Vector fields in cylindrical and spherical coordinates

Note: This page uses common physics notation for spherical coordinates, in which formula_1 is the angle between the "z" axis and the radius vector connecting the origin to the point in question, while formula_2 is the angle between the projection of the radius vector onto the "x-y" plane and the "x" axis. Several other definitions are in use, and so care must be taken in comparing different sources.
Cylindrical coordinate system.
Vector fields.
Vectors are defined in cylindrical coordinates by ("ρ", "φ", "z"), where
("ρ", "φ", "z") is given in Cartesian coordinates by:
or inversely by:
Any vector field can be written in terms of the unit vectors as:
The cylindrical unit vectors are related to the Cartesian unit vectors by:
Note: the matrix is an orthogonal matrix, that is, its inverse is simply its transpose.
Time derivative of a vector field.
To find out how the vector field A changes in time we calculate the time derivatives.
For this purpose we use Newton's notation for the time derivative (formula_7).
In Cartesian coordinates this is simply:
However, in cylindrical coordinates this becomes:
We need the time derivatives of the unit vectors. 
They are given by:
So the time derivative simplifies to:
Second time derivative of a vector field.
The second time derivative is of interest in physics, as it is found in equations of motion for classical mechanical systems.
The second time derivative of a vector field in cylindrical coordinates is given by:
To understand this expression, we substitute A = P, where P is the vector ("ρ", "θ", "z").
This means that formula_13.
After substituting we get:
In mechanics, the terms of this expression are called:
Spherical coordinate system.
Vector fields.
Vectors are defined in spherical coordinates by ("r", "θ", "φ"), where
("r", "θ", "φ") is given in Cartesian coordinates by:
or inversely by:
Any vector field can be written in terms of the unit vectors as:
The spherical unit vectors are related to the Cartesian unit vectors by:
Note: the matrix is an orthogonal matrix, that is, its inverse is simply its transpose.
So the Cartesian unit vectors are related to the spherical unit vectors by:
Time derivative of a vector field.
To find out how the vector field A changes in time we calculate the time derivatives.
In Cartesian coordinates this is simply:
However, in spherical coordinates this becomes:
We need the time derivatives of the unit vectors. They are given by:
So the time derivative becomes: