bbm:978 94 009 8352 6/1

Orthogonal Curvilinear
Coordinate Systems
A-l Curvilinear Coordinates

The location of a point in three-dimensional space (with respect to some
origin) is usually specified by giving its three cartesian coordinates (x, y, z)
or, what is equivalent, by specifying the position vector R of the point. It is
often more convenient to describe the position of the point by another set of
coordinates more appropriate to the problem at hand, common examples
being spherical and cylindrical coordinates. ,These are but special cases of
curvilinear coordinate systems, whose general properties we propose to examine in detail.
Suppose that ql> q2> and qa are independent functions of position such that
ql
= ql (x, y, z),
q2
= q2(X, y, z),
qa
= qa(x, y, z)
(A-1.l)
or, in terms of the position vector,

qk
qk(R)
(k
= 1,2,3)
In regions where the Jacobian determinant,
o(ql> q2' qa)

o(x,y, z)
oql
ox
Oq2
ox
oqa
ox
474
oql oql
oy oz
Oq2 ~
oy oz
oqa oqa
oy oz
(A-1.2)
475
Orthogonol Curvilinear Coordinate Systems
is different from zero this system of equations can be solved simultaneously

for x, y, and z, giving
y
or
y(qj, q2, q3),
R = R(qj, q2' q3)
A vanishing of the Jacobian implies that qj, q2' and q3 are not independent
functions but, rather, are connected by a functional relationship of the form
f(qj, q2, q3) = O.
In accordance with (A-I.3), the specification of numerical values for
qj, q2, and q3 leads to a corresponding set of numerical values for x, y, z; that
is, it locates a point (x, y, z) in space. Thus, we come to regard the set of
three numbers (qj, q2' q3) as the curvilinear coordinates of a point in space.
It is natural in dealing with physical problems to restrict attention to systems
of curvilinear coordinates in which each point in space may be represented
at least once by letting qj, q2, and q3 vary over all possible values.
Curvilinear coordinates have a simple geometric interpretation. If for
the moment we ascribe some constant value to qk> we have
qk(X, y, z)
constant
(k = 1,2,3)
which describes a surface in space. By assigning a series of different values

to qk, we generate a family of surfaces on which qk is constant .. If the functions have been properly chosen there is at least one surface belonging to
each of the three families which passes through any arbitrary point P in
space. Thus, a point in space is characterized by the intersection of the
three surfaces, qj = constant, q2 = constant, q3 = constant (see Fig. A-I.I),
termed coordinate surfaces. The coordinate surface is named for that coordinate which is constant, the other two coordinates being variable along
q3 - coordinate curve
~oordinate surface
Coordinate surface
ql = constant
qz = constant
,,~
ql - coordinate
curve
Coordinate surface
q3 = constant
qz - coordinate curve
Figure A-1.1. Curvilinear coordinates.
476
Appendix A
that surface. The intersection of any two coordinate surfaces results in a

skew curve termed a coordinate curve. For example, the intersection of the
q2- and q3-coordinate surfaces results in the coordinate curve labeled qt.
Since this curve lies simultaneously on the surfaces q2 = constant and q3 =
constant, only q[ varies as we move along the curve; hence, the designation
q[-coordinate curve.
In the special case of cartesian coordinates the coordinate surfaces consist of three mutually perpendicular planes; the coordinate curves consist of
three mutually perpendicular lines.
In cartesian coordinates the differentials dx, dy, and dz correspond to
distances measured along each of the three cartesian coordinate curves. The
analogous differentials in curvilinear coordinates, dq[, dq2' and dqs, do not
necessarily have a similar interpretation. As in Fig. A-l.1, let dl[ be the
distance measured along the q[-coordinate curve from the point P(q[, q2, qs)
to the neighboring point (q[ + dq[, q2, q3). Similar definitions apply to dl 2and
dis. We define the three quantities*
(k = 1,2,3)
q3 - coordinate curve
These quantities (or simple variations

thereof) are termed metrical coefficients. They are intrinsic properties of
any particular system of curvilinear
coordinates and, in general, are functions of position,
hk
q1- coordinate
q2 - coordinate
curve
curve
Figure A.1.2. Unit tangent vectors.
(A-1.4)
hk(qt> q2, qs)
Let it, i2 and is be unit vectors

drawn tangent to the q[-, q2- and qscoordinate curves, respectively, in the
directions of algebraically increasing
qk'S (Fig. A-1.2). It is evident that these
unit tangent vectors are given by
(k = 1,2,3)
(A-1.5)
Whereas the magnitudes of these unit vectors are necessarily constant,

(A-1.6)
it does not follow that their directions remain constant from point to point,
so the unit vectors are, in general, functions of position,
ik
ik(q[, q2' qs)
*Some authors prefer to define these symbols to be the reciprocals of the values given
here.
477
Orthogonal Curvilinear Coordinate Systems
The three non-coplanar unit vectors ilo i 2, ia are said to constitute a base set
of unit vectors for the particular system of curvilinear coordinates. Any
arbitrary vector, D, may be uniquely expressed in terms of them by a relation
of the form D = i l U I + i 2 u 2 + iaua. A simple calculation shows that
Upon combining Eqs. (A-I.4) and (A-1.5), we obtain
ik = hk oR
(A-I. 7)
Oqk
which provides an alternative formula for determining the metrical coefficients,

(A-I. 8)
The utility of this particular expression lies in the calculation of metrical

coefficients for systems of curvilinear coordinates defined explicitly by Eq.
(A-1.3). Thus, if we put
R=ix+jy+kz
it is evident that
and hence,
-\- = (OX)2 + (Oy)2 + (~)2

hk
Oqk
Oqk
Oqk
(k
= 1,2,3)
(A-1.9)
For example, in cartesian coordinates where ql = x, q2 = y, qa = z, we

find that hI = h2 = ha = I.
A-2 Orthogonal Curvilinear Coordinates
If (qlo q20 qa) are the curvilinear coordinates of a point P whose position
vector is Rand (ql + dqlo q2 + dq2, qa + dqa) those of a neighboring point
Q whose position vector is R + dR, then
PQ = dR = oql
oR dql + oR dq2 + oR dqa
Oq2
oqa
_ 11 -dql +.12 -dq2 +.l a
dqa
-
hI
h2
ha
Thus, the distance dl between these adjacent points is given by
df2
= IdRI 2 = dq~ + dq~ + dq~ + 2(i

h~
h~
h~
.i) dql dq2

2
hlh2
dq2 dqa + 2('la'll

.) dqa
dql
+ 2(1' 2 'l.)a -h2ha
hshl
(A-2.1)
(A-2.2)
478
Appendix A
When the system of curvilinear coordinates is such that the three coordinate surfaces are mutually perpendicular at each point, it is termed an
orthogonal curvilinear coordinate system. In this event the unit tangent
vectors to the coordinate curves are also mutually perpendicular at each
point and thus
(A-2.3)
ijoi k = 0 (j, k = 1,2,3) (j -=F k)
dl2 = dqi
whereupon
hi
+ dql + ~qJ
(A-2.4)
hi
h~
Therefore, an essential attribute of orthogonal systems is that mixed terms

of the form dqjdqk (j -=F k) do not appear in the expression for the distance
dl. This condition is not only necessary for orthogonality but is sufficient as
well; for ql, q2, and q3 in Eq. (A-2.2) are independent variables.
In consequence of Eq. (A-I.7) the necessary and sufficient conditions for
orthogonality may also be expressed by the relations
oR
oqj
oR = 0
Oqk
(j, k
+ jy + kz,
ox ox + oy oy + ~ ~ =
oqj Oqk
oqj Oqk
oqj Oqk
= 1,2,3) (j-=F k)
(A-2.S)
or, putting R = ix
(j, k
1,2,3)
(j -=F k)
(A-2.6)
which provides a useful test of orthogonality for systems of curvilinear

coordinates defined explicitly by the relations
x
x(ql' q2' q3),
z = z(ql' q2, q3)
y(ql' q2' q3),
If, instead, the system of coordinates is defined explicitly by the equations
ql = ql (x, y, z),
q2
= q2(X, y, z),
q3 = q3(X, y, z)
the computation of the partial derivatives required in Eq. (A-2.6) can be a

tedious chore, and it is best to proceed somewhat differently. In consequence
of the general properties of the gradient operator, each of the vectors
Vqk (k = 1,2,3) is necessarily perpendicular to the corresponding coordinate
surface qk = constant. Thus, the necessary and sufficient conditions for
orthogonality are equally well expressed by the relations
Vqjo Vqk = 0
(j, k = 1,2,3)
(j -=F k)
(A-2.7)
or, expressing V in cartesian coordinates,

oqj Oqk
ox ox
+ oqj Oqk + oqj Oqk =
(A-2.8)
(j, k = 1,2,3) (j -=F k)
These may be contrasted with Eqs. (A-2.6).
If the system of coordinates does prove orthogonal we can avail ourselves
of still another method for computing the metrical coefficients. For, in this
oy oy
oz OZ
479
event, the q2- and qa-coordinate surfaces are perpendicular to the ql-coordinate surfaces. But since the ql-coordinate curves lie simultaneously on
each of the former surfaces, these curves must be perpendicular to the surfaces ql = constant. In general, then, the qk-coordinate curves lie normal
to the surfaces on which qk is constant. The general properties of the V
operator are such that the vector V qk is normal to the surfaces on which
qk is constant and points in the direction of increasing qk' Consequently,
the unit tangent vector, ik> to the qk-coordinate curve passing through a
particular point in space is identical to the unit normal vector, Ok, to the
qk-coordinate surface passing through the point in question. Since, from the
general properties of the V operator,
Ok =
Vqk
Idqk/dlkl
we have that
(A-2.9)
This makes
(A-2.1O)
or, again writing V in cartesian coordinates,
h1 =
(~~r + (~~kr +
(o:;r
(k
= 1,2,3)
(A-2.ll)
In comparing this with Eq. (A-1.9) it should be borne in mind that Eqs.
(A-2.II) hold only for orthogonal systems.
We shall say nothing further about nonorthogonal coordinate systems,
for these find no application in conventional hydrodynamic problems.
For vector operations involving cross products, it is convenient to order
the orthogonal curvilinear coordinates (qH q2' qs) in such a way that the base
unit vectors il> i 2, is form a right-handed system of unit vectors; that is,
(A-2.12)
With the aid of the properties of the scalar triple product, it is simple to show
that these three relations are all satisfied by ordering ql> q2, and qa so as to
satisfy the relation
(A-2.l3)
Inasmuch as the metrical coefficients are essentially positive, it follows from
Eq. (A-1.7) that this is equivalent to choosing the sequence of coordinates
in such a way that
(A-2.14)
480
Appendix A
or, setting R
= ix + jy + kz,
ox
oq,
oy
oq,
OZ
oq,
ox
Oq2
oy
Oq2
OZ
Oq2
ox
oqa
oy _ o(x,y,z) >0
oqa - o(q" q2' qa)
OZ
oqa
(A-2.15)
There is only one way of ordering the coordinates to make this Jacobian
determinant positive.
Alternatively, a right-handed system is obtained when
Vq,.Vq2 X Vqa
>0
(A-2.16)
or, expressing V in terms of cartesian coordinates,

oq,
ox
oq,
oy
oq,
OZ
Oq2
ox
Oq2
oy
Oq2 _ o(q" q2' qa)

OZ - o(x,y, z)
oqa
ox
oqa
oy
Tz
>0
(A-2.17)
oqa
With the curvilinear coordinates arranged in proper order we have

(A-2.18)
A-3 Geometrical Properties

When the curvilinear coordinates are orthogonal, the infinitesimal volume
depicted in Fig. A-l.l is a rectangular parallepiped the dimensions of which
are dl" dl2> and dla or, employing Eq. (A-I.4), dq,/h" dq2/hh and dqa/ha,
respectively. Thus, if dSk is an element of surface area lying on the coordinate surface qk = constant, we have
dS,
= dl2dla = dq2 dqa

h2 ha
dS 2 = dladl,
= dqa dq.
ha h,
(A-3.1)
dS a = dl,dl 2 = dq, dq2

h,h2
Furthermore, an element of volume is given by
dV = dl dl dl
,
= dq, dq2 dqa

h,h2 ha
(A-3.2)
481
A-4 Differentiation of Unit Vectors

As previously remarked, the base unit vectors associated with a particular
system of orthogonal curvilinear coordinates are vector functions of position. In this connection it is a matter of some importance to determine the
form taken by the nine possible derivatives oikjoq! (k, I = 1,2, 3). These
vectors do not, in general, have the same direction as the unit vectors themselves. This contention is easily demonstrated by observing that ik " ik = 1,
from which it follows that
-
o ("")
Ik "It =
oq!
2"Ik
"o~
-
oq!
Thus, the vector oikjoq! is either zero or else it is perpendicular to ik.

To evaluate these derivatives we proceed as follows. For an orthogonal
system, Eq. (A-I.7) yields
Hence, for any j,
O~j (:~ "
:!)
=0 (k
* I)
or, performing the differentiations,

(A-4.1a)
Inasmuch as j, k, and I are dummy indices, we obtain upon interchanging
j and k in Eq. (A-4.1a),
~"oR+~"oR=O U*I)
Oqk oqj
oq!
Oqk oq!
oqj
(A-4.1b)
Similarly, interchangingj and I in Eq. (A-4.1a),
~"oR+ o2R "oR=O (k*j)
* *
oq! Oqk
oqj
oq! oqj
Oqk
(A-4.1c)
If j
k
I, all three of these relations are valid. Since o2Rjoqm oqn =
o2Rjoqn oqm, we find upon subtracting Eq. (A-4.1c) from Eq. (A-4.1b) that
o2R "oR _
Oqk oqj
oql
o2R "oR = 0 (j
Oql oqj
Oqk
Adding this to Eq. (A-4.1a) then yields

oR" o2R = 0 (j
oq!
oqj Oqk
* k *l)
* k * I)
(A-4.2)
482
Appendix A
But, from Eq. (A-I.7),

oR
-.!L
oql - hi
and oR = it
oqt hk
Equation (A-4.2) may therefore be written as

il
0:' (!:) = 0
that is,
il
[it ~(1.)
oq, ht
Since k and / are different, il
(j oF
koF /)
+ 1.
oitJ = 0
ht oq,
it
(j oF k oF /)
= 0; hence, the preceding equation becomes
. oik = 0 (.J oF k oF /)
oq,
This means that the vector oit/oq, does not have an / component. But, since
it it = 1, we find by differentiation with respect to q, that
II -
(A-4.3)
from which it is clear that oit/oq, does not have a k component either. We
therefore obtain the important result that, for j oF k, oit/oqj has, at most,
a component in the j direction; that is,
~~ II i,
(j oF k)
(A-4.4)
To obtain this component, observe that since the order of differentiation is immaterial,
(A-4.5)
Suppose in this equation that j oF k. Then, since oik/oqj has only a j component-see Eq. (A-4.4)-it immediately follows upon equating j components in the foregoing that
(A-4.6)
The preceding relation gives an explicit formula for differentiating unit
vectors when j oF k. The corresponding relations for the case j = k may be
obtained as follows: Suppose j oF k oF / and that Uk/] are arranged in righthanded cyclic order, that is, [123], [231], or [312]. Then
483
Differentiate with respect to qJ and obtain

oiJ _ oik x'
oqJ - oqJ II
+'Ik X oqJ
oil
Utilizing Eq. (A-4.6) this becomes

-oiJ = ('I J
oqJ
But iJ
il
-ik
and
')h k
X II
- 0 ( -I )
Oqk hJ
i k x iJ
+ ('Ik X I')h
J I - 0 ( -I )
oql hJ
= -il' Thus, we finally obtain
oiJ = -ikhk ~(.l)- ilh l ~(.l)

oqj
Oqk hj
Oql h)
(A-4.7)
Written out explicitly, Eqs. (A-4.6) and (A-4.7) yield the desired nine
derivatives,
(A-4.8)
A-5 Vector Differential Invariants

