EN COORDENADAS CILINDRICAS

Hallando la posición:

𝑅⃗ = 𝑥𝑖̂ + 𝑦𝑗̂ + 𝑧𝑘̂

𝑅⃗ = 𝑟𝑐𝑜𝑠𝜃𝑖̂ + 𝑟𝑠𝑒𝑛𝜃𝑗̂ + 𝑧𝑒̂𝑧 … (1)

Se sabe:

𝑒̂𝑟 = 𝑐𝑜𝑠𝜃𝑖̂ + 𝑠𝑒𝑛𝜃𝑗̂ … (2)

𝑒̂𝜃 = −𝑠𝑒𝑛𝜃𝑖̂ + 𝑐𝑜𝑠𝜃𝑗̂ … (3)
Reemplazando (2) en (1):

𝑅⃗ = 𝑟𝑒̂𝑟 + 𝑧𝑒̂𝑧 … (4)

 Hallando la velocidad:
𝑑𝑅⃗
⃗ =
𝑉
𝑑𝑡
⃗𝑉 = 𝑟̇ 𝑒̂𝑟 + 𝑟𝑒̂̇𝑟 + 𝑧̇ 𝑒̂𝑧 + 𝑧𝑒̂̇𝑧
⃗ = 𝑟̇ 𝑒̂𝑟 + 𝑟𝑒̂̇𝑟 + 𝑧̇ 𝑒̂𝑧 … (5)
𝑉
Si se sabe:
𝑒̂̇𝑟 = 𝜃̇ 𝑒̂𝜃 … (6)
𝑒̂̇𝜃 = −𝜃̇ 𝑒̂𝑟 … (7)
Remplazando (6) en (5):

⃗ = 𝑟̇ 𝑒̂𝑟 + 𝑟𝜃̇ 𝑒̂𝜃 + 𝑧̇ 𝑒̂𝑧 … (8)

𝑉

𝑉𝑟 = 𝑟̇
𝑉0 = 𝑟̇ 𝜃̇ … (9)
𝑉𝑧 = 𝑧̇
 Hallando la aceleración:

𝑑𝑣
𝑎=
𝑑𝑡
𝑎 = 𝑟̈ 𝑒̇̂𝑟 + 𝑟̇ 𝑒̇̂𝑟 + (𝑟̇ 𝜃̇ + 𝑟𝜃̈ )𝑒̂𝜃 + 𝑟𝜃̇ 𝑒̂𝜃 + 𝑧𝑒̂̇𝑧

𝑎 = 𝑟̈ 𝑒̇̂𝑟 + 𝑟̇ 𝑒̇̂𝑟 + (𝑟̇ 𝜃̇ + 𝑟𝜃̈ )𝑒̂𝜃 + 𝑟𝜃̇ 𝑒̂𝜃 … (10)

Remplazando (6) y (7) en (10):

𝑎 = 𝑟̈ 𝑒̂𝑟 + 𝑟̇ 𝜃̇ 𝑒̂𝜃 + (𝑟̇ 𝜃̇ + 𝑟𝜃̈ )𝑒̂𝜃 + 𝑟𝜃̇ (−𝜃̇𝑒̂𝑟 ) + 𝑧̈ 𝑒̂𝑧

𝑎 = (𝑟̈ − 𝑟𝜃̇ 2 )𝑒̂𝑟 + (2𝑟̇ 𝜃̇ + 𝑟𝜃̈ )𝑒̂𝜃 + 𝑧̈ 𝑒̂𝑧

 EN COORDENADAS ESFERICAS:

 Esféricas a Rectangulares

𝒙 = 𝝆𝒔𝒆𝒏∮ 𝒄𝒐𝒔𝜽

𝒚 = 𝝆𝒔𝒆𝒏∮ 𝒔𝒆𝒏𝜽

𝒛 = 𝝆𝒄𝒐𝒔∮
 De rectangular a esférica

𝝆 = √𝒙𝟐 + 𝒚𝟐 + 𝒛𝟐
𝒚
𝜽 = 𝐭𝐚𝐧−𝟏 ( )
𝒙
𝒛
∮ = 𝐜𝐨𝐬 −𝟏 ( )
√𝒙𝟐 + 𝒚𝟐 + 𝒛𝟐

 Hallando el vector posición:

