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#+title:Spherical Coordinates
#+setupfile: ../../math_options.org
* Disclaimer
This site as of now just a technology demonstration and its claims
should not be taken as true (even though I myself am pretty confident
they are)
* Coordinate transformations
\begin{align*}
x &= r \sin\theta \cos\varphi\\
y &= r \sin\theta \sin\varphi\\
z &= r \cos\theta
\end{align*}
* Local unit vectors
\begin{align*}
\bm{\hat{e}}_r &= \sin\theta \cos\varphi \bm{\hat{e}}_x + \sin\theta \sin\varphi \bm{\hat{e}}_y + \cos\theta \bm{\hat{e}}_z\\
\bm{\hat{e}}_\theta &= \cos\theta \cos\varphi \bm{\hat{e}}_x + \cos\theta \sin\varphi \bm{\hat{e}}_y - \sin\theta \bm{\hat{e}}_z\\
\bm{\hat{e}}_\varphi &= - \sin\theta \sin\varphi \bm{\hat{e}}_x + \sin\theta \cos\varphi \bm{\hat{e}}_y
\end{align*}
* Kinematic in spherical coordinates
** Time derivatives of the local unit vectors
\begin{align*}
\deriv{\unitv{r}}{t} &= \dot{\theta}\unitv{\theta} + \dot{\varphi}\sin\theta \unitv{\varphi}\\
\deriv{\unitv{\theta}}{t} &= -\dot{\theta}\unitv{r} + \dot{\varphi}\cos\theta \unitv{\varphi}\\
\deriv{\unitv{\varphi}}{t} &= -\dot{\varphi} \left(\sin\theta\unitv{r} + \cos\theta\unitv{\theta}\right)
\end{align*}
** Position vector and its time derivatives
\begin{align*}
\bm{r} &= r\unitv{r}\\
\bm{v} &= \dot{r}\unitv{r} + r\dot\theta\unitv{\theta} + r\dot\varphi\sin\theta\unitv{\varphi}\\
\bm{a} &= \left(\ddot{r} - r\dot\theta^2 - r\dot\varphi^2\sin^2\theta\right)\unitv{r}
+ \left(2\dot{r}\dot\theta + r\ddot\theta - r\dot\varphi^2\sin\theta\cos\theta\right)\unitv{\theta}
+ \left(2\dot{r}\dot\varphi\sin\theta + 2r\dot\theta\dot\varphi\cos\theta + r\ddot\varphi\sin\theta\right)\unitv{\varphi}
\end{align*}
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