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EEE136-Lecture-2

The lecture covers coordinate systems and transformations in engineering electromagnetics, focusing on Cartesian, cylindrical, and spherical coordinates. It explains the significance of orthogonal coordinate systems and provides details on how to represent points and vectors in these systems. Additionally, the document discusses the relationships between different coordinate systems and how to generate constant-coordinate surfaces.

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jmundag1
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1 views

EEE136-Lecture-2

The lecture covers coordinate systems and transformations in engineering electromagnetics, focusing on Cartesian, cylindrical, and spherical coordinates. It explains the significance of orthogonal coordinate systems and provides details on how to represent points and vectors in these systems. Additionally, the document discusses the relationships between different coordinate systems and how to generate constant-coordinate surfaces.

Uploaded by

jmundag1
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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LECTURE 2:

COORDINATE SYSTEMS
AND TRANSFORMATION

ENGINEERING ELECTROMAGNETICS
TOPICS

o INTRODUCTION
o CARTESIAN COORDINATES
o CIRCULAR CYLINDRICAL COORDINATES
o SPHERICAL COORDINATES
o CONSTANT-COORDINATE SURFACES
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.

▪ A point or vector can be represented in any curvilinear coordinate system,


which may be orthogonal or nonorthogonal.

▪ An orthogonal system is one in which the coordinate surfaces are mutually


perpendicular.
INTRODUCTION
▪ 3 PRIMARY COORDINATE SYSTEMS:
1. Rectangular
2. Cylindrical
3. Spherical

▪ Examples:
▪ Sheets – Rectangular
▪ Wires/Cables – Cylindrical
▪ Spheres - Circular
INTRODUCTION
▪ Orthogonal Coordinate Systems: (coordinates mutually perpendicular)

Rectangular Coordinates Cylindrical Coordinates Spherical Coordinates


P (x,y,z) P (ρ,φ, z) P (r, θ , φ)
z
z
z z
P(x,y,z) P(ρ , φ, z)
P(r, θ, Φ)
θ r
y

x ρ y y
x ,φ x Φ
CARTESIAN COORDINATES ( 𝑥 , 𝑦 , 𝑧 )

▪ A vector A in Cartesian (otherwise known as


rectangular) coordinates can be written as

where ax, ay, and az are unit vectors along


the x-, y-, and z-directions.

▪ The ranges of the coordinate variables x, y, and z are:


CARTESIAN COORDINATES ( 𝑥 , 𝑦 , 𝑧 )
CARTESIAN COORDINATES ( 𝑥 , 𝑦 , 𝑧 )
CIRCULAR CYLINDRICAL COORDINATES ( 𝜌, 𝜙, 𝑧)

▪ The circular cylindrical coordinate system is very convenient whenever we


are dealing with problems having cylindrical symmetry, such as dealing with
a coaxial transmission line.

▪ A point P in cylindrical coordinates is represented as


(𝜌, 𝜙, 𝑧).
▪ 𝝆 is the radius of the cylinder passing through P or the
radial distance from the z-axis;
▪ 𝝓, called the azimuthal angle, is measured from the
x−axis in the xy−plane;
▪ z is the same as in the Cartesian system.

▪ The ranges of the variables are


CIRCULAR CYLINDRICAL COORDINATES ( 𝜌, 𝜙, 𝑧)

▪ A vector A in cylindrical coordinates can be


written as

where a𝜌, a𝜙, and az are unit vectors along


the 𝜌-, 𝜙 -, and z-directions.
CIRCULAR CYLINDRICAL COORDINATES ( 𝜌, 𝜙, 𝑧)

▪ Notice that the unit vectors a 𝜌 , a 𝜙 , and az are


mutually perpendicular because our coordinate
system is orthogonal; Hence,
CIRCULAR CYLINDRICAL COORDINATES ( 𝜌, 𝜙, 𝑧)

▪ The relationship between the variables (x, y, z)


of the Cartesian Coordinate System and those
of the cylindrical system ( 𝜌, 𝜙, 𝑧 ) are easily
obtained from:
CIRCULAR CYLINDRICAL COORDINATES ( 𝜌, 𝜙, 𝑧)

▪ The relationship between (Ax, A, Az) and (A𝜌, 𝐴𝜙, 𝐴𝑧) are obtained from:
CIRCULAR CYLINDRICAL COORDINATES ( 𝜌, 𝜙, 𝑧)

▪ In matrix form, the transformation of vector A from (Ax, A, Az) to (A𝜌, 𝐴𝜙, 𝐴𝑧) is

▪ The transformation of vector A from (A𝜌, 𝐴𝜙, 𝐴𝑧) to (Ax, A, Az) is obtained as
SPHERICAL COORDINATES (𝑟, 𝜃 , 𝜙)

▪ The spherical coordinate system is most appropriate when one is dealing with
problems having a degree of spherical symmetry.
▪ A point P can be represented as (𝑟, 𝜃, 𝜙).
▪ r is defined as the distance from the origin to
point P or the radius of a sphere centered at the
origin and passing through P;
▪ 𝜽 (called the colatitude) is the angle between
the z-axis and the position vector of P; and
▪ 𝝓 is measured from the x-axis (the same
azimuthal angle in cylindrical coordinates).

▪ The ranges of the variables are


SPHERICAL COORDINATES (𝑟, 𝜃 , 𝜙)

▪ A vector A in spherical coordinates may be written as

where a𝑟, a𝜃 , and a𝜙 are unit vectors along the


𝜌-, 𝜙 -, and z-directions.
SPHERICAL COORDINATES (𝑟, 𝜃 , 𝜙)

▪ Notice that the unit vectors a 𝑟 , a 𝜃 , and a 𝜙 are


mutually perpendicular; Hence,
SPHERICAL COORDINATES (𝑟, 𝜃 , 𝜙)

▪ The space variables (x, y, z) in Cartesian


Coordinates can be related to variables
(𝑟, 𝜃, 𝜙) of a spherical coordinate system.
SPHERICAL COORDINATES (𝑟, 𝜃 , 𝜙)

▪ The components of vector A = (Ax, A, Az) and A = (A𝑟, 𝐴𝜃, 𝐴𝜙) are related by:
SPHERICAL COORDINATES (𝑟, 𝜃 , 𝜙)

▪ In matrix form, the transformation of vector A from (Ax, A, Az) to (A𝑟, 𝐴𝜃, 𝐴𝜙) is

▪ The transformation of vector A from (A𝑟, 𝐴𝜃, 𝐴𝜙) to (Ax, A, Az) is obtained as
RELATIONSHIP BETWEEN RECTANGULAR, CYLINDRICAL AND SPHERICAL COOR DINATES
RELATIONSHIP BETWEEN RECTANGULAR, CYLINDRICAL AND SPHERICAL COOR DINATES
Example 1:
Example 1:
Example 1:
Example 1:
Example 1:
Example 2:
Example 2:
Example 2:
Example 2:
Example 2:
Example 2:
Example 2:
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.
Example 3:
Example 3:
Example 3:

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