COORDINATE TRANSFORMATION

POSITION TRANSFORMATION (POINT)

VECTOR TRANSFORMATION
CYLINDRICAL-CARTESIAN

r x y2 2

  tan 
1 y
x

x  r cos 
y  r sin 
Transform A (in cylindrical coord)
Into cartesian if A (10, 30, 4)

Ans :
x =  cos  = 10 cos 30 = 5 3
y =  sin  = 10 sin 30 = 5
A (10, 30, 4)  A (5 3, 5, 4)
Express a point (5, 12, -7) into cylindrical
coordinate

Jawab :
 = x2 + y2 = 52 + 12 2 = 13
y 12
 = tan -1 = tan -1 = 67,38o
x 5
z = -7
Jadi titik (5, 12, -7) dalam silinder (13, 67,38, -7)
SPHERICAL -CARTESIAN
R  x2  y2  z 2

  tan 
1 x2  y2 
 z 
  tan x
1 y

 Transform B (spherical) into Cartesian if
B (8, 30, 60)

Ans :
x = r sin  cos  = 8 sin 30 cos 60 = 2
y = r sin  sin  = 8 sin 30 sin 60 = 2 3
z = r cos  = 8 cos 60 = 4
B (8, 30, 60)  B (2, 2 3, 4)
 Express a point in spherical coordinate (8, 120o, 3300)
into cylindrical and Cartesian coordinates
a. Cartesian
x = r sin  cos  = 8 sin 120 cos 330 = 6
y = r sin  sin  = 8 sin 120 sin 330 = -2 3
z = r cos  = 8 cos 120 = -4
Thus the position of the point (6, -2 3, -4)

b. Cylindrical
 = r sin  = 8 sin 120 = 43
= = 330
z = r cos  = -4
Thus the position of the point (43, 330, -4)
 Exercise 1

Point P(2 2 ,  / 3,2) is given in cylindrica l coordinate .

Express P in spherical coordinate

Ans : P(4, 2/3, /3)

VECTOR TRANSFORMATION FROM
CARTESIAN INTO CYLINDRICAL COORDINATE
Suatu vektor A = A x a x + A y a y + A z a z akan di transformasikan

ke dalam koordinat silinder menjadi A = A  a  + A  a  + A z a z

A = A. a =  A a + A a + A a  . a = A x a x . a + A y a y . a
   x x y y z z   

A = A. a =  A a + A a + A a  . a = A x a x . a + A y a y . a
   x x y y z z   

ax a  =   a x . a  = cos 
sudut antara dan
ay
dan
a =  90 -    a y . a  = cos  90 -   = sin 

ax
sudut antara dan a  = 90 +   a x . a  = - sin 
ay a  =   a y . a  = cos 
dan
Cartesian and Cylindrical

 a x .a  cos 
a y .a  cos(90   )  sin 

a z .a z  1
a x .a  cos(  90)   sin 
a y .a  cos 
Table of dot products between 2 unit
vectors in Cartesian and cylindrical
coordinate systems
a a az


a  cos  - sin  0
x
a 
y
sin  cos  0

a  0 0 1
z
 Vector Transformation from
Cartesian into cylindrical coordinate
 = 0 
A = A . a = A x a x . a + A y a y . a + A z a z . a = A x cos  + A y sin  + 0

  0 
A = A . a  = A x a x . a  + A y a y . a  + A z a z . a  = A x sin  + A y cos  + 0

 1 
Az = A . az = A x ax . az + A yay . az + A zaz . az = 0 + 0 + A z
 Transformation matrix from
Cartesian into Cylindrical

 A   cos  sin  0  A x 
     
     
 A  =  - sin  cos  0   Ay 
     
     
   1   
 Az   0 0  z
A
Transformation matrix from cylindrical
into Cartesian
A x   cos  sin  0 
-1
 A 
     
     
 A y  =  - sin  cos  0   A 
     
     
   1   
 z
A  0 0  Az 

 cos  - sin  0   A 
   
   
=  sin  cos  0   A 
   
   
 0 1   
 0  Az 
Nyatakan dalam koordinat silinder untuk W =  x - y  a y

 W   cos  sin  0   0 
     
     
 W  =  - sin  cos  0  x - y
      
     
     0 
 Wz   0 0 1   

  x - y  sin  
 
 
=  x  y  cos  
 
 
 