To establish the form taken by the vector operator V in orthogonal curvilinear coordinates we proceed as follows. The quantity V'I/r is defined by the
relation
d'l/r = dR,V'I/r
for an arbitrary displacement dR. The function 'I/r may be a scalar, vector, or
484
Appendix A
polyadic. Expanding the left-hand side and employing the expression for
dR given in Eq. (A-2.l) we obtain
+~
dq2 + ~dqa = il"hVy dql + i 2"hV 'I/r dq2
uql
uq2
uqa
I
2
Since ql' q2' qa are independent variables, it follows that
~ dql
+ is "hVYdqs
s
and thus, in consequence of the orthogonality of the unit vectors,

V'I/r
=grad'l/r = ilhl ~
+ i2h2 uq2
~'I/r + iaha ~
uql
uqa
(A-5.1)
For the vector differential operator Valone, we then have
+ i2h2 ~
+ iaha ~
(A-5.2)
oql
Oq2
oqa
In conjunction with the formulas of the previous section for the curvilinear
derivatives of unit vectors, this expression permits a straightforward-if
somewhat lengthy-calculation of the various V operations.
For example, if u is a vector function whose components are given by
V = ilh l ~
= ilul + i2u2 + iaus
it is relatively simple to demonstrate that

V" u
= div u = hi h2 ha [0: (h~hJ +

1
0: (h~iJ +
2
o:a (h~hJ ]
(A-5.3)
and
(A-5.4)
or, what is equivalent,
is
ha
o 0
(A-5.5)
Oq2 oqa
UI U2 Us
hi h2 ha
The Laplace operator may be transformed to orthogonal curvilinear
coordinates by substituting u = V'I/r in Eq. (A-5.3) and observing from Eq.
(A-5.l) that this makes Uk = hk O'l/r/Oqk (k = 1,2,3). Hence,
i2
h2
485
V2'o/' = V,V'o/' = hlh2h3[~(~

q) + ~(l!.L
0'1/1') + ~(J!.L O'o/')J
oql h2hS oql
Oq2 h3h l oq2
Oq3 h l h20qs
(A-5.6)
which gives the Laplacian of a scalar function. For the Laplace operator
alone we have
V2 -
h h h [ 0 (hi 0)
I 2 3 oql h2 h30ql
+ Oq2
0 (h2 0) + 0 (h3 O)J
hshlOq2
Oq3 h l h20q3
(A-5.7)
The computation of the vector V 2 u ill curvilinear coordinates can be

carried out with the aid of Eq. (A-5.7) and the formulas of Section A-4 for
the differentiation of unit vectors. Although the calculation is straightforward
in principle, it is rather lengthy in practice. A less tedious method of calculation utilizes the vector identity
=
(V
If, in Eq.
(A-5.1), we put '0/' = V u and employ the expression for the divergence of
u given in Eq. (A-5.3), a simple calculation yields
V2u V(V .u) - Vx xu).
V(Vu) = ilhl ~{hlh2h3[~(~)

+ ~(~)
+ Oq3
~(..EL)J}
+ ...
oql
oql h2hs
Oq2 hshl
hlh2
(A-5.S)
Likewise, if we obtain V x A from Eq. (A-5.4) and put A = V x u, there
is no difficulty in obtaining the relation
Vx (V xu) =
ilh2h3(~{hlh2[~(U2) - ~(UI)J}
Oq2
h3
oql h2
Oq2 hi
(UI)
(U3)J}) + ...
(A-5.9)
o {h3hl[
0 Ii; - oql
0 h3
- Oq3
Ii; Oq3
Combining these two results in accordance with the vector identity previously cited, and simplifying by means of Eq. (A-5.6), the expression for the
Laplacian of a vector function may be put in the form
Vu = i [ViUI- ~: Vh
0 rr12 )
+ hiUI h oql
\
2
ql
U2 h 0 (V2 )
h2 I oql
q2
+ h3U3 hI oql
0 (V2 )
qs
_ 2h~ahl~(~) _ 2h~ahl~(U2) _ 2h~ahl~(us)

aqloql hi
Oq20ql ~
aqsoql hs
(A-5.1O)
+ hi oqloql
oh~ ~(UI) + hi ah~ ~(U2) + hi aM ~(U3)J + ...
hi
OqlOq2 h2
oqloqs h3
The sixth and ninth terms in brackets cancel one another. They are retained
here only to indicate clearly the form taken by the i2 and is components of
these being readily obtained by permuting the appropriate subscripts.
V2U,
486
Appendix A
A-6 Relations between Cartesian and Orthogonal

Curvilinear Coordinates
In most problems involving fluid motion, cartesian coordinates are best

suited to the formulation of boundary conditions. On the other hand, the
partial differential equations describing the motion are usually more conveniently solved in some other system of orthogonal curvilinear coordinates, characteristic of the geometrical configuration of the fluid domain.
This suggests the potential value of certain general relations which enable us
to convert handily from one system of coordinates to the other.
We shall assume that the equations describing the coordinate system
transformations are given explicitly by
x = x(ql> q2> qa),
y = y(ql> q2' qa),
z = z(ql> q2, qa)
(A-6.1)
The metrical coefficients are then most readily calculated via the relations
(A-6.2)
(i) Transformation of partial derivatives: To express the partial differential operators %x, %y, and %z in curvilinear coordinates we note
that
~=i.V=(Vx).V ...
ox
'
Upon writing the nabla operator in orthogonal curvilinear coordinates,
there is no difficulty in obtaining the relations
o
ox -
a 2 (OX) 0
--~hk--
k=1
which give the desired expressions.

By allowing these derivatives to operate on q! (l
interesting relations of the form
i!!l! = hi ox ...
ox
Oqk'
(A-6.3)
Oqk Oqk'
(k
1,2,3) we are led to
= 1,2,3)
(A-6.4)
These might also have been obtained by equating Eqs. (A-1.7) and (A-2.9).
They are of particular value in evaluating the derivatives OX/Oqk' ... ,
required in Eq. (A-6.3) and the sequel, when the transformation equations
are given explicitly by
rather than Eq. (A-6.1), as assumed.
487
Orthogonal Curvilinear Coordinate. Systerns
The transformation of partial derivatives inverse to Eq. (A-6.3) is simply

obtained by application of the "chain rule" for partial differentiation,
(A-6.5)
(ii) Transformation of unit vectors: Writing R = ix
(A-I.7), we obtain
ile
= hle(i ~x
uqk
+ j uqle
~y + k uqk
~Z)
(k
+ jy + kz
= 1,2,3)
in Eq.
(A-6.6)
which gives the transformation of unit vectors from curvilinear to cartesian

coordinates.
The inverse transformation of unit vectors follows immediately from
the relations
i= Vx,'"
by expressing V in curvilinear coordinates. Thus,
~. h ox
(A-6.7)
k=\
Oqk
with analogous formulas for j and k.
Inasmuch as for k = 1,2,3
_
OX/Oqk
_
ox
cos (x, qk) - [(oX/oqle)2 + (OY/Oqk)2 + (OZ/Oqk)2]1/2 - hie Oqk' ..
1= ... lie I e - , ' "
these formulas have an obvious geometric interpretation.

(iii) Transformation of vector components: If we put
u = iu", + jUII + ku z = i\u\ + i 2 u2 + i3U3
then scalar multiplication of u with Eqs. (A-6.6) and (A-6.7), respectively,
gives
(A-6.8)
and
(A-6.9)
These permit rapid conversion of vector components between cartesian

and curvilinear coordinates.
(iv) Position vector: Writing R in cartesian coordinates and employing
Eq. (A-6.7) results in
R
t ikhle(X Oqk
ox + y oy + Z OZ)
Oqk
Oqk
k=]
I ...
~'h 0(2+
IV2
= -2
Y 2+ Z 2) = -2
r
k=\ lie k~
uqle X
where we have set r2 = X2 + y2 + Z2.
(A-6.l0)
488
Appendix A
A-7 Dyadics in Orthogonal Curvilinear Coordinates
The most general dyadic may be written in the form*

(A-7.1)
where (i" i 2, i3) are unit vectors in a curvilinear coordinate system. It should
be clearly understood that the nine scalar numbers CPjk (j, k = 1,2,3) depend
upon the particular system of curvilinear coordinates under discussion.
We shall restrict our attention only to orthogonal systems.
The transpose or conjugate of the dyadic q, is
(A-7.2)
That the two summations are identical depends on the fact that the indices
j and k are dummy indices.
(i) Idem/actor: Since the idemfactor is given by the expression
(A-7.3)
I =VR
we find from Eq. (A-5.2) that
I = I,. h ,oR
oq,
But, from Eq. (A-I. 7), i k
+ 12. h 2 -oR + 13. h3oROq2
Oq3
hkoR/oqk> whence
+ i2i2 + i3i3
1= iii,
(A-7.4)
which may also be expressed as

I
where
o jk -
~ ~
j
(A-7.5)
ijikOjk
I if j
0 if j
*" k
(A-7.6)
is the Kronecker delta.

(ii) Gradient 0/ a vector: An important dyadic in physical applications
arises from forming the gradient of a vector function. By writing [see Eq.
(A-5.2)]
we find, bearing in mind that i k is in general a variable vector,

*In actual manipulations it is convenient to introduce the Einstein summation convention, whereby the summation symbols are suppressed, it being understood that repeated
indices are to be summed. With this convention, Eq. (A-7.1) may be written
~ = ijikl/>jk
We shall, however, not use this convention here.
489
Vu
;
=1 k=1hJiJ(ik aaUkqJ +Ulc aaikqJ )
Using the formulas in Eq. (A-4.8) for the derivatives of the unit vectors,
aik/aqj, we obtain
Vu
i,i,h,[~;: +h2u a: UI) +haua 0:' (~I)]

+ i , i h [~;: h a: UI)]
+ilishl [~;: - haul a:a UI)]
+i2ilh2 [~;: - hI U2 a:1UJ]
+i2i2h2 [~;: +hauaa:, U2) +hlu, a:1U2)]
+i2 i h2[~;: - ha U a:a UJ]
+iailha[~;: -hIUaa:IUJ]
+ ia i ha [~;: - h ua a: UJ]
+i,ishs [~;: +hlu la:1UJ + h2 2a: 2UJ]
=
2 uI
(A-7.7)
(iii) Divergence ofa dyadic: Using Eqs. (A-S.2) and (A-7.1), we have
whence
Votf> =
J=Ik=1I-IhJij
[(aaik)ilcf>kl
qj
+ik(aail)cf>kl
+ikilaaPkl]
qj
qj
Using Eq. (A-4.8) to differentiate the unit vectors, and bearing in mind
that i J i k = SJk' we eventually obtain
0
v otf> = i , [hI h2hS{..!.

cf>21) +aq,
..!.(Ji;1i;
cf>31)}
aq, (!h..L)
h2ha +..!.(
aq2 li;Ii';
+hlhl cf>11 a: UI) +hlh2cf>12 a:2UI) +hlhscf>13 a: UI)

(A-7.S)
- h,hlcf>II"!'
aql (hi.l) - hlh2cf>22"!'(.l)
aql h2 - hlh,cf>33..!.(~)]
aq, h, + ...
1
The fourth and seventh terms cancel one another, and are included only to
show the structure of the general formula. The two remaining components
of the preceding vector can be written down by appropriate permutation of
the subscripts.
490
A-a
Appendix A
Cylindrical Coordinate Systems (qu qh z)
In this section we deal with the special class of curvilinear coordinate

systems defined by the equations
x
X(qh q2),
= y(ql' q2),
= qs
(A-8.1)
Since ql and q2 depend only on x and y they can be regarded as curvilinear

coordinates in a plane perpendicular to the z axis. The curves in this plane on
which ql and q2 are constant are then the generators of the coordinate surfaces ql = constant and q2 = constant, obtained by moving the plane perpendicular to itself. These coordinate surfaces have the shape of cylinders.
We shall further restrict ourselves to situations in which the system of
curvilinear coordinates defined in Eq. (A-8.1) is both orthogonal and righthanded. In the present instance,
oz
oql
=0
oz
Oq2
'
=0
oz
oqs
'
=I
Thus, in accordance with Eq. (A-2.6), the stipulation that (qh qh qs) form
an orthogonal system requires only that
ox ox
Oq l Oq2
+ oy oy
Oq l Oq2
= 0
(A-8.2)
Furthermore, expansion of the Jacobian determinant in Eq. (A-2.IS) shows

that the system will be right-handed if we order the curvilinear coordinates
defined in Eq. (A-8.1) so as to satisfy the inequality
ox oy _ ox oy _ o(x,y)
Oq l Oq2
Oq20ql - o(ql' q.)
>0
(A-8.3)
The metrical coefficients are now given by

I
hi =
(OX)2
oql
(Oy)2
oql '
h~ =
(OX)2
Oq2
(Oy)2
Oq2 '
hs
(A-8.4)
The majority of important cylindrical coordinate systems fulfilling these

criteria can be generated via the theory of analytic functions. This is discussed at further length in Section A-IO and examples given in Sections AII-A-13. Circular cylindrical coordinates, discussed in Section A-9, constitute
an important exception to this generalization.
A-9 Circular Cylindrical Coordinates (p,
cp, z)
[Figs. A-9.1 (a), (b), (c)]

Circular cylindrical coordinates,
(A-9.1)
ql =p,
are defined by the relations
x = pcosq"
y = p sin q"
z=z
(A-9.2)
491
These may be solved explicitly for the curvilinear coordinates,

</>
= tan-IX,
x
Z=Z
(A-9.3)
This system of coordinates is depicted from various points of view in Figs.

