EEE 201 Engineering Mathematics

Assoc. Prof. Dr. Ertuğrul AKSOY

Cartesian and Cylindrical
Coordinate Systems

This presentation is prepared by Prof. Dr. Saffet AYASUN

 3-D CARTESIAN COORDINATE SYSTEMS

 To locate a point in space, three numbers are required.

 We represent any point in space by an ordered triple (a, b, c)
of real numbers.
 In order to represent points in space, we first choose:
 A fixed point O (the origin)
 Three directed lines through O that are perpendicular to
each other
 COORDINATE AXES
 The three lines are called the coordinate axes.
 They are labeled:
 x-axis
 y-axis
 z-axis
 Usually, we think of:
 The x- and y-axes as being horizontal
 The z-axis as being vertical
 COORDINATE AXES
 We draw the orientation of the axes as shown.
 COORDINATE AXES
 The direction of the z-axis is determined by the right-hand
rule, illustrated as follows.
 Curl the fingers of your right hand around the z-axis in the
direction of a 90° counterclockwise rotation from the
positive x-axis to the positive y-axis.
 Then, your thumb points in the positive direction of the z-
axis.
 COORDINATE PLANES
 The three coordinate axes determine the three
coordinate planes.

 The xy-plane contains

the x- and y-axes.
 The yz-plane contains
the y- and z-axes.
 The xz-plane contains
the x- and z-axes.
 3-D COORDINATE SYSTEMS
 Now, if P is any point in space, let:
 a be the (directed) distance from the yz-plane to P.
 b be the distance from the xz-plane to P.
 c be the distance from the xy-plane to P.
 We represent the point P by the ordered triple of real
numbers (a, b, c).
 We call a, b, and c the coordinates of P.
 a is the x-coordinate.
 b is the y-coordinate.
 c is the z-coordinate.
 3-D COORDINATE SYSTEMS
 Thus, to locate the point (a, b, c), we can start at the
origin O and proceed as follows:
 First, move a units along the x-axis.
 Then, move b units
parallel to the y-axis.
 Finally, move c units
parallel to the z-axis.
 3-D COORDINATE SYSTEMS
 The point P(a, b, c) determines a rectangular box.
 PROJECTIONS
 If we drop a perpendicular from P to the xy-plane, we
get a point Q with coordinates (a, b, 0).
 This is called
the projection of P
on the xy-plane.
 PROJECTIONS
 Similarly, R(0, b, c) and S(a, 0, c) are the projections of P
on the yz-plane and xz-plane, respectively.
 3-D COORDINATE SYSTEMS
 As numerical illustrations, the points (–4, 3, –5) and (3, –2, –6)
are plotted here.
 3-D COORDINATE SYSTEMS
 The Cartesian product
R}
R x R x R = {(x, y, z) | x, y, z
 is the set of all ordered triples of real numbers and is
denoted by R3.
 We have given a one-to-one correspondence between
points P in space and ordered triples (a, b, c) in R3.
 It is called a 3-D rectangular coordinate system.
 Notice that, in terms of coordinates, the first octant can
be described as the set of points whose coordinates
are all positive.
 2-D VS. 3-D ANALYTIC GEOMETRY
 In 2-D analytic geometry, the graph of an equation
involving x and y is a curve in R2.
 In 3-D analytic geometry, an equation in x, y, and z
represents a surface in R3.
EXAMPLE 1: 3-D COORDINATE SYSTEMS
 What surfaces in R3 are represented by the following
equations?
 z=3
 y=5
 The equation z = 3 represents the set {(x, y, z) | z = 3}.
 This is the set of all points in R3 whose z-coordinate is
3.
EXAMPLE 1: 3-D COORDINATE SYSTEMS
 This is the horizontal plane that is parallel to the xy-
plane and three units above it.
 EXAMPLE 1: 3-D COORDINATE SYSTEMS
 The equation y = 5 represents the set of all points in
R3 whose y-coordinate is 5.
 This is the vertical plane that is parallel to the xz-plane
and five units to the right of it.
 NOTE
 When an equation is given, we must understand from
the context whether it represents either:
 A curve in R2

 A surface in R3

In Example 1, y = 5 represents a plane in R3.