𝜌 = 𝑥𝑖̂ + 𝑦𝑗̂ + 𝑧𝑘̂

𝜌 = 𝑹𝒔𝒆𝒏∮ 𝒄𝒐𝒔𝜽𝑖̂ + 𝑹𝒔𝒆𝒏∮ 𝒔𝒆𝒏𝜽𝑗̂ + 𝑹𝒄𝒐𝒔∮ 𝑘̂… (1)

 Hallando los vectores unitarios: 𝑒̂𝑅 , 𝑒̂𝜃 , 𝑒̂ ∮

𝜕𝜌
𝜕𝑅 𝒔𝒆𝒏∮ 𝒄𝒐𝒔𝜽𝑖̂ + 𝒔𝒆𝒏∮ 𝒔𝒆𝒏𝜽𝑗̂ + 𝒄𝒐𝒔∮ 𝑘̂
𝑒̂𝑅 = =
𝜕𝜌 2 2 2 2 2
|𝜕𝑅| √𝑠𝑒𝑛 ∮ 𝑐𝑜𝑠 𝜽 + 𝑠𝑒𝑛 ∮ 𝑠𝑒𝑛 𝜽 + 𝑐𝑜𝑠 ∮

𝒔𝒆𝒏∮ 𝒄𝒐𝒔𝜽𝑖̂ + 𝒔𝒆𝒏∮ 𝒔𝒆𝒏𝜽𝑗̂ + 𝒄𝒐𝒔∮ 𝑘̂

=
√𝑠𝑒𝑛2 ∮ 𝑐𝑜𝑠 2 𝜽 + 𝑠𝑒𝑛2 𝜽 + 𝑐𝑜𝑠 2 ∮
 ̂… (2)
𝒆̂𝑹 = 𝒔𝒆𝒏∮ 𝒄𝒐𝒔𝜽𝒊̂ + 𝒔𝒆𝒏∮ 𝒔𝒆𝒏𝜽𝒋̂ + 𝒄𝒐𝒔∮ 𝒌

𝜕𝜌
𝜕𝜽 −𝑹𝒔𝒆𝒏∮ 𝒔𝒆𝒏𝜽𝑖̂ + 𝑹𝒔𝒆𝒏∮ 𝒄𝒐𝒔𝜽𝑗̂ + 𝟎
𝑒̂𝜽 = =
𝜕𝜌 √𝑅 2 𝑠𝑒𝑛2 ∮ 𝑠𝑒𝑛2 𝜽 + 𝑅 2 𝑠𝑒𝑛2 ∮ 𝑐𝑜𝑠 2 𝜽
|𝜕𝜽|

−𝑹𝒔𝒆𝒏∮ 𝒔𝒆𝒏𝜽𝑖̂ + 𝑹𝒔𝒆𝒏∮ 𝒄𝒐𝒔𝜽𝑗̂

=
√𝑅 2 𝑠𝑒𝑛2 ∮ (𝑠𝑒𝑛2 𝜽 + 𝑐𝑜𝑠 2 𝜽)

−𝑹𝒔𝒆𝒏∮ 𝒔𝒆𝒏𝜽𝑖̂ + 𝑹𝒔𝒆𝒏∮ 𝒄𝒐𝒔𝜽𝑗̂

=
𝑹𝒔𝒆𝒏∮
𝒆̂∮ = −𝒔𝒆𝒏𝜽𝒊̂ + 𝒄𝒐𝒔𝜽𝒋̂… (3)

𝜕𝜌
𝜕∮ +𝑹𝒄𝒐𝒔∮ 𝒄𝒐𝒔𝜽𝑖̂ + 𝑹𝒄𝒐𝒔∮ 𝒔𝒆𝒏𝜽𝑗̂ − 𝑅𝒔𝒆𝒏∮ 𝑘̂
𝑒̂𝜽 = =
𝜕𝜌 2 2 2 2 2 2 2 2
| | √𝑅 𝑐𝑜𝑠 ∮ 𝑐𝑜𝑠 𝜽 + 𝑅 𝑐𝑜𝑠 ∮ 𝑠𝑒𝑛 𝜽 + 𝑅 𝑠𝑒𝑛 ∮
𝜕∮

