Spherical coordinate systemIn mathematics, a spherical coordinate system is a coordinate system for three-dimensional space where the position of a point is specified by three numbers: the radial distance of that point from a fixed origin; its polar angle measured from a fixed polar axis or zenith direction; and the azimuthal angle of its orthogonal projection on a reference plane that passes through the origin and is orthogonal to the fixed axis, measured from another fixed reference direction on that plane.
Del in cylindrical and spherical coordinatesThis is a list of some vector calculus formulae for working with common curvilinear coordinate systems. This article uses the standard notation ISO 80000-2, which supersedes ISO 31-11, for spherical coordinates (other sources may reverse the definitions of θ and φ): The polar angle is denoted by : it is the angle between the z-axis and the radial vector connecting the origin to the point in question. The azimuthal angle is denoted by : it is the angle between the x-axis and the projection of the radial vector onto the xy-plane.
Coordinate systemIn geometry, a coordinate system is a system that uses one or more numbers, or coordinates, to uniquely determine the position of the points or other geometric elements on a manifold such as Euclidean space. The order of the coordinates is significant, and they are sometimes identified by their position in an ordered tuple and sometimes by a letter, as in "the x-coordinate". The coordinates are taken to be real numbers in elementary mathematics, but may be complex numbers or elements of a more abstract system such as a commutative ring.
Spherical capIn geometry, a spherical cap or spherical dome is a portion of a sphere or of a ball cut off by a plane. It is also a spherical segment of one base, i.e., bounded by a single plane. If the plane passes through the center of the sphere (forming a great circle), so that the height of the cap is equal to the radius of the sphere, the spherical cap is called a hemisphere.
Rotation formalisms in three dimensionsIn geometry, various formalisms exist to express a rotation in three dimensions as a mathematical transformation. In physics, this concept is applied to classical mechanics where rotational (or angular) kinematics is the science of quantitative description of a purely rotational motion. The orientation of an object at a given instant is described with the same tools, as it is defined as an imaginary rotation from a reference placement in space, rather than an actually observed rotation from a previous placement in space.
Polar coordinate systemIn mathematics, the polar coordinate system is a two-dimensional coordinate system in which each point on a plane is determined by a distance from a reference point and an angle from a reference direction. The reference point (analogous to the origin of a Cartesian coordinate system) is called the pole, and the ray from the pole in the reference direction is the polar axis. The distance from the pole is called the radial coordinate, radial distance or simply radius, and the angle is called the angular coordinate, polar angle, or azimuth.
Cylindrical coordinate systemA cylindrical coordinate system is a three-dimensional coordinate system that specifies point positions by the distance from a chosen reference axis (axis L in the image opposite), the direction from the axis relative to a chosen reference direction (axis A), and the distance from a chosen reference plane perpendicular to the axis (plane containing the purple section). The latter distance is given as a positive or negative number depending on which side of the reference plane faces the point.
Curvilinear coordinatesIn geometry, curvilinear coordinates are a coordinate system for Euclidean space in which the coordinate lines may be curved. These coordinates may be derived from a set of Cartesian coordinates by using a transformation that is locally invertible (a one-to-one map) at each point. This means that one can convert a point given in a Cartesian coordinate system to its curvilinear coordinates and back. The name curvilinear coordinates, coined by the French mathematician Lamé, derives from the fact that the coordinate surfaces of the curvilinear systems are curved.
Generalized coordinatesIn analytical mechanics, generalized coordinates are a set of parameters used to represent the state of a system in a configuration space. These parameters must uniquely define the configuration of the system relative to a reference state. The generalized velocities are the time derivatives of the generalized coordinates of the system. The adjective "generalized" distinguishes these parameters from the traditional use of the term "coordinate" to refer to Cartesian coordinates.
SphereA sphere () is a geometrical object that is a three-dimensional analogue to a two-dimensional circle. Formally, a sphere is the set of points that are all at the same distance r from a given point in three-dimensional space. That given point is the centre of the sphere, and r is the sphere's radius. The earliest known mentions of spheres appear in the work of the ancient Greek mathematicians. The sphere is a fundamental object in many fields of mathematics. Spheres and nearly-spherical shapes also appear in nature and industry.