A-9.1(a), (b), (c).
z
figure A.t.l(.). Circular cylindrical coordinates.
p = consto_nt_ _ __
i~
figure At.l (It). Circular cylindrical coordinate system surfaces.
492
Appendix A
tfJ=l.'TT
3 ,
cf>=i-1T ~=~1T
"
ip
.I.=~1T
'1'
"
P =4
"
P = 3 ---4--._
, ..... '
,,-'
, tfJ = .!..1T
6
tfJ=O
tfJ =211'
cf>='TT---+--~~-+~~~-4--+--+~~x
p=2
p= 1
7
cf>=S11'''
,-
.......
11
'tfJ=S1T
'tfJ = 3"1T
Figure A-9.1(c). Circular cylindrical coordinate system curves.
By restricting the ranges of these coordinates as follows:
0< p <
00,
o<q, < 2n',
-00
<Z<
00
(A-9.4)
each point in space is given once and only once with the exception of those
points along the z axis, for which cp is undetermined. It is understood that
when applying Eq. (A-9.3), cp (radians) is to be measured in the quadrant in
which the point lies.
The family of coordinate surfaces p = constant are concentric cylinders
whose longitudinal axes coincide with the z axis. The coordinate surfaces
cp = constant are vertical half-planes containing, and terminating along, the
z axis. If cp = cpo = constant n') is one of these semi-infinite planes, the
extension of this plane across the z axis corresponds to the value cp = CPo +
n' = constant. The coordinate surfaces z = constant are horizontal planes.
The p coordinate curves, formed by the intersection of the planes cp =
constant and z = constant, are horizontal rays issuing from the z axis. The
cp coordinate curves, produced by the intersection of the cylinders p =
constant with the planes z = constant, are concentric, horizontal circles
having the z axis at their center. The z coordinate curves, resulting from
the intersection of the cylinders p = constant with the planes cp = constant,
are vertical lines.
Upon calculating the derivatives,
oX
oql
= cos
A.
'f"
~Y = sin cp,
uql
-OX
Oq2
A.
-p sm 'f'
~Y = p cos cp
uq2
493
Orthogonol Curvilineor Coordinote Systems
from Eq. (A-9.2), and employing the formulas of Section A-S, it follows
that circular cylindrical coordinates constitute a right-handed system of
orthogonal curvilinear coordinates whose metrical coefficients are given by
1
h 2 =-,
P
h3
(A-9.5)
We tabulate here for reference some of the more important properties

of these coordinates:
x + iy = pei~ = e(\np)+!o/>
(A-9.6)
= dp,
dl 2 = P dcf>,
dl 3 = dz
dl 2 = (dp)2 + p2 (dcf2 + (dZ)2
dS 2 = dpdz,
dS = pdp dcf>
dS I = P dcf> dz,
dV = p dp dcf> dz
ipoip = 1,
i~.i~ = 1,
izii = 1
ip.io/> = 0,
io/>.i z = 0,
izip = 0
ip x i~ = i.,
io/> x iz = ip,
iz x ip = i~
dl 1
(A-9.7)
(A-9.S)
dR
+ i~ p d cf> + i z dz
R = ipp + izz
(A-9.9)
(A-9.l0)
(A-9.11)
ip dp
(A-9.12)
All partial derivatives of unit vectors are zero except for

(A-9.13)
(A-9.l4)
(A-9.l5)
V. u
V x u= i
'"2 _. ('"2 Up V
U -
Ip
(A-9.16)
lul 2 =
(A-9.l7)
(~OUz _ oU~)
p p ocf>
+ i~uo/> + izuz
u~ + u~ + u;
u = ipup
oz
~ ~( u)
p op p
z
+ ~p ~
+ oU
ocf>
oz
+ i~(OUp
_
oz
2 ou~
p2
ocf> - !!.e)
p2
ou z)
op
+ i z[~~(puo/
p op
+ I~. ('"2 u~ + p22 oU

ocf>
V
(A-9.lS)
- U~)
p2
- ~ oup ]
p ocf>
(A-9.19)
+ I.z,"2 Uz
V
(A-9.20)
*To be consistent we are here using the symbol i z in place ofk.
494
Appendix A
a
ax
a
sin cp a
cos cp op - -p- ocp'
a
-/.. a
op=COS'f'ox
+ SIn'f'oy'
. -/.. a
~ = sincp~
ay
a
ocp
op
+ coscp~
p ocp
. -/.. a
-p SIn 'f' ax
(A-9.21)
-/.. a
p cos 'f' oy
(A-9.22)
+ iq, cos cp
iq, = - i sin cp + j cos cp
j
ip cos cp - iq, sin cp,
+ j sin cp,
ip = i cos cp
Ux = Up cos cp - Ut/> sin cp,

Up = Ux cos cp
+U
ip sin cp
Uy = Up sin cp
Ut/>
sin cp,
+ Ut/> cos cp
-uxsin cp
+ Uy cos cp
(A-9.23)
(A-9.24)
~A-9.25)
(A-9.26)
and
V.T
= i p[~~(
T ) + ~ OTt/>p + OT zp _T.1i]
p op p pp
p ocp
oz
p
I aT_q,t/>
. [I a ( ) + _
+ 1t/>--PTq,
p op
P ocp
. aT zt/> . T t/>p]
OZ
P
--l--_~_
(A-9.2S)
) + ~P OTt/>z
, OTzz]
+ lz. [~~(
P op pTpz
ocp :- OZ
where
is the dyadic
ipipTpp + ipiq,Toq, + ipi,Tpz

iq,ip Tq,p + iq,iq, Tt/>q, +- it/>iz Tt/>z
+ izipTzp + i,it/>Tzq, + i,izTzz
T =
-t-
A-10 Conjugate Cylindrical Coordinate Systems

Transformations of the type
+ iy =/(ql + iq2),
(A-lO.l)
= ql
generate systems of cylindrical curvilinear coordinate systems, for upon

equating real and imaginary parts we obtain
= ql
It follows from the Cauchy-Riemann equations applied to Eq. (A-IO.l) that

ax
oql
oy
Oq2
and
ax
Oq2
= _
oy
oql
(A-1O.2)
Coupled with Eqs. (A-S.2), (A-S.3), and (A-S.4), these are sufficient to show
that the system of curvilinear coordinates generated by Eq. (A-lO.\),
495
(ql' q2, q3)-in that order-form a right-handed system of orthogonal,
curvilinear coordinates whose metrical coefficients are given by
1.
=
hI
~
h2
(OX)2 + (Oy)2
oql
oql
+.,iy)
" . = 1 d(x
12
d(ql+~q2)
h3 = I
and
(A-IO.3)
(A-IO.4)
Coordinate systems of the type under discussion are termed conjugate

systems, for obvious reasons. Important examples of these are elliptic cylinder coordinates, bipolar cylinder coordinates, and parabolic cylinder coordinates, discussed in Sections A-II-A-13.
A-ll Elliptic Cylinder Coordinates
(~, r;,
z)
(Fig. A-I 1.1)

The transformation
+ iy =
ccosh(~
+ i'l])
(A-I 1.1)
c > 0, yields, upon expanding the right-hand side and equating real and
imaginary parts,
y
Figure
A-n.l. Elliptic cylinder coordinates.
496
Appendix A
c cosh ~ cos "I,
c sinh ~ sin "I
(A-I 1.2)
Referring to Fig. A-II.I it is clear that if we restrict the elliptic coordinates

(~, "I) to the ranges
(A-I 1.3)
o <~ < 00, o <"I < 2?t
each point (x, y) in a plane z = constant is represented at least once and,
with the exception of the points (-c < x < c, y = 0) (for which "I is doubled-valued), only once.
Eliminating "I from Eq. (A-I 1.2) gives
x2
c2 cosh2 ~
y2
+ c2 sinh2 ~ =
(A-ll.4)
Thus, the family of curves in the xy plane characterized by the parameters

~ = constant are ellipses having their centers at the origin. In addition,
since cosh ~ > sinh ~ > 0, the major and minor semiaxes, ao and bo , respectively, of a typical ellipse, ~ = ~o = constant, are
ao = c cosh ~o,
bo = c sinh ~o
(A-1l.5)
These lie along the x and y axes, respectively. From Eq. (A-I 1.5)
(A-I 1.6)
from which it follows that the family of ellipses are confocal; that is, every
ellipse of the family has the same foci. The two foci are on the x axis at the
points (x = c, y = 0), corresponding to the values (~ = 0, "I = 0) and
(~ = 0, "I = ?t), respectively. Upon eliminating c from Eq. (A-I1.5) we
eventually obtain
(A-I 1.7)
which expresses the parameter ~ 0 in terms of the lengths of the semiaxes.
The eccentricity of the ellipse ~ = ~o = constant is
eo = [ I - ( ba: )2J1/2 = sech ~o
(A-I 1.8)
Equation (A-I 1.2) shows that when ~o = 0 the ellipse is degenerate and corresponds to that segment of the x axis lying between the two foci; that is,
the line is composed of the points (-c < x < c, y = 0). As ~o ----> 00 the
ellipse approaches a circle of infinite radius.
Upon eliminating ~ from Eq. (A-I 1.2) we find
(A-I 1.9)
The family of curves in the xy plane corresponding to different constant
values of the parameter "I are, therefore, hyperbolas whose principal axes
coincide with the x axis. Closer inspection of Eq. (A-I 1.2) reveals that each
curve "I = constant is actually only one-quarter of a hyperbola; if "I = "10
= constant <?t /2 is that branch of the hyperbola which lies in the first
497
quadrant, the values of 7] corresponding to those branches of the same

hyperbola which lie in the second, third, and fourth quadrants are 7C - 7]0'
7C + 7]0' and 27C - 7]0' respectively. The major and minor semiaxes, Ao and
B o, of a typical hyperbola, 7] = 7]0 = constant, are
Ao = c Icos 7]01,
Bo = c Isin 7]01
(A-IUD)
(A-lUI)
so that
from which it follows that the family of hyperbolas are confocal, having the
same foci as the confocal ellipses. In terms of the semiaxes, the parameter
7]0 is given by
7]0 = tan- I
!:
(A-I1.12)
When 7]0 = 0, we find from Eq. (A-I1.2) that the corresponding hyperbola
is degenerate, reducing to the straight line which extends from the focus
x = c to x = + 00 along the x axis. Likewise, for 7] = 7C, the hyperbola
again becomes a straight line, extending along the x axis from the focus
x = -c to x = - 0 0 . For 7] = 7C/2 and 37C/2, the hyperbola becomes the
upper and lower halves of the y axis, respectively.
It is possible to ascribe a geometric significance to the elliptic coordinates
~ and 7]. This can be established without difficulty from the geometric interpretation given to prolate spheroidal coordinates in Section A-I7.
If we put
ql = t
q2 = 7],
q3 = z
(A-I1.13)
the coordinate surfaces (; = constant are confocal elliptic cylinders, whereas
the surfaces 7] = constant are confocal hyperbolic cylinders. Elliptic cylinder
coordinates (t 7], z) constitute a right-handed system of orthogonal curvilinear coordinates whose metrical coefficients are
hi
h2
c(sinh2 (;
+ sin2 7])1/2
or
c(cosh 2(; - cos 27])1/2
h3 = I
(A-IU4)
Typical unit vectors are shown in Fig. A-IU, the unit vector i z being directed out of the page at the reader.
A-12 Bipolar Cylinder Coordinates (~, 1], z)

[Figs. A-12.l (a), (b)]
Bipolar coordinates (;, 7]) in a plane are defined by the transformation
+ iy =
iccotH(;
c > 0, from which we obtain
sinh 7]
x=c--.-------'---.!...-.....,
cosh 7] - cos ~'
+ i7])
sin (;
y-c---.-------"------.:
- cosh 7] - cos (;
(A-12.1)
(A-12.2)
498
Appendix A
7]=0
Figure A-12.1(a).
Bipolar coordinates;
1)
= constant.
Figure A-12.1(b).
Bipolar coordinates;
~ =
constant.
The foregoing denominators are essentially positive. As is evident from

Figs. A-12.1(a), (b), each point (x, y) in the xy plane is represented at least
once by limiting ~ and TJ to the ranges
o < ~ < 2?l',
-00
<
TJ
<
00
(A-12.3)
With the exception of the two points (x = c, y = 0), for which ~ is infinitely many-valued, there is now a one-to-one correspondence between
the cartesian coordinates (x, y) and the bipolar coordinates (~, TJ).
When ~ is eliminated from Eq. (A-12.2) we obtain
(A-12.4)
In the xy plane, the curves given by the parameter TJ = constant are, therefore, a family of nonintersecting circles whose centers all lie along the x
499
Orthogonol Curvilineor Coordinote Systems
axis (coaxial circles). The center of a typical circle 7] = 7]0 = constant is

located at the point (x = c coth7]o, Y = 0) and its radius is clcsch7]ol. For
7]0 > 0, the circle lies entirely to the right of the origin; for values of 7]0 < 0
the circle is to the left of the origin. The value 7]0 = 0 generates a circle of
infinite radius whose center is at either (x = 00, Y = 0) so that 7]0 = 0
corresponds to the entire y axis. When 7]0 = 00 the radius is zero and the
centers are located at the points (x = c, y = 0), respectively. As 7]0 varies
from + 00 to 0 the radius of the circle corresponding to this value of 7]0 increases from 0 to 00 and the center moves from (x = c, y = 0) to (x = 00,
y = 0) along the x axis. On the other hand, as 7]0 varies from - 00 to 0 the
center moves from (x = - c, y = 0) to (x = - 0 0 , y = 0) along the x axis.
Elimination of 7] from Eq. (A-l2.2) results in
(A-l2.5)
Thus, the family of curves in the xy plane which arise by assigning different
constant values to the parameter, appear to be intersecting circles whose
centers all lie along the y axis. Every circle of the family passes through the
limiting points of the system, (x = c, y = 0). The center of a typical circle
g = go = constant is at (x = 0, y = c cot '0) and its radius is c csc go'
More careful examination of Eq. (A-12.2) shows, however, that the curves
characterized by , = constant are not complete circles but, rather, are circular arcs terminating on the x axis at the limiting points of the system. If
the circular arc, =
= constant < n: is that part of the circle lying above
the x axis, its extension below the x axis is given by the value, =
+ n:.
When
= n:, the arc is degenerate and corresponds to that portion of the
x axis lying between the limiting points of the system. The value = 0 is a
circular arc of infinite radius with center at + 00 on the y axis, and gives the
entire x axis with the exception of those points between (x = c, y = 0),
for which
= n:. The values = n:/2 and 3n:/2 are semicircles of radii c,
having their centers at the origin.
The geometric significance of the bipolar coordinates , and 7] can be
established without difficulty from the analogous discussion of three-dimensional bipolar coordinates in Section A-l9.
If we select
ql = g,
q2 = 7],
qs =Z
(A-l2.6)
'0
'0
'0
'0
'0
'0
the conjugate system of curvilinear coordinates thereby obtained constitutes a right-handed, orthogonal system whose metrical coefficients are
hi
1
= h2 = -(cosh
7] c
cos h
hs
(A-l2.7)
The unit vectors it and i~ are depicted in Figs. A-l2.1(a), (b). The unit vector
iz is directed out of the page at the reader.
500
Appendix A
A-13 Parabolic Cylinder Coordinates (" 'rJ, z)

(Fig. A-13.l)
Parabolic coordinates
(~, 7])
in a plane are defined by the transformation
+ iy = c(~ + i7])2
c > 0, whereupon
x=
C(~2 -
7]2),
(A-13.I)
2c~7]
(A-13.2)
Each point in space is represented at least once by allowing the parabolic

coordinates to vary over the ranges
-OJ
<
<
(A-13.3)
00,
Other interpretations are possible.

