Transformation Cartesian to Cylindrical Cylindrical to Cartesian Cartesian to Spherical Coordinate Transformation Relations Coordinate Variables Unit Vectors 2 2 ˆ ˆ aρ = ax cos φ + aˆ y sin φ ρ= x +y aˆφ = − aˆ x sin φ + aˆ y cos φ Aφ = − Ax sin φ + Ay cos φ z=z aˆ z = aˆ z Az = Az x = ρ cos φ aˆ x = aˆ ρ cos φ − aˆφ sin φ Ax = Aρ cos φ − Aφ sin φ y = ρ sin φ z=z aˆ y = aˆ ρ sin φ + aˆφ cos φ Ay = Aρ sin φ + Aφ cos φ aˆ z = aˆ z aˆr = aˆ x sin θ cos φ + aˆ y sin θ sin φ + aˆ z cos θ Az = Az Ar = Ax sin θ cos φ + Ay sin θ sin φ aˆθ = aˆ x cos θ co s φ + aˆ y cos θ sin φ − aˆ z sin θ Aθ = Ax cos θ cos φ + Ay cos θ sin φ aˆφ = −aˆ x sin φ + aˆ y cos φ Aφ = − Ax sin φ + Ay cos φ aˆ x = aˆr sin θ cos φ + aˆθ cos θ cos φ − aˆφ sin φ Ax = Ar sin θ cos φ + Aθ cos θ cos φ aˆ y = aˆr sin θ sin φ Ay = Ar sin θ sin φ + Aθ cos θ sin φ φ = tan −1 ( y / x) r = x2 + y2 + z 2 θ = tan −1 ⎡ x 2 + y 2 / z ⎤ ⎣ φ = tan [ y / x ] −1 Spherical to Cartesian Vector Components Aρ = Ax cos φ + Ay sin φ x = r sin θ cos φ y = r sin θ sin φ z = r cos θ ⎦ + aˆθ cos θ sin φ + aˆφ cos φ aˆ z = aˆr cos θ − aˆθ sin θ + Az cos θ − Az sin θ − Aφ sin φ + Aφ cos φ Az = Ar cos θ − Aθ sin θ