Spherical segmentIn geometry, a spherical segment is the solid defined by cutting a sphere or a ball with a pair of parallel planes. It can be thought of as a spherical cap with the top truncated, and so it corresponds to a spherical frustum. The surface of the spherical segment (excluding the bases) is called spherical zone. If the radius of the sphere is called R, the radii of the spherical segment bases are r_1 and r_2, and the height of the segment (the distance from one parallel plane to the other) called h, then the
Rotation around a fixed axisRotation around a fixed axis or axial rotation is a special case of rotational motion around a axis of rotation fixed, stationary, or static in three-dimensional space. This type of motion excludes the possibility of the instantaneous axis of rotation changing its orientation and cannot describe such phenomena as wobbling or precession. According to Euler's rotation theorem, simultaneous rotation along a number of stationary axes at the same time is impossible; if two rotations are forced at the same time, a new axis of rotation will result.
RotationRotation or rotational motion is the circular movement of an object around a central line, known as axis of rotation. A plane figure can rotate in either a clockwise or counterclockwise sense around a perpendicular axis intersecting anywhere inside or outside the figure at a center of rotation. A solid figure has an infinite number of possible axes and angles of rotation, including chaotic rotation (between arbitrary orientations), in contrast to rotation around a axis.
Transformation matrixIn linear algebra, linear transformations can be represented by matrices. If is a linear transformation mapping to and is a column vector with entries, then for some matrix , called the transformation matrix of . Note that has rows and columns, whereas the transformation is from to . There are alternative expressions of transformation matrices involving row vectors that are preferred by some authors. Matrices allow arbitrary linear transformations to be displayed in a consistent format, suitable for computation.
Spherical trigonometrySpherical trigonometry is the branch of spherical geometry that deals with the metrical relationships between the sides and angles of spherical triangles, traditionally expressed using trigonometric functions. On the sphere, geodesics are great circles. Spherical trigonometry is of great importance for calculations in astronomy, geodesy, and navigation. The origins of spherical trigonometry in Greek mathematics and the major developments in Islamic mathematics are discussed fully in History of trigonometry and Mathematics in medieval Islam.
Transformation (function)In mathematics, a transformation is a function f, usually with some geometrical underpinning, that maps a set X to itself, i.e. f: X → X. Examples include linear transformations of vector spaces and geometric transformations, which include projective transformations, affine transformations, and specific affine transformations, such as rotations, reflections and translations.
Rotation (mathematics)Rotation in mathematics is a concept originating in geometry. Any rotation is a motion of a certain space that preserves at least one point. It can describe, for example, the motion of a rigid body around a fixed point. Rotation can have a sign (as in the sign of an angle): a clockwise rotation is a negative magnitude so a counterclockwise turn has a positive magnitude. A rotation is different from other types of motions: translations, which have no fixed points, and (hyperplane) reflections, each of them having an entire (n − 1)-dimensional flat of fixed points in a n-dimensional space.
Cartesian coordinate systemIn geometry, a Cartesian coordinate system (UKkɑːrˈtiːzjən, USkɑːrˈtiʒən) in a plane is a coordinate system that specifies each point uniquely by a pair of real numbers called coordinates, which are the signed distances to the point from two fixed perpendicular oriented lines, called coordinate lines, coordinate axes or just axes (plural of axis) of the system. The point where they meet is called the origin and has (0, 0) as coordinates.
Rodrigues' rotation formulaIn the theory of three-dimensional rotation, Rodrigues' rotation formula, named after Olinde Rodrigues, is an efficient algorithm for rotating a vector in space, given an axis and angle of rotation. By extension, this can be used to transform all three basis vectors to compute a rotation matrix in SO(3), the group of all rotation matrices, from an axis–angle representation. In other words, the Rodrigues' formula provides an algorithm to compute the exponential map from so(3), the Lie algebra of SO(3), to SO(3) without actually computing the full matrix exponential.
Rotations in 4-dimensional Euclidean spaceIn mathematics, the group of rotations about a fixed point in four-dimensional Euclidean space is denoted SO(4). The name comes from the fact that it is the special orthogonal group of order 4. In this article rotation means rotational displacement. For the sake of uniqueness, rotation angles are assumed to be in the segment except where mentioned or clearly implied by the context otherwise. A "fixed plane" is a plane for which every vector in the plane is unchanged after the rotation.
