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^
r
Transforms ^
"
The forward and reverse coordinate transformations are ! r ^
!
r= x2 + y2 + z 2 r
x = r sin ! cos"
y
! = arctan "# x 2 + y 2 , z$% y = r sin! sin"
z = r cos !
& = arctan ( y, x ) x "
Unit Vectors
The unit vectors in the spherical coordinate system are functions of position. It is convenient to express them in terms of
the spherical coordinates and the unit vectors of the rectangular coordinate system which are not themselves functions of
position.
!
r = r = xx + yy + zz = x sin! cos " + y sin! sin " + z cos!
r r
z #
r
" = = $ x sin " + y cos "
sin!
! = " # r = x cos ! cos" + y cos! sin " $ z sin!
! !
a = v = rr + r r + !r! + !r! + !r! + "r" sin! + "r" sin! + "r"sin ! + "r"! cos !
( ) ( )
= !! + "" sin ! r + rr + # r ! + "" cos! r! + !r! + !r!
[( )]
+ # r sin! + ! cos! " r"sin ! + "r" sin ! + "r"sin ! + "r"! cos !
!
( ) ( ) (
r ! r"" 2 ! r#" 2 sin 2 " + " r""" + 2 r""" ! r#" 2 sin " cos " + # r#"" sin " + 2r""#" cos " + 2 r"#" sin "
a = r "" )
The del operator from the definition of the gradient
Any (static) scalar field u may be considered to be a function of the spherical coordinates r, , and . The value of u
!
changes by an infinitesimal amount du when the point of observation is changed by dr . That change may be determined
from the partial derivatives as
!u !u !u
du = dr + d" + d# .
!r !" !#
But we also define the gradient in such a way as to obtain the result
! !
du = !u " dr
Therefore,
!u !u !u ! !
dr + d" + d# = $u % dr
!r !" !#
or, in spherical coordinates,
!u !u !u ! ! !
!r
dr +
!"
d" +
!# r "
( ) #
( )
d# = $u dr + $u rd" + $ u r sin" d# ( )
and we demand that this hold for any choice of dr, d, and d . Thus,
! "u ! 1 "u ! 1 "u
(!u ) r
=
"r
, (!u ) #
=
r "#
, (!u )$
=
r sin # "$
,
Divergence
! !
The divergence ! " A is carried out taking into account, once again, that the unit vectors themselves are functions of the
coordinates. Thus, we have
! ! & # $ # % # )
! " A = ( r + + + " Ar r + A$ $ + A% %
' #r r #$ r sin $ #% *
( )
where the derivatives must be taken before the dot product so that
! ! & # $ # % # ) !
! " A = ( r + + + "A
' #r r #$ r sin $ #% *
! ! !
# A #A
$ % # A
= r " + " + "
#r r #$ r sin$ #%
& #A #A #A% #r #$ #% )
= r " ( r r + $ $ + % + Ar + A$ + A% +
' #r #r #r #r #r #r *
$ & #A #A #A% #r #$ #% )
+ " ( r r + $ $ + % + Ar + A$ + A% +
r ' #$ #$ #$ #$ #$ #$ *
% & #A #A #A% #r #$ #% )
+ " ( r r + $ $ + % + Ar + A$ + A% +
r sin$ ' #% #% #% #% #% #% *
+
%
r sin$
& #A #A
" ( r r + $ $ +
' #% #%
#A%
#% [( )]
)
% + Ar sin$ % + A$ cos $% + A% , r sin $ + $ cos$ +
*
& #A ) & 1 #A$ Ar ) & 1 #A% Ar A$ cos$ )
= ( r + +( + + +( + + +
' #r * ' r #$ r * ' r sin$ #% r r sin $ *
& #A 2A ) & 1 #A$ A$ cos$ ) 1 #A%
=( r + r+ +( + ++
' #r r * ' r #$ r sin $ * r sin $ #%
! ! 1 # 2 1 # #A%
!" A = 2
r #r
r Ar + (
r sin$ #$
)
( A$ sin$ ) + 1
r sin $ #%
Curl
! !
The curl ! " A is also carried out taking into account that the unit vectors themselves are functions of the coordinates.
Thus, we have
! ! & # $ # % # )
! " A = ( r + +
' #r r #$ r sin $ #% *
(
+ " Arr + A$ $ + A% % )
where the derivatives must be taken before the cross product so that
! ! & # $ # % # ) !
! " A = ( r + + +" A
' #r r #$ r sin $ #% *
! ! !
# A #A
$
% # A
= r " + " + "
#r r #$ r sin $ #%
& #A #A #A% #r #$ #% )
= r " ( r r + $ $ + % + Ar + A$ + A% +
' #r #r #r #r #r #r *
$ & #A #A #A% #r #$ #% )
+ " ( r r + $ $ + % + Ar + A$ + A% +
r ' #$ #$ #$ #$ #$ #$ *
% & #A #A #A% #r #$ #% )
+ " ( r r + $ $ + % + Ar + A$ + A% +
r sin$ ' #% #% #% #% #% #% *
$ # & #u $ #u % #u )
+ " (r + + +
r #$ ' #r r #$ r sin $ #% *
% # & #u $ #u % #u )
+ " (r + + +
r sin $ #% ' #r r #$ r sin$ #% *
With the help of the partial derivatives previously obtained, we find
' # 2 u % #u % # 2 u & #u & # 2 u *
! 2 u = r " ) r 2 $ 2 + $ 2 + ,
( #r r #% r #%#r r sin % #& r sin% #&#r +