From Eq. (A-13.2) we obtain
y2
4C~2(C~2 -
(A-13.4)
x)
so that in the xy plane the family of curves ~ = constant are confocal

parabolas having their foci at the origin. These parabolas open to the left
along the x axis.
In a similar manner, Eq. (A-13.2) yields, upon elimination of t
y2 =
4C7]2 (C7]2
+ x)
(A-13.S)
The curves 7] = constant are therefore confocal parabolas having their foci
at the origin. These parabolas open to the right along the x axis.
y
~=
~=1
i'1
'1/=2
1]=1
",=0
~=O
~----------~~~-1--------~----~X
'1/=1
~=
-2
",=2
Figura A-13.1. Parabolic cylinder coordinates.
501
With the choice of curvilinear coordinates

(A-13.6)
parabolic cylinder coordinates (~, "7, z) form a right-handed, orthogonal
system whose metrical coefficients are
(A-13.7) ,
The coordinate surfaces ~ = constant and "7 = constant are each confocal
parabolic cylinders. In addition to the unit vectors shown in Fig. A-I3, I,
the unit vector i z is directed out of the page at the reader.
Other properties of parabolic cylinder coordinates may be deduced
from the properties of paraboloidal coordinates, discussed in Section A-21.
For example, the analog ofEq. (A-21.7) is, in the present instance,
'/2
'"
cosf,
17
(-f )'"
sin
A-14 Coordinate Systems of Revolution (qj, q2'

, (Fig. A-14.1)
(A-l3.8)
The properties of orthogonal curvilinear coordinate systems associated with

bodies of revolution may be systematically developed by specializing the
general formulas of Sections A-I-A-7.
Consider the class of curvilinear coordinate systems defined explicitly
by relations of the form
(A-14.1)
where (p, cp, z) are circular cylindrical coordinates. The cartesian coordinates x and y may be obtained from the relations
x
cos
cp,
y = psin cp
(A-14.2)
In this way we are led to consider the relations
x = p(q" q2) cos q3)
y = p(q" q2) sin q3'
(A-14.3)
which give (x, y, z) in terms of (q" q2' q3)'

Differentiating Eq. (A-14.3) we find that
(A-14.4)
oy _
Oq3 - P cos Q3,
502
Appendix A
Thus, in place of Eq. (A-2.6), the necessary and sufficient conditions for the
orthogonality of q\, q2, q3 now require only that
Op op
Oq\Oq2
+ ~~
Oq\Oq2
(A-14.5)
In addition, if we substitute the derivatives appearing in Eq. (A-14.4) into

Eq. (A-2.lS) and expand the resulting determinant, we obtain
o(x, y, z) = p o(z, p)
O(qh q2' q3)
o(q\, q2)
Since p > 0, it follows that the system of curvilinear coordinates defined

by Eq. (A-14.l) forms a right-handed system whenever
o(z, p)
O(qh q2)
~ op _ ~ op
oq\ Oq2
Oq20q\
>0
(A-14.6)
Finally, substituting Eq. (A-14.4) into Eq. (A-1.9) yields the following
expressions for the metrical coefficients:
1
hi =
( op
oq\
)2 ( OZ )2
+
oq\
'
1 _ (Op)2
Oq2
h~ -
( OZ)2
Oq2 '
Q, = constant
t---.y
Meridian plane,
r/J = constant
:
:
I
"""
...........
"""'" i
,
Figure A-14.1.
'-.j
Curvilinear coordinate systems of revolution.
503
We shall term any plane for which <P is constant a meridian plane. On
the assumption that Eqs. (A-14.5) and (A-14.6) are both satisfied, the curves
ql = constant and q2 = constant intersect each other orthogonally in such
a meridian plane, as in Fig. A-14.1. These curves are termed the generators
of the coordinate surfaces ql = constant and q2 = constant, these being
surfaces of revolution obtained by rotating the corresponding curves in a
meridian plane about the z axis.
It is often convenient in applications involving bodies of revolution to be
able to convert functions readily from orthogonal curvilinear coordinate
systems of revolution to circular cylindrical coordinates and vice versa. The
relations to be developed are analogous to those discussed in Section A-6,
except that the present results are limited to the special class of orthogonal
curvilinear coordinate systems defined by Eq. (A-14.l).
(i) Transformation of partial derivatives: To express the partial differential operators %p and %z in orthogonal curvilinear coordinates of revolution, observe that
o=
op
(Vp).V,
-o = (Vz).V
oz
Thus, writing V in curvilinear coordinates, we obtain the desired transformations,

(A-14.8)
By permitting these partial differential operators to operate on ql and
q2 we find
Oqk _ h2 op
op - k oqk'
(k
Oqk _ h2 oz
iii - koqk
I 2)
=,
(A-14.9)
which are the analogs of Eqs. (A-6.4).

The transformation of partial derivatives inverse to Eq. (A-14.9) are
easily obtained by application of the "chain-rule,"
~ = op ~
Oqk
Oqk op
+ Oqk
oz ~
OZ
(k
= 1, 2)
(A-14.1O)
(ii) Transformation of unit vectors: Since ik = (Vqk)/h k we obtain, upon

writing V in cylindrical coordinates and employing Eq. (A-14.9),
ik = hk(ip;:k + i z
:;J
(k
= 1,2)
(A-14.1l)
The inverse transformation is obtained by utilizing the relations
ip = V p,
iz
= Vz
and expressing V in curvilinear coordinates; whence

.
Iz
~. h oz
= k=I
~ Ik k Oqk
(A-14.l2)
504
Appendix A
(iii) Transformation of vector components: Set
and multiply scalarly with Eqs. (A-14.1l) and (A-14.12), respectively. One
obtains
(A-14.13)
(A-14.14)
and
which permit an easy transformation of vector components between the

two systems of coordinates.
Most important orthogonal coordinate systems of revolution encountered in applications can be generated by simple application of the theory of
analytic functions. This technique is discussed further in Section A-16 and
examples given in Sections A-17-A-21. Spherical coordinates, discussed in
the next section, constitute an important exception to this generalization.
A-15 Spherical Coordinates

[Figs. A-I5.1 (a), (b)]
Cr, e, )
Spherical coordinates
(A-I5.I)
ql = r,
are defined by the relations

p
This makes
x = r sin () cos
cp,
r sin
e,
y=
z = r cos e
r sin
esin cp,
(A-I5.2)
z = r cos ()
(A-15.3)
Equations (A-I5.2) can be solved explicitly for the spherical coordinates

() =
tan- 1 L
z
(A-I 5.4)
This system of coordinates is depicted from various points of view in Figs.

A-15.1(a), (b).
By restricting the ranges of these coordinates as follows:
o <r < =,
o <e< 7t,
o <cp < 27t
(A-15.5)
each point in space is represented once and only once, with the exception of
the points along the z axis, for which cp is undetermined.
The coordinate surfaces r = constant, () = constant, and cp = constant
are, respectively: concentric spheres with center at the origin; right -circular
cones with apex at the origin, having the z axis as their axis of revolution;
vertical half-planes.
505
~--------------++--~+-------~y
r sin (J
r sin (Jd;
Figure A.15.1(a). Spherical coordinates.
o =constant
Figure A.15.1(b). Spherical coordinate system surfaces.
From Eqs. (A-15.1) and (A-15.2) we have
op
OZ
e
= cos,
oql
~
uql
sin e
'
op
Oq2
-OZ =
Oq2
r cos
. e
-r Sill
506
Appendix A
In conjunction with Eqs. (A-14.5)-(A-14.7), these show that spherical coordinates form a right-handed system of orthogonal curvilinear coordinates
whose metrical coefficients are
1
(A-15.6)
h2=r'
We also tabulate here for reference some of the more important properties of this system of coordinates:
+ ip =
dl = dr,
dl2 = rde,
df2
re iS
(dry
dS = r2 sin e de d,
+ r2(de)2 +
e(ln r)+iS
(A-15.7)
dl 3 = r sin e d
r2 sin 2e (dy
(A-15.8)
dS 2 = r sin e dr d,
dS 3 = r dr de (A-I5.9)
dV = r2 sin e dr de d
ir ir
1,
iris = 0,
ir x io
dR
=
=
ioio = 1,
i",.i</> =
isi",
i</>.ir =
ir dr
air = 0
or
'
air
.
oe = Is,
ois = 0
or
'
ois _
0(J -
oi</> = 0
or
'
~=O ,
0(J
ir
iT>
i</> X
ir
(A-15.ll)
is
(A-I5.l2)
irr
(A-I5.l3)
air
. . e
o = I</> sm
oio
.
(J
o = I</> cos
-IT)
~
o
(A-15.l4)
. sm
' (J - 10
. cos (J
-Ir
+ isJ...r 0"'"
+ i</>-~0"'"
a(J
r sm (J a
(A-I5.l5)
J...r [-.(r2
a"",)
_1 ~ (sin ea"",)
_1_ a2""'J
or
ar + sine a(J
ae + sin 2(J a2
V2"", =
Vu =
"v
0"'"
ar
0,
+ ior de + i",r sin e d

R
v"'" =
is x i",
i""
(A-I5.1O)
= irur + isus + i</>u.p

lul 2 = u~ + u~ + u~
(A-I5.I7)
(A-I5.l8)
~!
(r 2ur) + --!-(J !e(sin (Jus) + --L-(J ~~
r ur
r sm u
r sm
- Ir
r sin
1 (J [ 0()
a (.
usJ
sm e u~) - a
a
X U -
. I[a(
+ I</>rus ) - aUr]
r ar
ae
U'f'
+.18 r1
(A-l5.l6)
(A-I5.l9)
[ sin1 e a
aUr - ar
a (r u</>
)J
(A-I 5.20)
507
V 2u - 'Ir [V2
Ur
+ oUo
of) + Uo cot f) -
2 ( Ur
-?
+ i [V 2 U + ~(2 OUr
o
ae
r2
sin 2 f)
2 cos f) OU~)J
sin 2 f) 01>
+ i [V 2 U + ~(_2_ OUr + 2 cos f)

'
4>
r2 sinf) 01>
sin 2 f)
a . a cos f) a
-=smf)-+--op
or
op
oz
~=
of)
oz'
or
(A-I5.21)
~)J
OUo 01>
sin 2 f)
a
a sin f) a
-=cosf)-----
of)'
'f)0
f)o
-a = sm
- + cos-
or
I ~)J
sinf)
01>
of)
(A-I5.22)
cos f) ~
sin f) ~
(A-I5.23)
cos f)
iz
sin f)
(A-I 5.24)
f) -
io
sin f)
(A-I5.25)
op
ir
ip
sin f) +
iz
cos f),
io
ip
ip
ir
sin f) +
io
cos f),
iz
ir cos
oz
Ur
up
sin f) +
Uz cos f),
Uo
up
cos f)
Uz sin f)
(A-I5.26)
up
Ur
sin f) +
Uo
cos f),
Uz
Ur
cos f)
Uo
sin f)
(A-I5.27)
The following relations connect unit vectors in spherical and cartesian

coordinates:
ir = i sin f) cos 1> + j sin f) sin 1> + k cos f)
io
= i cos f) cos 1> + j cos f) sin 1> - k sin f)
(A-I5.28)
i = - i sin 1> + j cos 1>
The relations inverse to these are

i=
ir
sin f) cos 1> +
io
cos f) cos 1> - i sin 1>
j =
ir
sin f) sin 1> +
io
cos f) sin 1> + i4> cos 1>
k=
ir
cos () -
io
(A-I5.29)
sin ()
Ifu is the vector given by Eq. (A-I5.17), then
. . OUr
VU = Irlr
Tr
+ .Irio. oUo
oU4>
ar + .Irl4>. Tr
(A-I5.30)
+ iriu'Tru + iri,'Tr4>
+ iuir'Tor + iuiu'Tuu + ioi'Tu,
+i,ir'T" + i,i8'T~ + i,i,'T4>4>
'T = irir'Trr
508
Appendix A
then its divergence is
V.T
= iT [l..
~(r27"rr) + r-!.(sin f)7"or)
r2 or
sm f) of)
+ -!07"~ - ~~
r sm f) o<p
r
7""'r ' 'J
+ is [-;r ur
! (r27"ro) + --2-f) !f) (sin f)7"00) + ---2--f) 0-:.7"1
r sm u
r sm u,/,
cot f)
J
+ 7"Or
r --r-7"",,,,
(A-IS.3I)
+ i", [-;r ur
! (r 27"r",) + ---2--f)
!f)(sin f)7"0",) + ---2--f)
0:1'"
r sm u
r sm u,/,
+ '!.r + cotr f) 7"",0 J
A-16 Conjugate Coordinate Systems of Revolution
Transformations of the type

z
+ ip = f(ql + iq2)'
(A-16.l)
generate curvilinear coordinate systems of rotation; for, upon equating real

and imaginary parts, we obtain
z
z(qJ> q2),
p(qJ> q2),
<p
= q3
which is of precisely the form discussed in Section A-14. Furthermore, the

systems of coordinates defined by Eq. (A-16.1) are, of necessity, of the righthanded, orthogonal type. This follows by observing that Eqs. (A-14.S) and
(A-14.6) are automatically satisfied by virtue of the applicability of the
Cauchy-Riemann equations,
oz
Oq2
op
- oql
(A-16.2)
to Eq. (A-16.1).
The metrical coefficients of the present system (ql' q2, q3), obtained from
Eq. (A-14.7), adopt the particularly simple forms
l.. _ l.. _/
h~
where
d(z
/ d(qI
h~
d(z
d(qI
+ ip) /2
+ iq2) ,
h _
3 -
p(ql> q2)
(A-16.3)
+
/2 = (E.-)2
+ (~)2
= (E.-)2 + (~)2 = ... etc
+ ip)
iq2)
OqI
OqI
Oq2
Oq2
,.
Important examples of conjugate systems, characterized by Eq. (A-16.1),

are prolate spheroidal coordinates, oblate spheroidal coordinates, bipolar
coordinates, toroidal coordinates, and paraboloidal coordinates. These are
discussed at length in the following sections.
509
A-17 Prolate Spheroidal Coordinates (~, 1],
cp)
[Figs. A-17.l(a), (b), (c)]

The transformation
Z
+ ip = c cosh (, + i,,/)
> 0, gives rise to the relations

Z = c cosh, cos "/,
(A-17.I)
p = c sinh, sin "/
(A-17.2)
Every point in space is represented at least once and, with the exceptions
to be cited, only once by restricting the ranges of the prolate spheroidal
coordinates (" ,,/, cp) as follows:
o <, <
0 <"/< 7[',
00,
0 <cp < 27['
(p=O,z=+c)
l1=t77
O~--+--------+------~~-p
(p=O,z=-c)
ll=i1T
Fllure A.17.1 (a). Prolate spheroidal coordinates in a meridian plane.
(A-17.3)
Appendix A
510
Eliminating '" from Eq. (A-17.2)

yields
l = ~o =constont
Z2
c2 cosh2 ,
p2
+ ca sinha, =
,=
I (A-I 7.4)
Since cosh , :;;::: sinh ~, the coordinate

surfaces
constant are a confocal
family of prolate spheroids having
their common center at the origin.
Spheroids of this type are also referred
to as ovary, egg-shaped, or elongated
ellipsoids, and are generated by the
rotation of an ellipse about .its major
b o = csinh 10
axis-in this case the z axis-as indiFigur. A-17.1(b). Prolate spheroid.
cated in Figs. A-17.l(a), (b). The foci,
F1 and F2 , of the confocal system are
located on the z axis at the points* {p = 0, z = c} corresponding to the
values {, = 0, '" = and 7l'}, respectively. The major and minor semiaxes,
ao and bo, respectively, of a typical ellipsoid, , =
= constant, lie along
the z axis and in the plane z = 0, respectively, and are given by
'0
ao
= c cosh
We note from Eq. (A-17.5) that
'0'
(A-17.5)
(A-17.6)
and
(A-17.7)
'0
in terms of the lengths of the semiaxes.

