Appendices A Vector AnalysisAppen
A.1 Coordinate Transformations
The major three coordinate systems to be considered are: rectangular (x,y,z), cylindrical (ρ,φ,z), and spherical (r,θ,φ), and they are shown in Fig. A.1.
figure A.1 Rectangular, cylindrical, and spherical coordinates.
A.1 
The corresponding unit vectors in the three coordinate systems are provided in the following tables:
Rectangular to cylindrical
 |
 |
 |
|
 |
cosφ | sinφ | 0 |
 |
-sinφ | cosφ | 0 |
 |
0 | 0 | 1 |
Rectangular to spherical
 |
||
| sinθcosφ | sinθsinφ | cos θ |
| cosθcosφ | cosθsinφ | |
| cosφ | 0 |
Cylindrical to spherical
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