 NOTE
 However, of course, y = 5 can also represent a line in
R2 if we are dealing with two-dimensional analytic
geometry.
NOTE
 In this earlier figure, the faces of the box
are formed by:

 The three
coordinate planes
x = 0 (yz-plane),
y = 0 (xz-plane),
and z = 0 (xy-plane)

 The planes x = a,
y = b, and z = c
EXAMPLE 2: 3-D COORDINATE SYSTEMS
 Describe and sketch the surface in R3 represented by the
equation y = x
 The equation represents the set of all points in R3 whose x-
and y-coordinates are equal, that is,
{(x, x, z) | xR, zR}.
 This is a vertical plane that intersects the xy-plane in the
line y = x, z = 0.
EXAMPLE 2: 3-D COORDINATE SYSTEMS
 The portion of this plane that lies in
the first octant is sketched here.
 DISTANCE FORMULA IN THREE
DIMENSIONS
 The familiar formula for the distance between two points in
a plane is easily extended to the following 3-D formula.
 The distance |P1P2| between the points P1(x1,y1, z1) and
P2(x2, y2, z2) is:

1 2  ( x2  x1 )  ( y2  y1 )  ( z2  z1 )
2 2 2
PP
3-D COORDINATE SYSTEMS
 To see why this formula is true, we construct a rectangular
box as shown, where:

 P1 and P2 are
opposite vertices.

 The faces of the box

are parallel to the
coordinate planes.
3-D COORDINATE SYSTEMS
 If A(x2, y1, z1) and B(x2, y2, z1) are the vertices of the
box, then

 |P1A| = |x2 – x1|

 |AB| = |y2 – y1|

 |BP2| = |z2 – z1|

3-D COORDINATE SYSTEMS
 Triangles P1BP2 and P1AB are right-angled.
 So, two applications of the Pythagorean Theorem give:

 |P1P2|2 =
|P1B|2 + |BP2|2

 |P1B|2 =
|P1A|2 + |AB|2
3-D COORDINATE SYSTEMS
 Combining those equations, we get:

|P1P2|2 = |P1A|2 + |AB|2 + |BP2|2

= |x2 – x1|2 + |y2 – y1|2 + |z2 – z1|2
= (x2 – x1)2 + (y2 – y1)2 + (z2 – z1)2
3-D COORDINATE SYSTEMS
 Therefore,

1 2  ( x2  x1 )  ( y2  y1 )  ( z2  z1 )
2 2 2
PP
EXAMPLE 3: 3-D COORDINATE SYSTEMS
 The distance from the point P(2, –1, 7) to the point Q(1, –3,
5) is:

PQ  (1  2)  (3  1)  (5  7)
2 2 2

 1 4  4
3
 EXAMPLE 4: 3-D COORDINATE SYSTEMS
 Find an equation of a sphere with radius r and center C(h, k, l).
 By definition, a sphere is the set of all points P(x, y ,z) whose
distance from C is r.
 Thus, P is on the sphere if and only if |PC| = r

 Squaring both sides, we have

|PC|2 = r2
or
 (x – h)2 + (y – k)2 + (z – l)2 = r2
3-D COORDINATE SYSTEMS: EQUATION OF
A SPHERE
 The result of Example 4 is worth remembering.
 An equation of a sphere with center C(h, k, l) and radius r
is:
(x – h)2 + (y – k)2 + (z – l)2 = r2

 In particular, if the center is the origin O, then an

equation of the sphere is:

x2 + y2 + z2 = r2
EXAMPLE 5: 3-D COORDINATE SYSTEMS
 Show that x2 + y2 + z2 + 4x – 6y + 2z + 6 = 0
 is the equation of a sphere. Also, find its center and radius.
 We can rewrite the equation in the form of an equation of a
sphere if we complete squares:
(x2 + 4x + 4) + (y2 – 6y + 9) + (z2 + 2z + 1)
= –6 + 4 + 9 + 1
(x + 2)2 + (y – 3)2 + (z + 1)2 = 8
 Comparing this equation with the standard form, we see
that it is the equation of a sphere with center (–2, 3, –1)
and radius 8  2 2
EXAMPLE 6: 3-D COORDINATE SYSTEMS
 What region in R3 is represented by the following
inequalities?
 1 ≤ x2 + y2 + z2 ≤ 4 and z≤0
 The inequalities 1 ≤ x2 + y2 + z2 ≤ 4 can be rewritten as:
1  x2  y 2  z 2  2
 So, they represent the points (x, y, z) whose distance
from the origin is at least 1 and at most 2.
 However, we are also given that z ≤ 0.
 So, the points lie on or below the xy-plane
EXAMPLE 6: 3-D COORDINATE SYSTEMS
 Thus, the given inequalities represent the region that lies:

 Between (or on) the spheres

x2 + y2 + z2 = 1
and x2 + y2 + z2 = 4

 Beneath (or on)

the xy-plane
 CYLINDRICAL COORDINATES
 The circular cylindrical coordinate system is very
convenient whenever we are dealing with problems having
cylindrical symmetry.
 CYLINDRICAL COORDINATES
 The circular cylindrical coordinate system is very
convenient whenever we are dealing with problems having
cylindrical symmetry.
CYLINDRICAL COORDINATES
Representing 3D points in Cylindrical
Coordinates.

Recall polar representations in the plane

r f
Representing 3D points in Cylindrical
Coordinates

Cylindrical coordinates just adds a z-coordinate to

the polar coordinates (r,f).

r f
Representing 3D points in Cylindrical
Coordinates
(r,f,z)
r f

r f
Unit Vectors in Cylindrical Coordinates

ෝ𝝓
𝒂
ෝ𝝆
𝒂

𝑷𝟐 (𝝆, 𝝓𝟐 , 𝒛)
𝝓𝟐 y

𝝓𝟏

ෝ𝝓
𝒂

ෝ𝝆
𝒂 ෝ𝒛
𝒂
𝑷𝟏 (𝝆, 𝝓𝟏 , 𝒛) z

x
 CYLINDRICAL COORDINATES
 A vector A in cylindrical coordinates can be written as

 ar, af, and az are unit vectors in the r, f, and z-directions.

 Note that unit vectors ar, af, and az are mutually
perpendicular because our coordinate system is orthogonal.

 ar points in the direction of increasing r, af in the

direction of increasing f, and az in the positive z-
direction.
 CYLINDRICAL COORDINATES

A vector A in cylindrical coordinates can be written as

Relationship between (x, y, z) and (r, f, z)

x  r cos(f )
y  r sin(f )
zz

r 2  x2  y2
y
tan(f ) 
x
zz
 Transformation Between Unit Vectors
From (ax, ay, az) to (ar, af, az)

 
ax  ar cos(f )  af cos(  f ) a y  ar sin(f )  af sin(  f )
2 2
ax  ar cos(f )  af sin(f ) a y  ar sin(f )  af cos(f )
 Transformation Between Unit Vectors
From (ar , af , az) to (ax , ay , az)
 If we multiply ax and ay by cos(f) and sin(f), respectively
and add the up, we obtain
ax cos(f )  ar cos 2 (f )  af sin(f )cos(f ) and a y sin(f )  ar sin 2 (f )  af cos(f )sin(f ) 
ar cos 2 (f )  sin 2 (f )   ax cos(f )  a y sin(f )  ar  ax cos(f )  a y sin(f )

 If we multiply ax and ay by -sin(f) and cos(f), respectively

and add the up, we obtain

ax sin(f )  ar cos(f )sin(f )  af sin 2 (f ) and a y cos(f )  ar sin(f )cos(f )  af cos 2 (f ) 
af cos 2 (f )  sin 2 (f )   ax sin(f )  a y cos(f )  ar  ax sin(f )  a y cos(f )
 Transformation Between Unit Vectors
From (ar , af , az) to (ax , ay , az)
(Alternative Proof)
y

ax  ar  cos(f )
f r af 
ar  a y  cos(  f )  sin(f )
2
ay 
af  ax  cos(  f )   sin(f )
2
x
-af ax ar af  a y  cos(f )
 Transformation Between Unit Vectors
From (ar , af , az) to (ax , ay , az):(Alternative Proof)
 The unit vector ar may be defined in terms of ax and ay as:
ar  c1ax  c2 a y
 If we take the dot product of both sides by ax