which give the parameters c and
The eccentricity eo of a typical ellipsoid is
'0
b )2J1 /2
eo = [ 1 - ( a:
= sech
'0
(A-17.8)
=
is a degenerate ellipsoid which reduces to the line segment
The value
- c < z < c along the z axis, connecting the foci.
When, is eliminated between z and p in Eq. (A-17.2), one obtains
2
c 2 cos 2",
P
- 1
c 2 sin 2", -
(A-17.9)
The coordinate surfaces characterized by '" = constant are, therefore, a

confocal family of two-sheeted hyperboloids of revolution having the z axis
as their axis of rotation-Fig. A-17.l(c). The foci of this family are the same
as those of the corresponding spheroids. It is evident from Eq. (A-17.2) that
*Where the value of <p is not uniquely determined we shall write the point (p, <p, z) as
{p, z).
511
z
,,
,,
,,
,
'
""S:,;::::::=-+-----~,/
I 8 0 = c sin '70
" ='70 = constant c i17'
TJ = 17' - '70
=constant
Figure A17 .1(e). Two-sheeted hyperboloid of revolution.
z is positive for the values
< = < =/2
and negative for the values

constant < '!t12 gives that sheet
of the hyperboloid lying above the plane z = 0, the value 'I} = '!t - 'l}o = constant gives the corresponding sheet lying below this plane. The major and
minor semiaxes, IAol and B o, respectively, of a typical hyperboloid, 'I} =
'l}o = constant < '!t12, are
'!t12
<
'I}
<
'I}
'!t. In general, then, if 'I}
Ao
'!t
'l}o
= e cos 'l}o
Bo
= e sin 'l}o
(A-17.1O)
whence, in terms of these semiaxes,
and
+ B~
e2 =
A~
_
'l}o-
tan-!
-Bo
Ao
(A-17.Il)
(A-17.12)
The values 'l}o = and 'l}o = '!t are the two halves of a degenerate hyperboloid
and reduce to those segments of the z axis consisting of the points fp = 0,
e < z < +oo} and fp = 0, - 0 0 < z < -e}, respectively. 'l}o = '!t12 is
again a degenerate hyperboloid, the two sheets coinciding to give the entire
plane z = 0.
The distance from the origin to any point is
r
(p2
+ Z2)!/2 =
e(sinh2 ~
+ cos 2 'I})1/2 = 2~/2 (cosh 2~ + cos 2'1})!/2
(A-17.13)
the coordinates of the origin being f~ = 0, 'I} = '!t12}. It follows from the
preceding that large distances from the origin are equivalent to large values
of~, and that as ~ ~ 00, r ~ ted.
512
Appendix A
Geometric significance can be ascribed to the coordinates ~ and 'T}. If

Rl and R2 are distances measured from the two foci, Fl and F 2, respectively,
to a point P in space, then
Rl = [(z - C)2
R2 = [(z
and
+ p2]1/2 =
+ C)2 + p2]1/2 =
c(cosh ~ - cos 'T})
(A-17.l4)
c(cosh ~
(A-17.I5)
+ cos 'T})
so that
cos'T} = R 2 -- R 1
2c
(A-17.I6)
Thus, ~ and the angle 'T} are easily determined from the triangle whose sides
are Rl> R 2 , and 2c, the latter being the distance between foci. Finally, with
the help ofEq. (A-17.5), the equation ofa typical ellipsoid may be expressed
in the form
(A-17.I7)
whereas, from Eq. (A-17.1O), the equation of a typical hyperboloid may be
written as
(A-I7.l8)
If we put
(A-17.19)
then prolate spheroidal coordinates form a right-handed system of orthogonal
curvilinear coordinates whose metrical coefficients are
h
1=
2 = c(sinh2 ~
+ sin2'T})1/2 -
and
c(cosh
n 21/2
- cos 2'T}y/2
1
c sinh ~ sin "I
(A-l 7.20)
(A-17.21)
Typical unit vectors are depicted in Fig. A-17.1(a). The unit vector i", is
directed into the page.
This system of coordinates constitutes a special case of ellipsoidal coordinates in which, of the three axes of the general ellipsoid, the two smallest
are equal.
A-18 Oblate Spheroidal Coordinates (~, '1,
[Figs. A-18.I(a), (b), (c)]
The transformation
z
cp)
+ ip = c sinh (~ + i"l)
(A-18.l)
c > 0, leads to the relations

p
c cosh ~ sin "I
(A-18.2)
Each point in space is obtained once and, with minor exceptions, only once
513
by limiting the ranges of the oblate spheroidal coordinates

following manner:
o< , <
00,
0 < "I
<
7t,
0 < cf>
(t "I, cf
< 27t
in the
(A-I8.3)
Elimination of "I from Eq. (A-I8.2) results in

(A-I 8.4)
from which it is readily established that the coordinate surfaces, = constant
are a confocal family of oblate spheroids having their geometric center at the
origin. Spheroids of this type are also termed planetary, disk-shaped, or
flattened ellipsoids and are generated by rotation of an ellipse about its
minor axis (in this instance the z axis) as indicated in Figs. A-I8.l(a), (b).
F,(p=c,z=Ol
1]
i7T
'Ilure A-lI.1(a). Oblate spheroidal coordinates in a meridian plane.
514
Appendix A
The focal circle of the confocal

family lies in the plane z = 0 and
corresponds to the circle p = c.
The major and minor semiaxes, ao
and bo, respectively, of a typical
oblate spheroid, ; = ;0 = constant
lie in the plane z = 0 and along the
z axis, respectively. They are given
, =lo =constant
by Eq. (A-17.5). Equations (A-17.6)(A-17.8) are also applicable in the
Figure A-la.l (b). Oblate spheroid.
present instance. The ellipsoid given
by ;0 = 0 is degenerate and corresponds to that portion of the plane z = 0
inside the focal circle, that is, 0 < P < c.
When; is eliminated from Eq. (A-18.2) we find
Z2
p2
-.,-,;+ c 2sin2",
= I
(A-18.5)
C 2 COS 2",
The coordinate surfaces given by '" = constant are, therefore, a family of
confocal hyperboloids of revolution of one sheet having as their axis of
rotation the z axis-Fig. A-18.1(c). These hyperboloids have the same focal
circle as the family of oblate spheroids. Equations (A-17.1O)-(A-17.12),
involving the semi axes of the hyperboloid, are also applicable here. As is
evident from Eq. (A-18.2), values of", between 0 and n:/2 correspond to the
region z > 0, whereas values of '" between n: /2 and n: belong to the region
z
Plgure A-18.1(c).
One-sheeted hyperboloid of revolution.
515
z < o. Thus, if 'T} = 'T}o = constant < n: /2 gives the points on that portion of
the hyperboloid situated above the plane z = 0, then 'T} = n: -'T}o gives the
points on the same hyperboloid lying below the plane z = O. For 'T}o = 0
and n:, the hyperboloid degenerates into the positive and negative z axes,
respectively. The value 'T}o = n:/2 is also a degenerate hyperboloid, corresponding to that part of the plane z = 0 external to the focal circle, that is,
e < p < 00.
The distance from the origin to any point is
r = (p2
+ Z2)1/2 =
e(sinh2~
+ sin2'T})1/2 =
2~/2 (cosh 2~ - cos 2'T})1I2
(A-l 8.6)
the coordinates of the origin being either {~ = 0, 'T} = o} or {~ = 0, 'T} = n:}.

Large distances from the origin correspond to large values of ~; as ~ --> 00,
r --> tee E
A geometric interpretation of the coordinates ~ and 'T} is possible. Let
FI and F 2 , respectively, be the points formed by the intersection of the two
half-planes cp = CPo = constant < n: and cp = n: - cpo with the focal circle.
Then FI and F2 lie at either end of a diameter of the focal circle and are
separated by a distance of 2e. If RI and R2 are distances in the plane formed
from cpo and n: - cpo, measured from FI and F 2 , respectively, then
and
+ (p - e)2]1/2 =
[Z2 + (p + e)2)1/2 =
RI = [Z2
e(cosh ~ - sin'T})
(A-18.7)
R2 =
e(cosh ~
+ sin'T})
(A-18.8)
These give
sin'T}
= R 2 -R 1
2e
(A-18.9)
from which ~ and the angle 'T} are easily obtained from the triangle whose
sides are Ri> R 2 , and 2e. Employing Eqs. (A-17.5) and (A-17.1O), we are
thus led to
(A-18.1O)
as the equations for a typical ellipsoid and hyperboloid, respectively, of the
present system.
Upon putting
(A-18.11)
it follows that oblate spheroidal coordinates constitute a right-handed
system of orthogonal, curvilinear coordinates having the metrical coefficients
h - h 1
21/ 2
1 2 - e(cosh2 ~ - sin 2 'T})1/2 - e(cosh 2~
cos 2'T})1/2
and
ha
1
e cosh ~ sin 'T}
(A 18 12
-.)
(A-18.13)
Typical unit vectors are depicted in Fig. A-18.1(a). The unit vector i4> is
516
Appendix A
Oblate spheroidal coordinates are, again, a special case of ellipsoidal

coordinates in which, of the three axes of the general ellipsoid, the two
largest are equal.
A-19 Bipolar Coordinates (,,7], cf
[Figs. A-19.l(a), (b), (c)]
Upon setting
c
> 0, we obtain
+ ip = iccot-H~ + i1J)
z - c _..,....:..;si-=nh~1J_~
- cosh 1J - cos ~'
sin~
p - c -..----''----..,
cosh 1J - cos ~
(p
= 0, Z =TJC::
Fllure A-19.1(a). Bipolar coordinates in a meridian plane.
(A-19.l)
(A-19.2)
517
z
1)=711 = constant >0
Radius = ClCSCh710I
-~-
71 = 710 = constant> 0
17101> 17111> 17121

Figure A-19.1(b). Coaxial spheres.
The foregoing denominators are essentially positive. Each point in space is

represented once and, with minor exceptions, only once by restricting the
range of the coordinates to the following intervals:
(A-19.3)
-00<"1<00,
Upon eliminating, in Eq. (A-19.2), we obtain

(z - c coth "1)2
+ p2 =
The coordinate surfaces "I = constant

are, therefore, a family of non-intersecting, coaxial spheres whose centers lie
along the z axis. A typical sphere, "I =
"10 = constant, has its center at the point
{p = 0, z = c coth "Io} and has a radius
of c Icsch "101. It follows from Eq. (A-19.2)
that, if "10 > 0, the sphere lies entirely
above the plane z = 0. Conversely, for
"10 < 0, the sphere is situated below this
plane. The value "10 = is a sphere of
c 2 csch 2 "I
(A-19.4)
Figure A-19.1(c). Surfaces
E = constant.
518
Appendix A
infinite radius and is equivalent to the entire plane z = 0. For 'rjo = co

the sphere radius is zero; these values of 'rjo correspond to the points {p = 0,
z = c}, respectively, termed the limiting points of the system. These are
designated by L) and L2 in Fig. A-19.l(a). As 'rjo decreases from + co to 0, the
radius of the corresponding sphere increases from zero to infinity and the
center moves from z = c to + co along the z axis. Likewise, as 'rjo increases
from -co to the sphere radius again increases from zero to infinity, while
the center moves from z = -c to -co along the z axis.
If'rj is now eliminated from Eq. (A-19.2) we obtain
Z2 + (p - c cot ~)2 = C 2 csc 2 ~
(A-19.5)
In a meridian plane, the curves ~ = constant are arcs of circles, terminating
at the limiting points of the system and having their centers in the plane
z = 0. Circular arcs corresponding to values of ~o between and 7(/2 are
greater in length than semicircles, whereas values between 7(/2 and 7( are
less than semicircles. Therefore, upon rotating these arcs about the z axis,
the coordinate surfaces ~ = constant thereby obtained are spindle-like
corresponds to the two segments of
surfaces of revolution. The value ~ =
the z axis which lie above L) and below L 2 For ~o = 7( we obtain the line
segment between L) and L 2 ~o = 7(/2 is a sphere of radius c.
The distance from the origin to a point in space is
r = (
z2)l/2
c (COSh 'rj
cosh 'rj
+ cos ~))/2
-
cos ~
(A-19.6)
the origin being given by {~ = 7(, 'rj = OJ. We note that cosh 'rj - cos ~ > 0,
the value zero being attained only when both ~ = and 'rj = 0. These, then,
are the values corresponding to r = co.
To secure a geometric interpretation of bipolar coordinates, denote by
R) and R2 the distances measured to a point P from the limiting points L)
and L 2 , respectively. Thus,
2c 2 eon
R2 - (z - C)2 + p2 - _.---_ _ _"
(A-19.7)
)- cosh 'rj - cos ~
m=
z
(z
+ C)2 + p2 =
2c 2 en
-..,---------,:
cosh 17 - cos ~
(A-19.8)
from which we obtain

(A-19.9)
-+--+---+--p
Physical
interpretation of the g,:oordinate.
Figure A.19.2.
and
cos ~
= Ri +
R~ - (2cy
2R)R2
(A-19.1O)
But 2c is the distance between the limiting points

of the system. Thus, in the triangle whose sides
are R), R 2 , and 2c, ~ is the subtended angle
That this is so is equally evident from Fig.
A-19.2.
r;:Pt;.
519
Upon arranging that

ql
~,
q2
q3 = cf>
7],
(A-19.1l)
it follows that bipolar coordinates are a right-handed system of orthogonal,

curvilinear coordinates whose metrical coefficients are
hi = h2 = cosh 'TJ
h - cosh 7] - cos ~
3 c sin ~
cos ~ ,
(A-l 9. 12)
Typical unit vectors are displayed in Fig. A-19.I(a). The unit vector i.p is
A-20 Toroidal Coordinates (~, 'rj,
[Figs. A-20.I(a), (b), (c)]
cp)
Toroidal coordinates are generated by the transformation

z + ip = ic coth -H~
+ i7])
(A-20.l)
c > 0, from which we obtain the relations
z-
sinh ~
P - c --.---,,---=--
sin :L'TI
cosh ~ - cos 7]'
cosh ~ - cos 7]
(A-20.2)
By permitting the coordinates to range over the values
o< ~ <
00,
0<
7]
< 27l' ,
0 < cf> < 27l'
(A-20.3)
each point in space is represented at least once and, with minor exceptions,
only once.
Elimination of 7] from Eq. (A-20.2) yields
(A-20.4)
In a meridian plane the curves ~ = constant are, therefore, nonintersecting,

coaxial circles having their centers in the plane z = O. A typical circle,
~ = ~o = constant, has its center at a distance c coth ~o from the origin and
has a radius of c csch ~o. Upon rotation about the z axis these circles generate
an eccentric family of toruses (anchor-rings). A typical toroidal coordinate
surface, ~ = ~o, is depicted in Fig. A-20.l(b). The value ~ = 0 corresponds
to the entire z axis, whereas the value ~ = 00 gives the points lying on the
circle p = c in the plane z = O.
When ~ is eliminated from Eq. (A-20.2) there results
(A-20.S)
In a meridian plane the curves 7] = constant are, therefore, circular arcs

beginning on the z axis and terminating at the plane z = O. Revolving these
arcs about the z axis, the coordinate surfaces 7] = constant thereby obtained
are lenses or spherical caps having their centers along the z axis. A typical
cap is shown in Fig. A-20.l(c). This family of spherical caps intersect in a
common circle, p = c, lying in the plane z = O. For 0 < 7]0 < 7l'/2 the cap
Appendix A
520
z
~
ccoth~o
=&0 =constant
Figure A-20.1 (b).
T1 =T/O = constant < '2
1T
Anchor rings.
z
---I~-----r
T/o
Figure A-20.1 (a). Toroidal coordinates

in a meridian plane.
Figure A-20.1 (e).
Spherical caps
(or lenses).
is greater than a hemisphere and lies above the plane z = O. Likewise, for
values of n: /2 < '10 < n: the cap is less than a hemisphere and has the form
of a curved diaphragm. '10 = n:/2 is exactly a hemisphere. In general, if
'1 = '10 = constant < n: gives the surface of the cap lying above the plane
z = 0, the extension of the spherical cap below this plane is given by
'1 = n: + '10' The value '1 =
yields those points in the plane z = 0 which
lie outside the circle p = c, whereas '1 = n: gives those points in the plane
which lie inside this circle.
z=
The distance from the origin to a point in space is given by
r2
=(
+ Z2)1/2 =
the origin having the coordinates

by the "point"
c (COSh ~ + cos rz)1/2

cosh ~ - cos '1
{~ =
0, '1
n:}. r
00
(A-20. 6)
is characterized
(A-20.7)
521
To interpret the present system of coordinates geometrically, let L, and