𝑹𝒄𝒐𝒔∮ 𝒄𝒐𝒔𝜽𝑖̂ + 𝑹𝒄𝒐𝒔∮ 𝒔𝒆𝒏𝜽𝑗̂ − 𝑅𝒔𝒆𝒏∮ 𝑘̂

√𝑅 2 𝑐𝑜𝑠 2 ∮ (𝑐𝑜𝑠 2 𝜽 + 𝑠𝑒𝑛2 𝜽) + 𝑅 2 𝑠𝑒𝑛2 ∮

𝑹𝒄𝒐𝒔∮ 𝒄𝒐𝒔𝜽𝑖̂ + 𝑹𝒄𝒐𝒔∮ 𝒔𝒆𝒏𝜽𝑗̂ − 𝑅𝒔𝒆𝒏∮ 𝑘̂

𝑅
𝑒̂𝜽 = 𝒄𝒐𝒔∮ 𝒄𝒐𝒔𝜽𝑖̂ + 𝒄𝒐𝒔∮ 𝒔𝒆𝒏𝜽𝑗̂ − 𝒔𝒆𝒏∮ 𝑘̂ … (4)

𝑒̂̇𝑅 = (−𝒔𝒆𝒏∮ 𝒔𝒆𝒏𝜽 + 𝒔𝒆𝒏∮ 𝒄𝒐𝒔𝜽)𝜃̇ + ( 𝒄𝒐𝒔∮ 𝒄𝒐𝒔𝜽 + 𝒄𝒐𝒔∮ 𝒔𝒆𝒏𝜽 − 𝒔𝒆𝒏∮ )∮̇

𝑒̂̇𝑅 = 𝑒̂𝜃 𝒔𝒆𝒏∮ 𝜃̇ + 𝑒̂ ∮ ∮ ̇ )

𝑒̂̇𝜽 = (−𝑐𝒐𝒔𝜽 + 𝒔𝒆𝒏𝜽) 𝜃̇

𝑒̂̇ ∮ = ( −𝒄𝒐𝒔∮ 𝒔𝒆𝒏𝜽 + 𝒄𝒐𝒔∮ 𝒄𝒐𝒔𝜽)𝜃̇ (−𝒔𝒆𝒏∮ 𝒄𝒐𝒔𝜽 − 𝒔𝒆𝒏∮ 𝒔𝒆𝒏𝜽 − 𝒄𝒐𝒔∮ )∮̇

𝑒̂̇ ∮ = 𝑒̂̇𝜽 𝒔𝒆𝒏∮ 𝜃̇ − 𝑒̂𝑅 ∮̇

HALLANDO LA VELOCIDAD:

⃗ = 𝑅̇ 𝑒̂𝑟 + 𝑅 [(−𝒔𝒆𝒏∮ 𝒔𝒆𝒏𝜽 + 𝒔𝒆𝒏∮ 𝒄𝒐𝒔𝜽 + 0)𝜃̇ + (𝒄𝒐𝒔∮ 𝒄𝒐𝒔𝜽 + 𝒄𝒐𝒔∮ 𝒔𝒆𝒏𝜽 − 𝒔𝒆𝒏∮ )∮̇ ]
𝑉

⃗ = 𝑅̇ 𝑒̂𝑟 + 𝑅 [(𝑒̂𝜃 𝒔𝒆𝒏∮ 𝜃̇) + (𝑒̂ ∮ ∮ ̇ )]

𝑉

⃗ = 𝑅̇ 𝑒̂𝑟 + 𝑅𝑒̂ ∮ + ∮̇ + 𝑅𝑒̂𝜽 𝒔𝒆𝒏∮ 𝜃̇

𝑉
HALLANDO LA ACELERACION
𝑑𝑣
𝑎=
𝑑𝑡

𝑎 = (𝑅̈ 𝑒̂𝑟 + 𝑅̇ 𝑒̂̇𝑟 ) + [(𝑅∮̇ )′ 𝑒̂ ∮ + (𝑅∮̇ )𝑒̂̇ ∮ ] + [(𝑅∮̇ )′ 𝑠𝑒𝑛∮ 𝑒̂𝜽 + 𝑟𝜃̇ (𝑠𝑒𝑛∮ 𝑒̂𝜽 )′ ]

𝑎 = 𝑅̈ 𝑒̂𝑟 + 𝑟 ̇(𝜃̇ 𝑒̂𝜽 + 𝜃̇ 𝑠𝑒𝑛∮ 𝑒̂𝜽 ) + [(𝑟̇ 𝜃̇ + 𝑟̇ 𝜃̈ )𝑒̂𝜽 + 𝑟∮̇ (𝜃̇ 𝑐𝑜𝑠∮ 𝑒̂𝜽 − 𝜃̇ 𝑒̂𝑟 ) + (𝑟̇ 𝜃̇ + 𝑟̇ 𝜃̈ ) 𝑠𝑒𝑛∮ 𝑒̂𝜽
+ 𝑟̇ 𝜃̇ (∮̇ 𝑐𝑜𝑠∮ 𝑒̂𝜽 + 𝑠𝑒𝑛∮ 𝑒̂𝜽 (−𝑠𝑒𝑛∮ 𝑒̂𝒓 − 𝑐𝑜𝑠∮ 𝑒̂ ∮ ))]

̇
𝑎 = 𝑅̈ 𝑒̂𝑟 + 𝑅̇ ∮̇ 𝑒̂̇𝜃 + 𝑅𝜃̇ ̇ 𝑠𝑒𝑛∮ 𝑒̂𝜽 + 𝑟̇ 𝜃̇ 𝑒̂ ∮ + 𝑟𝜃̈ 𝑒̂ ∮ + 𝑟∮̇ 𝜃𝑐𝑜𝑠∮
̇ 𝑒̂ − 𝑟 𝜃̇ 2 𝑒̂ + 𝑟̇ 𝜃̇ 𝑠𝑒𝑛∮ 𝑒̂
𝜽 𝑟 𝜽
̇
+ 𝑟𝜃̈ 𝑠𝑒𝑛∮ 𝑒̂ + 𝑟∮ 𝜃̇𝑐𝑜𝑠∮ 𝑒̂ − 𝑟 𝜃̇ 𝑠𝑒𝑛 ∮ 𝑒̂ − 𝑟 𝜃̇ 𝑠𝑒𝑛 ∮ 𝑒̂
2 2 2 2
𝜽 𝜽 𝒓 ∮

2
𝑎 = (𝑟̈ − 𝑟 ∮̇ − 𝑟 𝜃̇ 2 𝑠𝑒𝑛2 ∮ )𝑒̂𝑟 + (2𝑟̇ ∮̇ + 𝑟∮̈ − 𝑟 𝜃̇ 2 𝑠𝑒𝑛∮ 𝑐𝑜𝑠∮ )𝑒̂ ∮ + (2𝑟̇ 𝜽̇𝑠𝑒𝑛∮ + 2𝑟𝜃̇ ∮̇ 𝑐𝑜𝑠∮
+ 𝑟𝜃̈ 𝑠𝑒𝑛∮ )𝑒̂𝜽

2
= {𝑎𝑟 = 𝑟̈ − 𝑟∮̇ 𝑟𝜃̇ 2 𝑠𝑒𝑛2 ∮ }

= {𝑎∮ = 𝑟̈ 𝜃 + 2𝑟̇ ∮̇ − 𝑟𝜽̇2 𝑠𝑒𝑛∮ 𝑐𝑜𝑠∮ }

= {𝑎𝜽 = 𝑟𝜃̈ 𝑠𝑒𝑛∮ + 2𝑟̇ 𝜽̇𝑠𝑒𝑛∮ + 2𝑟𝜃̇ ∮̇ 𝑐𝑜𝑠∮ }