ar  ax  c1 ax  ax  c2 a y  ax  c1  cos(f )
1 0

 If we take the dot product of both sides by ay

ar  a y  c1 ax  a y  c2 a y  a y  c2  sin(f )
0 1

 Finally
ar  c1ax  c2 ay  ax cos(f )  ay sin(f )
 Transformation Between Unit Vectors
From (ar , af , az) to (ax , ay , az):(Alternative Proof)
 We repeat the previous produce for af:
af  c3ax  c4 a y

af  ax  c3 ax  ax  c4 a y  ax  c3   sin(f )
1 0

af  a y  c3 ax  a y  c4 a y  a y  c4  cos(f )
0 1

af  c3ax  c4ay  ax sin(f )  ay cos(f )

Relationship Between Unit Vectors: Summary
Relationship Between (Ax , Ay , Az) and (Ar , Af , Az)

 Finally, substituting

into we obtain
 Transformation in Matrix
from (Ax , Ay , Az) to (Ar , Af , Az) or vice versa
 Transformation in Matrix
from (Ax , Ay , Az) to (Ar , Af , Az) or vice versa in terms
of dot product

 Ar   ar  ax ar  a y ar  az   Ax 
 A   a  a af  a y
  
af  az    Ay 
 f  f x
 Az   az  ax az  a y az  az   Az 
 Example 1
Transform the vector, A  yax  xay  zaz into cylindrical coordinates:
 Ar   cos f sin f 0   y   y cos f  x sin f 
 A     sin f cos f 0     x     y sin f  x cos f 
 f      
 Az   0 0 1   z   z 
 Ar   r sin f cos f  r cos f sin f   0 
 A     r sin 2 f  r cos 2 f     r 
 f    
 Az   z   z 
A   r af  zaz
 Example 2

 P1 (3, 4, 3) and A  2ax  3ay  4az are defined in

cartesian coordinates. Define P1 and A in cylindrical
coordinates and calculate A at point P1.
 Example 2
𝒙=𝟑 𝝆= 𝒙𝟐 + 𝒚𝟐 𝝆= 𝟑𝟐 + 𝟒𝟐 = 𝟓
𝑷𝟏 (𝟑, 𝟒, 𝟑) 𝒚=𝟒 𝝓 = tan−𝟏 𝒚/𝒙 𝝓 = tan−𝟏 𝟒/𝟑 = 𝟓𝟑, 𝟏𝟑°
𝒛=𝟑 𝒛=𝒛 𝒛=𝟑
𝑷𝑹 𝟑, 𝟒, 𝟑 = 𝑷𝑪 (𝟓, 𝟓𝟏, 𝟏𝟑°, 𝟑)
𝐴𝜌 𝑐𝑜𝑠𝜙 𝑠𝑖𝑛 𝜙 0 𝐴𝑥 𝐴𝜌 𝑐𝑜𝑠𝜙 𝑠𝑖𝑛 𝜙 0 2
𝐴𝜙 = −𝑠𝑖𝑛 𝜙 𝑐𝑜𝑠 𝜙 0 𝐴𝑦 𝐴𝜙 = −𝑠𝑖𝑛 𝜙 𝑐𝑜𝑠 𝜙 0 −3
𝐴𝑧 0 0 1 𝐴𝑧 𝐴𝑧 0 0 1 4
𝐴𝜌 = 2cos𝜙 − 3 sin𝜙
𝐴𝜙 = −2sin𝜙 − 3 cos𝜙 𝑨 = 𝐴𝜌 𝑎ො𝜌 + 𝐴𝜙 𝑎ො𝜙 + 𝐴𝑧 𝑎ො𝑧
𝐴𝑧 = 4
𝑨 = 2cos𝜙 − 3 sin𝜙 𝑎ො𝜌 + −2sin𝜙 − 3 cos𝜙 𝑎ො𝜙 + 4𝑎ො𝑧

• For 𝜌 = 5 , 𝜙 = 53,13° and 𝑧 = 3 (𝑨 at 𝑃1 )

𝑨 = −1,2𝑎ො𝜌 − 3,4𝑎ො𝜙 + 4𝑎ො𝑧