L2 be the points obtained by the intersection of the two parallel meridian
planes cp = cpo = constant < 7C and cp = 7C - cpo, respectively, with the
circle p = e lying in the plane z = O. L, and L2 thus lie at opposite ends of
the circle, being separated by a distance 2e. If a point P lies in one or the
other of these two meridian planes, and if R, and R 2, respectively, are
distances measured from L, and L2 to P, then
2e 2 e- f _
R2 - Z2 + (p - e)2 - _...--.:--_
(A-20.8)
,- cosh ~ - cos TJ
2
R2
= z
+ (p + e)
2e 2 eE
(A-20.9)
= cosh ~ - cos TJ
These combine to give

(A-20.l0)
__ R;
and
cos TJ -
+2RI
R~ - (2e r
R2
In consequence of these, TJ is the subtended angle

sides are R I , R 2, and 2e.
Choosing
(A-20.11)
r::Pt;. in the triangle whose

(A-20.I2)
the system of toroidal coordinates forms a right-handed system of orthogonal,

curvilinear coordinates with metrical coefficients
J -- h - cosh ~- cos TJ
1[-
2-
. C
'
=
3
cosh ~ - cos TJ
e sinh ~
(A-20.I3)
Typical unit vectors are shown in Fig. A-20.1(a). The unit vector i", is
A-21 Paraboloidal Coordinates
(~,
"1, )
[Figs. A-21.1(a), (b), (c)]

Paraboloidal coordinates arise from the transformation
e
>
(A-21.1)
0, whereupon
(A-21.2)
Each point in space is represented at least once by letting the paraboloidal

coordinates (t TJ, cp) range over the values
o <cp <
27C
(A-21.3)
From Eq. (A-21.2) we obtain
p2 =
4e~2(e~2
- z)
(A-21.4)
522
Appendix A
so that the coordinate surfaces g = constant are confocal paraboloids of

revolution having the z axis as their axis of rotation and their foci at the
origin. These paraboloids open in the direction of z negative.
In a similar manner Eq. (A-21.2) yields
(A-21.5)
whence the coordinate surfaces 7] = constant are also confocal paraboloids
of revolution having the z axis as their axis of rotation and their foci at the
origin. This family of paraboloids, however, opens along the positive z axis.
The distance from the origin to any point in space is
= (p2
+ Z2)1!2 = C(g2 + 7]2)
(A-21.6)
It is useful in some applications to employ the relations
g=
8
c )1/2 cosT'
( r
7]
= (c
)1 /2.
8
smT
(r, 8, </ being spherical coordinates.
Fllure A.21.1(a). Paraboloidal coordinates in a meridian plane.
(A-21.7)
523
= 2clg
'
fVT-,
to =constant
L'
00
- -1
b
!-1-0
= C f2
~
1J = 110 = constant
Figure A-21.1 (e). Paraboloid
1J = constant.
Paraboloid of
revolution g = constant.
Figure A-21.1(b).
of
revolution
With the choice of curvilinear coordinates,

ql = ~,
q2 = "I,
q3 = cp
(A-2 1. 8)
the system of orthogonal, curvilinear coordinates is right-handed and has

metrical coefficients whose values are
(A-21.9)
A set of unit vectors is shown in Fig. A-2 1.1 (a). The unit vector i</> is directed into the page.
Paraboloidal coordinates may also be obtained as a limiting case of
prolate spheroidal coordinates. This technique is useful in obtaining solutions
to various problems involving paraboloids of revolution when the solution to
the corresponding problem is known for a prolate spheroid. In Section
A-I? replace z by z + 2ck 2 , c by 2ck 2 , and ~ and "I by ~/k and "Ilk, respectively. Thus, prolate spheroidal coordinates are now given by the transformation
(z
t irz)
+ ip = 4ck sinh (~ i/rz)
+ 2ck + ip =
2ck 2 cosh (~
2)
This gives
Z
As we let k ~ 00 and expand the hyperbolic sine term for small values of
its argument, we obtain in the limit
z
+ ip =
c(~
+ i"l)2
which is precisely the definition of paraboloidal coordinates.
Summary of Notation
and Brief Review of
Polyadic Algebra
The vector, dyadic, polyadic, and tensor notation used in this book
follows customary American usage, being derived from the work of Gibbs 4
Extensions of Gibbs' notation to polyadics of ranks greater than 2 (that is,
dyadics) is discussed in Drew's Handbook of Vector and Polyadic Analysis 3
For our immediate purposes, however, the formidable general symbolism
developed by Drew is unnecessary. Block! has produced a very brief and
readable textbook on the relationship between polyadics and tensors.
Milne's5 book affords an excellent example of the physical insights afforded
by polyadic symbolism in physical problems. The reader should be cautioned,
however, that Milne utilizes the "nesting convention" of Chapman and
Cowling 2 with regard to multiplication of polyadics, rather than the original
notation of Gibbs 4
In this text, physical quantities encountered are distinguished as being
scalars, vectors, and polyadics. They are distinguished, wherever feasible, *
by differences in type as follows:
*Thus, boldface Greek symbols may represent either vectors or polyadics.
524
Summary of Notation and Brief Review of Polyadic Algebra
525
s = scalar (lightface italic)

v = vector (boldface roman)
i, e = unit vectors (boldface roman)
, = polyadic (boldface sans serif)
When, without specific designation, the same letter appears in the same
context both as a vector (for example, v) and as a scalar (for example, v), the
scalar is the magnitude of the vector. When necessary for clarity Iv I is used to
denote the magnitude of the vector v.
Vectors and polyadics are often conveniently expressed in terms of their
components in some particular system of curvilinear coordinates (qlo q20 qa),
for example, cartesian coordinates (x, y, z), spherical coordinates (r, fJ, cp),
cylindrical coordinates (p, cp, z). In this text we work only with orthogonal
curvilinear coordinates, of which the preceding systems are examples. If
(ilo i h ia) are a right-handed* triad of unit base vectors in such a system, for
example (i, j, k) in cartesian coordinates or (in ie, i~) in spherical coordinates,
then any vector v may be expressed in the form
(B-1)
where (VI' Vb Va) are the components of the vector v in the particular coordinate system. This relation may also be written concisely as
(B-2)
We shall review briefly some of the more important properties of polyadics. The most general dyadic can be expressed in the nonion form
(B-3)
Written out explicitly this is
+ iligD 12 + iliaDj3
D = ililD l l
+ igil D21 + igigDgg + i2i3 D23

+ i3 i l D 3j + i3i2D32 + i3 i3D33
(B-4)
The set of nine scalar numbers Djk (j, k = 1,2,3) are the components of
the dyadic. Though their numerical values depend on the particular system
of coordinates (qj, q2, q3) employed, the dyadic D itselfhas a significance which
transcends any particular choice of coordinates. If the unit vectors in Eq.
(B-4) are suppressed, one may regard the dyadic D as the 3 x 3 matrix
*The system is right-handed in the cyclic order
3
,/
if, for the scalar triple product,
--+
'"2
526
Appendix B
DI2
(D)
D21 D22 D23
D31 D32 D33
The determinant of the dyadic D is the scalar
DU)
detD
Dll
DI2
D21
D22
DI3
D 23
D31
D32
D33
(B-5)
(B-6)
whose value can be shown to be an invariant which is independent of the

particular system of coordinates employed.
The transpose (or conjugate) of the dyadic D is denoted by the symbol
Dt (some authors use D, Dc, Dt) and may be defined as the dyadic obtained
by interchanging the order of the unit vectors in Eq. (B-3). Thus,
(B-7)
or, since the indices j and k are dummy indices, we have, upon interchanging
j and k, that
Dt
~ ~ ijikDkj
(B-8)
j~1 k~1
This operation can be shown to have an invariant meaning. It is also equivalent to the usual transposition operation with matrices, where the rows and
columns in Eq. (B-5) are interchanged.
A dyadic is said to be symmetric if it is equal to its own transpose, that is,
D = Dt
(B-9)
From Eqs. (B-3) and (B-8), this is equivalent to the three scalar equations
Djk
DkJ
(j, k
1,2,3)
(B-lO)
which, when written out explicitly, requires that

(B-1 I)
A symmetric dyadic thus possesses only six independent components. Any

symmetric dyadic can be written in the diagonal form
(B-12)
where (e l , e 2 , e 3) are a particular system of mutually perpendicular unit

vectors called the eigenvectors (characteristic vectors) of the symmetric dyadic
D. The three scalars D I, D 2 , D3 are called its eigenvalues (principal values,
characteristic values, characteristic roots). For a given symmetric dyadic D,
the problem of establishing its eigenvalues and eigenvectors is equivalent to
that involved in diagonalizing the matrix in Eq. (B-5).
A dyadic D is anti symmetric if it is equal to the negative of its transpose,
that is, if
(B-13)
527
From Eqs. (B-3) and (B-S), this requires that

Dll
D22
Dss
=0
(B-14)
D12 = -Du,
D23 = -Ds2'
DSl = -DIs
An antisymmetric dyadic thus possesses only three independent components.
Any dyadic can be uniquely expressed as the sum of a symmetric and
antisymmetric dyadic as follows:
and
(B-1S)
the first term on the right being symmetric and the second antisymmetric.
A particularly important dyadic is the idem/actor or unit dyadic. This
may be written in the form*
s _
where
Jk -
(B-16)
{l0
ifj = k
ifj"* k
(B-17)
is the Kronecker delta. Hence, an equivalent form of the idemfactor is

I = iii!
+ i2i2 + isia
(B-lS)
The most general triadic, say T, can be expressed in the formt
and thus has 27 independent components, T jk1 In applications one must

consider two possible transposition operations:
pre-transpositiona
tT = ~ ~ ~
j=! k=! 1=1
ikijilTjkl
ass
~ ~ ~
j=! k=! l=!
ijikilTkjl
(B-20)
post-transpositionTt
=
=
~ ~ ~
j=! k=1 l=!
ijilikTjkl
~ ~ ~
j=1 k=! 1=1
ijikilTjlk
(B-2l)
An especially useful triadic is the unit isotropic triadic (alternating triadic,

alternator),
(B-22)
*Some authors prefer U for the unit dyadic.
tSince polyadics of order greater than 2 appear only infrequently in the text, we do not
use any special type style to distinguish the different orders. If necessary, one can attach the
affix n to indicate the order of the polyadic. Thus nA is an n-adic; for example, 2A is a dyadic,
SA a triadic, etc.
528
Appendix B
where Ejk' is the permutation symbol, having the following properties: it is

zero if any two of the three indices are equal; it has the value + 1 if (j, k, /) is
an even cyclic permutation of the integers (l, 2, 3); it has the value -1 if
(j, k, /) is an odd cyclic permutation of the integers (l, 2, 3). Thus, written
out explicitly we have
= ili2iS - ilia i2
(B-23)
+ i2iail - i2ilia
+ iaili2 - ia i2il
The most general polyadic of rank n in three-dimensional space is the
n-adic
(B-24)
which has 3n components.

There exist several different types of "multiplication" pertaining to
vectors and polyadics. Since all such entities may be expressed in the form of
Eq. (B-24), the multiplication rules may be conveniently expressed in terms
of operations on the unit vectors in Eq. (B-24), at least for the orthogonal
systems of interest to us in this text. Attention is confined to those multiplicative operations which appear explicitly in this book.
For the dot multiplication of vectors, we have (for j, k = 1,2,3)
ij.ik = Sjk
(B-25)
whereas for cross mUltiplication of vectors
I j X Ik
1=1
(B-26)
Ejk,l,
Dot and cross multiplications may be applied to polyadics of any order

by invoking the convention that the operation denoted by the dot or cross
is to be performed on the vectors appearing immediately on either side of the
operational symbol. For example, the two possible dot products of a dyadic
with a vector are
Dv = (~ ~ ijikDjk) ~ i,v,
k
and
~ ~ ~
~ ~ ~ i j Ski DjkVI
~ ~
vD =
ij(ik'i,)DjkV,
(a vector)
ijDjkVk
(~ijVj)'(~ ~
k
ikilDkl)
~ ~ ~
(ij.ik)iIDk,Vj
~ ~ ~
i, SjkDk,Vj
(B-27)
= ~ ~ i,Dk,Vk
k
= ~ ~ i j DkjVk
(a vector)
(B-28)
529
Summary of Notatian and Brief Review of Polyadic Algebra
the latter equation being obtained by replacing the dummy index 1 with j.
We observe that
vD -=/= Dv
(B-29)
unless D is symmetric, in which case D jk = D kj Observe, however, that it

is always true that
(B-30)
One can dot mUltiply two polyadics of any order; for example, for a triadic
, and dyadic D,
~ ~ ~ ~ ~ i)kin OtmTjktDmn
~ ~ ~ ~ ijikinTjktDln
(a triadic)
kIn
(B-3 I)
As examples of cross products we have, with the aid of Eq. (B-26),

Dx v=
(~ ~ i)kDjk)
k
(~ itVt)
t
~ ~ ~ ij(ik X il)Djkv I
~ ~ ~ ~
~ ~ ~
~ ~ ~ ~ imi, fjkmDklVj
~ ~ ~ ~
ijim
kIm
(ij
fktmDjkVI
(a dyadic)
(B-32)
(a dyadic)
(B-33)
X ik)ilDklVj
kIm
ijim
kIm
flkj D km VI
which we have obtained from the preceding equation by the substitutions

I, 1- m, m - j. Because of the relations
j -
(B-34)
it is possible to express these relations in a variety of equivalent forms.
We note that
(B-35)
Dxv-=/=vxD
Cross products may also be formed from higher-order polyadics; for example,
D X , = a tetradic.
Another form of multiplication is direct multiplication, in which no
operational symbol is employed. For example,
Dv =
(~ ~ ijikDjk)(~ itvt)
I
~ ~ ~
j
ijiki , Djk V t
(a triadic)
(B-36)
It is sometimes convenient to use multiple operational symbols. The
530
Appendix B
only such operator employed extensively in this book is the double-dot

multiplication of Gibbs. In Gibbs' notation, if a, b, c, d are any vectors, then *
(ac)(bd)
(B-3?)
= (ij.iz){ik'im) = 8jz 8"m
(B-38)
ab: cd
In particular, if these be unit vectors
iji,,:izim
For example,
D(l): D(2)
(~ ~
~ ~ ~ ~ (iji,,:
j
"
z m
ij i"D)1: (~
Z
~ ~ ~ ~
j
"
~
m
izimDI;;)
Um)DW Dl;;
(ij.il){ik' im) D)1) Dl;;
~ ~ ~ ~ 8jz8"mDWDl~
~ ~
"
Ie
DW DW (a scalar)
(B-39)
Similarly,
(B-40)
Another useful multiple operation is the double cross-product, which in
Gibbs' notation is defined by the relation
ab
cd
= (a x c){b x d) (a dyadic)
(B-41)
In a sequence involving more than two operations, parentheses may be

required to define the operations unambiguously. For example,
(v(l) x v(2'D
whereas
V(l) x (D'V(2
v(1) x (v(2)'D)
(v(l) X D)'V(2)
v(l) X D'V(2)
so that no parentheses are necessary to specify the order of the operation.