 0 

W = x - y  sin  a  + x - y  cos  a 


   cos  - sin   sin  a  + cos  a  
Nyatakan F =  cos  a  dalam koordinat cartesian

 F   cos  - sin  0    cos  

     
     
F  =  sin  cos  0   0 
      
     
   1   0 
 Fz   0 0  

  cos 2  
 
 
=   sin  cos  
 
 
 0 
 

F =  cos 2  a x +  sin  cos  a y

 x cos  a x + y cos  a y

=
2
x
2
x a x + y ay 
x + y
Diketahui B = x a x + y a y
a. Tentukan B pada koordinat silinder
b. Tentukan B di titik x = 3, y = 4

Jawab :
 B   cos  sin  0   Bx 
     
     
 B  =  - sin  cos  0  B 
      y 
a.
     
     
 Bz   0 0 1   Bz 
 cos  sin  0   x
   
   
=  - sin  cos  0   
   
   
 0   y
 0 1   


B  = x cos  + y sin  =  cos 2  + sin 2   = 

B  = - x sin  + y cos  = -  sin  cos  +  sin  cos  = 0

Bz = 0

Jadi B =  a

b. Titik x = 3, y = 4   = 5

B = 5 a
 VECTOR TRANSFORMATION FROM
CARTESIAN INTO SPHERICAL COORDINATE

Suatu vektor pada sistem koordinat cartesian

A = A x ax + A y ay + A z az

Pada koordinat bola

A = A . a = A x ax . a + A yay . a + A zaz . a
r r r r r

A = A. a = A x ax . a + A yay . a + A zaz . a
    

A = A. a = A x ax . a + A yay . a + A zaz . a
    
 Transformation matrix
 Ar   ax . ar ay . ar a z . a r  A x 
     
     
 A  = a . a a y . a a z . a   A y 
   x    
     
A     
   a x . a  ay . a a z . a    A z 

dengan cara yang sama

 a . a a . a x   A 
A x   r x a . a x
  r 
    
  
   
A  =  a . a a . a y a . a y   A 
 y 
r y
 
  
   
   a . a
 Az   r z a . a z a  . a z   A  

aR .az  cos 

a x .a  cos(90   )   sin 

a y .a  cos 

a z .a  0
 y
 90 - 

R sin 

a x . a r = sin  cos 
a y .a r = sin  . sin 
a z .a  0

x
 z

az ar


r 
a

 90 - 
90 -  r sin 
 r sin 

x
a . a x = cos  . cos 

a  . a y = cos  cos 90  -  = cos  sin  

a  . a z = cos 90  +  = - sin  
 T.M. from Cartesian into spherical
 Ar   sin  cos  sin  sin  cos    Ax 
 A   cos  cos  cos  sin   sin    Ay 
  
 A    sin  cos  0   Az 

T. M. from spherical into Cartesian

 Ax  sin  cos  cos  cos   sin    Ar 

 A    sin  sin    
 y  cos  sin  cos    A 
 Az   cos   sin  0   A 
 37. A = 3 a r + 4 a  + 5 a  di titik P (x = 4, y = 7, z = 11).
Tentukan vektor A di titik P dalam komponen cartesian

A x   sin  cos  cos  cos  - sin  A r 

     
     
 A y  =  sin  sin  cos  sin  cos   A 
     
     
   cos  - sin  0  A 
A  z
A   
r  x 2 + y 2 + z 2 = 13,64

z  11 
  cos-1 = cos-1   = 36,25
o

x 2 + y 2 + z2  13,64 

x 7
 = tan -1 = tan -1 = 60,26o
y 4
A x   0,29 0,4 - 0,87  3
     
     
 A  =  0,51 0,7 0,5  4
 y    
     
   0,81 0  5 
A z   - 0,59  

A x   - 1,88
   
   
 A  =  6,83 
 y  
   
   0,07 
A z   

A = - 1,88 a x + 6,83 a y + 0,07 a z

Jadi A di titik P adalah
 Exercise 2
Given P(3,-4,3) and a vector A  2 a x  3a y  4a z
in Cartesian. Express P and A in cylindrica l coordinate
and evaluate A at P.

Ans :
P(5, 306.9o ,3)
A  (2 cos   3 sin  )a  (2 sin   3 cos  )a  4a z
A P  3.6a   0.2a  4a z
 Exercise 3
Express a vector A  (x  y)a x  ( y  x)a y  za z
in : a. Cylindrica l coordinate
b. Spherical coordinate

Ans :
a. a   a  za z
b. ra r  r sin a
Thank you !!