parallelopiped formed by du, dv, dw. Fig. 8:27. (6)VECTOR CALCULUS aV = ((hydu,) (hyaue, Ww) (hgdw,) ae = Nyhghs dudvdw This can also be written as 08) (IE TyTy) = 1 av=|2R aR zz Ww “Fh et Ba, where (x, 9, 2)/A(u, v, w) is called co-ordinates. ed the Jacobian of the transformation from &y, dududw (9) 2) to (u,v, w) (2) Del applied to Functions in Orthogonal curvilinear co-ordinates To ceed that = Tu af Ty of, Tw af (OVE TS au * Tig Bot hg Ow av Faas Fata [ae Oat +2 Ooh + $5 ert Te Ty Ty highg Taghy Tiyhg| (8)VxF=| a aoa where F=f\T, + f:T, +fyMp. uk lw yt fof, hay (1) Let f(u, v, w) be any scalar point function in terms of u, v, w, the orthogonal curvilinear co-ordinates, Taking w, v, w as functions of x, y, z, we have OF _ Of du , Of a , af dw ld ae ~ du ax * dv ae * Dw ax . HF _ Of du , af , a w 2h ay ~ au dy * dv dy * w dy x. of du, Fw, fw «ii) and "Ou de * av de * dw de re (@ by I, Gi) by J, (ii) by K and adding, we have = 2 of of vi wiv) v= vu +L w+ Low Tu of , Te of , Tw af Iby (5) p. 388 Ty du * Tig dv” hg Ow Which is the required result. ; (2) Let F(u, v, w) be a vector point function such that yop 38 Feafil y+ folo + faTw = Yihols Vu x Vo Oe 1 VRS EV: ((fyhghg)(Wo x Vu) a = El(fjhghg) V« (Vo x Vw) + (Vu x Vw) V (fihaha)) “ (5) p. 358 Now V+ (Vu x Vu) = Vw + 9 x(Vo) - Wo - Vx (Vu) =0 : Ey(6hp Alfrhghts) Ofahghs) + Miele yy, SP ww h [By (iv) above and V(fhighg) = Miah) vIGHER ENGINEERING MATHEMATI 390 Hi! ICs ©. (v) now becomes h Alfrhghs) , , afrlighs) V-F=¥ (vox Vw) ia) oy AOANS vo + cee vw Midas 1 yy Mitah®) rien is the required result. =[Vu, Vo, Vw) > = Inhahs i. Cor. Laplacian. V’f=V - (Vf) = u of , Te of, Tw of =v (= Qu * hy ov * hy Ow) hy ue D3 iy i tn Hs (8) Let F(w, v, w) be a vector point function such that Ty, + foTy + faT wy = Ati Vu + fohgVu + fghgVw [by (5) p. 388 V x (fh Vu) (Using (8) p. 358 ahd y, , ey) 5, , Wry) 2) SE var Se Veta = ELV(f hy) x Vue + fly - Vx Vu) = wv TXTy), Uihy (ToT, aL ees GP a all ce } hi »f = “| au Ayhy aw | Aghy _20vha) Tw, aia) To _ aha) Tu, Afoh2) Two Go Tyhg Ww. Wyk OE Bal * da ihe