The idemfactor has the property that if '\If is any vector or polyadic, then
1'\If = '\If. I
'\If
(B-42)
Other useful properties possessed by the idemfactor are

I: V(J)V(2)
where v(l) and
V(2)
v(l). V(2)
(B-43)
are any vectors. As particular examples we have
I:Vv
and
I:VV
Vv
= V V = V2
where V2 is the Laplace operator.

*Some authors 2,5 define
ab: cd
(ad)(bc)
(B-44)
(B-45)
531
The unit alternating triadic has the useful property that

E: VO ) V(2) = VO )
V(2)
(B-46)
In particular
E
(B-47)
:VV = V x v
We note that
E =
(B-48)
-I xl
If D(1) and D(2) are dyadics and VO ) and V(2) are arbitrary vectors, then if
v(l). D(t). V(2) = v(l). D(2). V(2)
the principle of equality of dyadics permits us to conclude that
D(1) = D(2)
The determinant of a dyadic may be expressed in the invariant form
det D = HD ~ D) : D
(B-49)
If the determinant of a dyadic D is different from zero, then the dyadic

possesses a unique inverse D- l defined either by the relation
DD- l = 1
(B-50)
or
The inverse possesses the properties that
(D(1)D(2Jt l =
D(2~'DC;~
and
(B-51)
(B-52)
The inverse or reciprocal dyadic may be computed from the relation

D-l _ -HD ~ D)'
detD
(B-53)
The relationship
Dv = 0
for v an arbitrary vector requires that D = O. On the other hand, if v is a
given vector the preceding relation requires that D = 0 if, and only if, det D
*- O. Conversely, if v is a given vector and det D = 0 then D need not be
zero. For example, if we let i3 be a unit vector parallel to the given vector v,
that is, v = i3 v, then the relation D v = 0 is clearly satisfied by any dyadic of
the general form
D = i l i l D l1
+ i 2i l D2l
+ i3 i l D3l
+ i l i 2D l2
+ i2i2
+ i3 i2
D22
D32
In such cases for which det D = 0, D is said to be an incomplete dyadic.

Conversely, D is a complete dyadic if det D *- O.
532
Appendix B
A vector v for which the vector Dv is parallel to v is an eigenvector of D.

If, for such vectors v we write
Dv = I\,V
then I\, is called the eigenvalue associated with
written in the form
(D - 11\,)'v = 0
v.
The foregoing may be
so that the eigenvalues are the roots of the characteristic (secular) equation
det (D -
II\,)
(B-54)
In the particular case where D is a symmetric dyadic, there are in general

three real roots 1\" (i = 1,2,3), not necessarily distinct, of the cubic equation
Dll -
I\,
DI2
D22 -
DI2
DIS
I\,
Dss -
D23
DIS
=0
Dgs
(B-55)
I\,
If the roots are distinct, then the corresponding three eigenvectors v" defined by
(B-56)
form a mutually perpendicular triad of vectors. The preceding equation
remains unaltered if VI is multiplied by a constant, say c,:
D,(ctvt) =
I\,,(CIV;)
It is convenient to choose c, such that the vector c, Vt is normalized to unity,

that is, Ic, v, I = 1. Thus the normalized eigenvectors, e, = v';v;, satisfy
led = 1, and the equation
De,
I\"e,
(i
1,2,3)
(B-57)
Since they are mutually perpendicular, then

ejek
Ojk
(B-58)
By utilizing these eigenvalues and normalized eigenvectors the symmetric

dyadic D may be written in the form of Eq. (B-12), where 1\,1 = D t
A symmetric dyadic is said to be positive definite if for all non-zero
vectors u, the scalar
(B-59)
uDu > 0
A necessary and sufficient condition that D be a positive definite symmetric

dyadic is that its three eigenvalues 1\,1> I\,g, I\,s each be positive scalars; for if
we write the symmetric dyadic in the form of Eq. (B-12) and note that I\,t =
D" we obtain
u D u = 1\,1 u~ + 1\,2 U~ + I\,s u~
(B-60)
where Ut is the component of u in the direction of et.
If we restrict ourselves to situations in which the unit vectors (il> ig, is) in
Eqs. (B-3) and (B-24) are the constant cartesian unit vectors (i, j, k), the
calculus of polyadics can be made equivalent to ordinary scalar calculus. For
example, by writing
533
(B-61)
where (XI> Xg, X3) are cartesian coordinates, the divergence of a dyadic may be
written in cartesian form as follows:
(B-62)
Written out explicitly this is

g! + OD3!)
+ oD
OXg
oX
V D = i! (oD ll
OX!
+i
+ ODg2 + OD32)
(oDu
OX!
oXg
oX3
(B-63)
+ i3 (OD!3 + oD g3 + OD33)
OX!
oXg
oX3
In noncartesian coordinate systems, the unit vectors are not constant, but
are themselves functions of position (see Sections A-4 and A-7). Hence, in
such cases,
o (0 Y)
-::;- lk
OXj
oY
*- lk0 -::;oX j
which shows why Eq. (B-62) is not valid except when (XI> Xg, X3) and
(il> ig, i3) refer to cartesian coordinates.
Ifwe confine ourselves solely to cartesian coordinates one may, in a sense,
ignore the unit vectors and summation signs in equations such as (B-2),
(B-3), (B-16), (B-24), and (B-62), and write
=
D=
I=
np =
v
Vj
(B-2')
Djk
(B-3')
Ojk
(B-16')
Pk1k, k n
(B-24')
(B-62')
so that an obvious correspondence can be made to exist between polyadics

and cartesian tensors. Polyadics, however, are clearly much more general
entities than are cartesian tensors, for it is obviously not essential that the
unit vectors be cartesian unit vectors. The distinction is, of course, of significance only in the calculus of polyadics and tensors-not in their algebras.
With regard to the integral calculus of polyadics, the only formula we
shall mention explicitly is the analog of Gauss' divergence theorem,
534
Appendix B
(B-64)
where S is a closed surface completely bounding the volume V, dS is a directed

element of surface area pointing out of the volume V, np is a polyadic of
any rank, and dV is an element of volume. Since, in general
dS.np *- npdS
it is important to maintain the proper ordering of the directional quantities
in the integral theorem.
The significance of polyadic integrals is, perhaps, most readily grasped
by expressing them in terms of cartesian unit vectors. For example, if T is
the triadic
and we write
dS =
and
V=
~
j
i j dSj
J--
~n in uXn
then Eq. (B-64) may be written
~k ~l ~m ilim
f dSkTklm = ~ ~ ~ ilimf
S
~klm dV
V UXk
which is a dyadic equation, equivalent to nine scalar relations. In differentiating the unit vectors and in bringing them through the integration sign, we
have explicitly utilized the fact that they are constants, independent of position. Thus, the preceding relation written out in component form is valid
only for cartesian systems. The relation from whence it emanated,
is, of course, an invariant relation and holds true in any system of coordinates.
BIBLIOGRAPHY
1. Block, H. D., Introduction to Tensor Analysis. Columbus, Ohio: Merrill,

1962.
2. Chapman, S., and T. G. Cowling, The Mathematical Theory of Non-Uniform

Gases, 2nd ed. Cambridge: Cambridge Univ. Press, 1961.
3. Drew, T. B., Handbook of Vector and Polyadic Analysis. New York: Reinhold,
1961.
4. Gibbs, J. W., and E. B. Wilson, Vector Analysis (reprint). New York: Dover,
1960.
5. Milne, E. A., Vectorial Mechanics. London: Methuen, 1957.
Indices
Name Index
[N ames listed here refer only to the text

itself. Additional names appear in the Bibliography at the end of each chapter.]
Boardman, R. P., 414

Bohlin, T., 318, 320
Bond, W. N., 153-154
Boussinesq, 1., 8, 129
Breach, D. R., 225
Brenner, H., 7 n, 62 n, 67 n, 85, 159,
207, 219, 226, 246, 276, 281,
292, 302, 330, 331, 343, 346,
351,376,387,404-408,432
Brinkman, H. C, 390-391, 413
Brodnyan, J. G., 470
Broersma, S., 230
Bueche, A. M., 461
Burgers. J. M., 82-85, 229-230,
277-278, 374, 376, 378, 385,
441,442
Byrne, B. 1., 299, 318
Ackerberg, R. C, 141 n
Acrivos, A., 127 n, 207 n
Andersson. 0., 244
Aoi, T., 145
Aris, R., 7, 23, 26,129
Arrhenius, S., 465
Ast, P. A .. 321. 391
Bagnold, R. A., 19
Bairslow, L., 48
Bakhmeteff, B. A., 419
Bart, E., 273-275,315
Bartok, W., 462
Basset, A. B., 8, 125, 126
Bateman, H., 8, 129 n
Bazin, H. E., 10
Becker, H. A., 232
Berker, R., 7 n
Bird, R. B., 7, 52, 92
Blake, F. C, 10
Blasius, P. R. H., 32
Block. H. D .. 524
160,
288,
349,
245,
419,
c
Carman, P. C, 10, 393, 403-404, 417,
418
Caswell, B., 51-52
Chang, I-Dee, 7 n
Chapman, S., 49-50, 524
Charles, M. E., 36-37
537
538
Name Index
Charnes, A., 48-49

Cheng, P. Y., 413, 462, 467
Chester, W., 281 n
Christiansen, E. B., 188,219-220
Christopherson, D. G., 92
Citron, S. J., 354
Cole, J. D., 45
Collins, E. R., 9, 16
Collins, W. D., 157
Copley, A. L., 17, 18 n
Coull, J., 232
Coulter, N. A., 469
Cowling, T. G., 524
Cox, R. G., 281 n
Craig, F. F., 315
Cunningham, E., 11, 130, 132 n, 387,
411
o
Dahl, H., 259-260, 272
Dahler, J., 25 n
DallaValle, J. M., 13,417
Darcy, H. P. G., 8-10
Dean, W. R., 60
Debye, P., 461
Dowson, D., 92
Drew, T. B., 7,524
Dryden, H. L., 8, 129 n
Dupuit, A. J. E. 1., 10
Faxen, O. H., 12, 48, 258, 259, 272, 322,

323, 325, 328, 330, 344, 379, 385
Fayon, A. M., 316, 423
Feodorofl', N. V., 419
Feshbach, H., 117 n, 402
Fidleris, V., 318, 320
Fitch, E. B., 416
Ford, T. F., 464
Frisch, H. L., 432, 459, 461, 463
Fujikawa, H., 49, 283, 386
Fulton, J. F., 469
Gans, R., 160, 232

Gardner, G. C., 420
Geckler, R. D., 465
Ghildyal, C. D., 350
Gibbs, J. W., 7 n, 86, 201, 524, 530
Gilliland, E. R., 421
Glansdorfl', P., 92
Goldsmith, H. L., 296, 371
Goldstein, S., 141 n
Grace, H. P., 421
Graetz, L., 38
Green, A. E., 51
Green, H. L., 416
Greenhill, A. G., 38
Gupta, S. C., 149
Guth, E., 12-13,443-447
E
H
Eagleson, P. S., 416

Einstein, A., 12, 207, 441-448, 452, 455,
461-470
Eisenschitz, R., 459, 460
Emersleben, 0., 48
Epstein, N., 363, 364, 418
Epstein, P., 396
Epstein, P. S., 50-51, 126
Ericksen, J. L., 51
Eveson, G. F., 273, 275
Fair, G. M., 403

Famularo, J., 309, 321, 381, 383, 384,
385
Haberman, W. L., 72, 130, 134, 318, 320,

321,349,351,392
Hadamard, J. S., 127
Hall, W. A., 404
Happel, J., 133, 273, 276, 283, 299, 302,
316, 318, 321, 363, 364, 391, 415,
417,418,423,424,442,443,450,
455, 463
Harris, C. C., 412
Hasimoto, H., 48-49, 377-379, 385, 386,
396
Hatch, L. P., 403
Hawksley, P. G. W., 466
Hayes, D. F., 92
Hiemenz, K., 32
Heiss, J. F., 232
539
Name Index
Helmholtz, H. L. F., 91-93

Hermans, I. I., 432
Hill, R., 92
Hirsch, E. H., 51
Hocking, L. M., 269-270
Hooper, M. S., 36
Howland, R. C. I., 353
Hutto, F. B., 421-422
lllingworth, C. R., 7 n
fnce, S., 8
frmay, S., 404
leffery, G. B., 12, 115, 215, 236, 269272, 274, 330, 348-349, 441, 456460
lenson, V. G., 40, 46
lohansen, F. c., 154
Johnson, E., 465-466
lones, A. M., 230,232
Jones, G., 468
Ladenburg, R., 11,72,331

Ladyzhenskaya, O. A., 7 n, 61 n
Lagerstrom, P. A., 7 n, 45
Lamb, H., J I. 48, 62, 63, 83, 106, 183,
192, 220-221, 252, 301, 302, 321,
342,343-344,349,388,439
Landau, L. D., 26, 160, 166, 353
Lane, W. R., 415, 416
Langlois, W. E., 7 n
Lanneau, K. P., 425
Larmor, J., 183, 192
Lee, H. M., 130, 132 n
Lee, R. c., 442
Leibenson. L. S., 399
Leslie, F. M., 52
Leva, M., 422-423
Levich, V. G., 129
Lichtenstein. L., 61
Lifshitz, E. M., 26, 160, 166. 353
Lightfoot, E. N., 7
Lin. P. N., 374, 375
Loeffler, A. L., Ir., 396, 398, 399
Lorentz, H. A., 11, 85. 87, 315, 329
M
K
Kaplun, F., 45
Kawaguchi, M., 376, 385
Kaye, B. H., 413-414
Keller, 1. B., 316,371
Kelvin, Lord, 183, 191-192
Kirkwood, 1. G., 461
Kneale, S. G., 98
Knight, R. c., 353
Knudsen, 1. G., 230, 232
Knudsen, M ... 50
Kozeny, I., 10,403
Krakowski, M., 48-49
Kuenen, P. H., 18
Kuhn, H., 459, 460, 470
Kuhn, W., 459, 460, 470
Kunitz, M., 465-466
Kuwabara, S., 283, 386, 390
Kynch, G. I., 268-269, 274, 276-277,
376, 416, 447, 453, 454, 456, 464,
466
MacKay, G. D. M., 330

McNown, J. S., 42, 317, 374
MacRobert, T. M., 135 n
Manley, R. SI. J., 459
Mason, S. G., 296, 330, 371, 459, 462
Mathews, H. W., 277
Maude, A. D., 330n, 412, 471
Merrill, E. W., 17, 18
Milne. E. A., 524
Milne-Thomson, L. M., 27, 106,390
Miyagi, T., 386
Mooney, M., 446, 463, 464, 470
Mori, Y., 466
Morse, P. M., 117 n, 402
Murnaghan, F. P., 8, 129 n
Navier, L. M. H., 8, 27
Noda, H., 413
Noll, W., 51
540
Name Index
o
Oberbeck, H. A., 11, 145,220,230,332
Odquist, F. K. G., 61
Oldroyd, J. G., 51, 52
Oliver, D. R., 371
Oman, A. 0., 417, 419
Oseen, C. W., 7, 12
Othmer, D. F., 16,417,422,423,424
Ototake. J., 466
p
Pappenheimer, J. R., 469

Payne, L. E., 115, 145, 156-157, 208
Pearson, J. R. A., 42, 45-46, 48, 51, 225,
281,283
Pell, W. H .. 115, 145, 156-157,208
Pettyjohn, E. A., 188,219-220,225
Pfeffer, R., 273, 276, 283, 415
Philippoff, W., 462,463
Piercy, N. A. Y., 36
Poiseuille, J. L. M., 8,469
Power, G., 92
Prandtl, L., 41
Prigogine, I., 92
Proudman, 1., 42, 45-46, 48, 51, 225,
281, 283
Ray, M., 149

Rayleigh, Lord, 8
Redbeq~er, P. J., 36-37
Reynolds, 0., 58-59, 92, 401
Richardson, J. F., 391, 413
Riseman, J., 461
Rivlin, R. S., 51
Robinson, J., 466
Roscoe, R., 149, 196
Rothfus, R. R., 342
Rouse, H., 8
Rubinow, S. 1.,316,371
Rutgers, R., 417, 463
Rybczynski, W., 127
s
Sadron, c., 432
Saffman, P. G., 371,409
Saito, N., 446, 471

Sampson, R. A, 98, 133, 135, 141, 145,
149, 153,208
Saunders, F. L., 464-465
Savic, P., 134
Sayre, R. M., 72, 130, 134, 318, 321
Schachman, H. K., 413, 462, 467
Scheidegger, A. E., 7, 403-404, 410,416,
417
Scheraga, H. A, 470
Schmitt, K., 50
Schwarz, W. H., 51-52
Scriven, L, E., 25 n, 127
Segre, G., 296, 316, 370, 371, 463
Shapiro, A H., 3
Shustov, S. M., 368, 370
Silberberg, A, 296, 316, 370, 371, 463
Simha, R., 12-13, 71, 301, 432, 442-449,
455,456,459-464
Slack, G. W., 27"1
Slattery, J. C., 52
Slezkin, N. A., 140 n, 368, 370
Slichter, C. S., 10
Smoluchowski, M., 11, 49, 93, 236, 238,
243, 249, 258-259, 276, 281, 321,
373,374,415
Sonshine, R. M., 349, 351
Sparrow, E. M., 396, 398, 399
Squires, L., 225
Squires, W., Jr., 225
Stainsby, G., 17, 18 n
Steinour, H. H., 416
Stewart, W. E., 7, 92
Stimson, M., 115, 236, 269-272, 274, 330
Stokes, G. G., 8, 11, 98, 119
Streeter, Y. L., 402
Sullivan, R. R., 399
Suzuki, M., 330
Sweeney, K. H., 465
Swindells, J. F., 468
Takaisi, Y., 283, 345-346

Talmadge, W. P., 416
Tamada, K., 49, 386
Taneda, S., 283
Tanner, R. I., 331 n
Taylor, G. I., 29, 459, 462
Taylor, T. D., 127 n, 207 n
Tchen, C., 230
541
Name Index
Theodore, L., 369

Tiller, F. M., 421
Tilley, A. K., 468
Twenhofel, W. H., 18
u
Uchida, S., 376
Wells, R. E., Jr., 17, 18

Westberg, R., 31, 345
White, C. M., 230, 343
Whitehead, A. N., 43-45
Whitmore, R. L., 318, 320, 412, 462,
471
Williams, W. E., 130, 133
Wilson, B. W., 416
Wilson, E. B., 7 n
Winkler, F., 15
Winny, H. F., 36
v
Yand, Y., 446-447, 466
Yillat, H., 7 n
w
Wakiya, S., viii, 266-267, 278-281, 318,
327,330,331,336,337,338,354
Ward, S. G., 462
Watson, G. N., 303, 304
Watson, K. M., 417, 419
Yang, J. T., 470

Yih, C. S., 98
z
Zaki, W. N., 391
Zakin, J. L., 468
Zenz, F. A., 16,417,422,423,424,426
Zierep, J., 369, 370
Subject Index
Accommodation coefficient, 50
Angles, Eulerian, 205-207
Archimedes' law, 31
Avogadro's number, 415
Axisymmetrical flow, 60, 96-157
circular disk, 149
concentric spheres, 130-133
definition sketches for, 97
drag on a body, 113-116
elongated rod, 156
finite line source, 108-11 0
fluid sphere, 127-129
general solution in spherical coordinates, 133-138
intrinsic coordinates, 100-102
oblate spheroid, 145-149
past an approximate sphere, 141-145
past a sphere, 123-124
past a spherical cap, 156-157
point force, 110-111
point source, 106-107
sink of equal strength, 107-108
pressure, 116
prolate spheroid, 154-156
543
Axisymmetrical flow (cont.):

separable coordinate systems, 117-119
sink, 106-107
source of equal strength, 107-108
slip at surface of a sphere, 125-126
stream function, 96-98
boundary conditions satisfied by,
111-113
dynamic equation satisfied by, 103106
local velocity and, 98-99
properties of, 102-103
in various coordinate systems, 99100
terminal settling velocity, 124-125
through a circular aperture, 153-154
through a conical diffuser, 138-141
translation of a sphere, 119-123
uniform, 106
unit vectors for, 99
in a Venturi tube, 150-153
B
Bessel functions, 72
Bessel's modified equation, 73
Subiect Index
544
Biharmonic equation, 60, 79-80
Bingham bodies, 51
Biology, 17-18
Bipolar coordinates, 516-519
Bipolar cylinder coordinates, 497-499
Bodies
anisotropic, 199
boundary layer, 41
center of reaction of, 160
drag on, 113-116
force and couple action on, 30-31
helicoidal symmetry, 189-191
helicoid ally isotropic, 191-192
isotropic helicoid, 191-192
nonskew, 192-196
orthotropic, 187
resistance of a slightly deformed
spherical, 207-219
of revolution, 188-189
settling of orthotropic, 220-232
settling of spherically isotropic, 219220
skew-symmetry, 189
spherically isotropic, 187-188,240
wake, 41
See also Particles
Boundaries
between concentric spheres, 66
closed,61
coefficients for typical, 340-341
conditions satisfied by the stream
function, 111-113
effect on settling, 380
multiple, 61-62
open, 61
value problems involving circular
cylinders, 77-78
Brownian motion of particles, 6, 207
c
Carman-Kozeny equation, 393, 395, 401,
417-422
Cartesian coordinates, 79, 486~487
Cartesian tensors, 85
Cauchy linear momentum equation, 52
Cauchy-Riemann equations, 59, 494
Center of hydrodynamic reaction, 174
Chemical engineering, 13-16
Circular apertures, flow-through, 153-154
Circular cylindrical coordinates, 490494

Circular disks
joined to form a "screw-propeller," 179
oblate spheroids as, 149
oblique fall of, 204
settling asymmetrically near an inclined
plane wall, 295
side view of an "impeller" formed
from, 182
Civil engineering, 16-17
Complex geometry, systems with, 400410
Concentrated systems, 387-399, 448456
Concentric spheres, 130-133
Conical diffuser, flow through a, 138141
Conjugate coordinate systems of revolution, 508
Conjugate cylindrical coordinate systems,
494-495
Conjugate system of revolution, 105
Continuity equation, 23-24, 32, 59-60,
64
complete solutions of, 77-78
Coordinate systems
intrinsic, 100-102
of revolution, 501-504
separable, 117-119
stream function in, 99-100
Couette flow, 32, 444
Couette viscometer formula, 33
Coupling tensor, 174-177
Creeping flows, unsteady, 52-54
Creeping motion equations, 41-47
in bounded systems, 59
complete solution of, 77-78
cylindrical coordinates, 71-78
energy dissipation, 88-93
general solutions and theorems, 58-94
generalized reciprocal theorem, 85-88
integral representations, 79-85
limitations of, 281-283
paradoxes in the solution of, 47-49
quasi-static, 53, 54
spherical coordinates, 62-71
Creeping motion equations (cont.):
three-dimensional, 60
two-dimensional, 59-60
variational principles for, 91-93
545
Subject Index
Cubic suspension equation, 384

Curvilinear coordinates, 474-477
Cylinders
comparison of theories for flow relative to circular, 399
cylindrical rod located along the axis
of another cylinder and moving
perpendicular to the axis, 343
cylindrical rod moving axially inside a
stationary circular, 341-343
definition sketch for axial movement
of, 342
experimental data for rods in circular,
343-344
flow parallel to, 395
flow perpendicular to, 395
flow through random orientation of,
395
moving between two parallel plane
walls, 344-346
resistance of, 227-231
rotation of, 353-354
settling factor for, 231-232
suspension of spheres in, 379
Cylindrical coordinates, 71-78, 490
boundary value problems including
circular cylinders, 77-78
particular solution of inhomogeneous
equations, 72-76
solution of homogeneous equations,
76-77
Darcy unit of permeability, 9

Darcy's law, 8-9, 389-404
Diffuse elastic reflection, 50
Dilute systems
first-order interaction effects, 371-386,
443-448
no interaction effects, 360-371, 438443
Dimensionless variables and parameters,
53
Dirac delta function, 378
Dirichlet's formula, 220
Drag
acting on particles in a dilute suspension, 382
on a body, 113-116
Drag (cont.):
coefficient for a sphere, 45-47
coefficients for, on a translating particle in the presence of rigid boundaries, 341
form (profile), 122-123
on a single sedimenting sphere situated
axially in a circular cylinder, 317
skin, 122-123
on a sphere, 46, 157
Dumbbell, rotation of a, 195
Dynamic equation, 103-106
Dynamic pressure, 28
Earth sciences, 18-19

Eigenvalues, 526
Eigenvectors, 526
Einstein summation convention, 79
Einstein's law for suspension viscosity,
12, 441
Ellipsoids
translation of, 220-227
values of equivalent radius for, 223
Elliptic cylinder coordinates, 495-497
Elliptic equations, 61
Elongated rods, prolate spheroids as, 156
Emersleben equation, 396, 398
Energy dissipation, 88-93
instantaneous mechanical rate of, 177178
three sources of, 361-362
in a viscous fluid, 29-30
Engineering
chemical, 13-16
civil, 16-17
mining, 17
Epstein Zeta function, 396
Equations
Bessel's modified, 73
biharmonic, 60, 79-80
Carman-Kozeny, 393, 395, 401, 417,
422
Cauchy linear momentum, 52
Cauchy-Riemann, 59, 494
of change for a viscous fluid, 23-29
of continuity, 23-24, 32, 59-60, 64
creeping motion, 41-47
Subiect Index
546
Equations (cont.):
creeping motion (cont.):
in bounded systems, 59
cylindrical coordinates, 71-78
energy dissipation, 88-93
general solutions and theorems, 5894
generalized reciprocal theorem, 8588
integral representations, 79-85
limitations of, 281-283
paradoxes in the solution of, 47-49
quasi-static, 53-54
three-dimensional, 60
two-dimensional, 59-60
variational principles for, 91-93
cubic suspension, 384
dynamic, 103-106
elliptic, 61
Emersleben, 396, 398
Euler, 28, 369
Faxen's,71
Gegenbauer's, 134-135
homogeneous, 76-77
inhomogeneous, 72-76
Lagrange's, 178
Laplace's, 35, 58, 62, 72, 78, 211, 322
Legendre's, 134-135
of linear momentum, 24-25
mean normal pressure, 26
of motion for a newtonian fluid, 27
of motion for a viscous fluid, 31-33
Navier-Stokes, 27-28, 104, 393
inertial terms in, 32
nondimensional form, 54
nonlinear nature of, 31
omitting inertial terms from, viii
Oseen's differential equations and,
45-56
practical applications of, vii
reduced to a single scalar equation,
33
relaxation methods, 40
simplifications of, 40-47
Oseen's, 44-46, 49, 81
Prandtl's, 45
random suspension, 384
rhombohedral suspension, 384
translational, of motion, 163-169
Euler equation, 28, 369

Eulerian angles, 205-207
Euler's theorem, 63
Falling-ball viscometer, the, 17

Faxen's equations, 71
Faxen's law, 67, 226, 227
Finite line source, 108-110
coordinates for, 109
streamline for flow from uniform, 110
Fluid dynamic models, viii
Fluidization, 422-426
Fluid-bed technique, 14-16
Fluid-particle systems, viii
Fluids
behavior in slow motion, 23-55
Couette flow, 32, 444
external forces per unit volume, 24
gaseous bubble rising slowly through,
129
Hagen-Poiseuille flow, 34
laminar circular motion of, 32
laminar flow in ducts, 33-39
molecular effects in fluid dynamics, 4951
newtonian, 26
equation of motion for, 27
mechanical energy dissipation in, 29
stress vector acting across a sphere,
66
non-newtonian flow, 51-52
paradoxes in the solution of the creeping motion equations, 47-49
plane Poiseuille flow, 34
Poiseuille flow, 34, 43
rate of creation of momentum per unit
volume, 24
simplifications of the Navier-Stokes
equations, 40-47
solid of revolution rotating symmetrically in a bounded, 346-354
sphere, 127-219
streamlines for a droplet, 129
unsteady creeping flows, 52-55
viscous
determination of, 17
equations of change for a, 23-29
547
Su bject Index
Fluids (cont.):
viscous (cont.):
exact solutions of the equations of
motion for a, 31-33
force and couple acting on a body
moving in a, 30-31
isothermal flow of a homogeneous,
23
mechanical energy dissipation in a,
29-30
two spheroids in, 278-281
two unequal spheres settling in,
247
Form (profile) drag, 122-123
Fourier's theorem, 78
Fractional void volume, 359
Hydrodynamics (cont.):
center of stress, 160
chemical engineering in, 13-16
civil engineering in, 16-17
classical, vii
earth sciences in, 18-19
history of, 8-13
mining engineering in, 17
physical sciences in, 17
theory of lubrication, 58-59
Infinity, moving boundary or net flow at,

296-297
Inhomogeneous equations, 72-76
Isotropic helicoid, 191, 192
Gases
dilute polyatomic, 26
low density monatomic, 26
transport theory, 49-50
Gauss' divergence theorem, 87, 89, 94,
219,533-534
Gegenbauer's equation, 134-135
Generalized axisymmetrical potential
functions, 117
Grand resistance matrix, 408
Green's dyadic, 81
Green's functions, 60, 79, 81, 453-454
Green's second identity, 93
H
Hagen-Poiseuille flow, 34
Helicoidal isotropy, 191-192
Helicoidal symmetry, 189-191
Helmholtz theorem, 92-93
Homogeneous equations, 76-77
Hydraulics
empirical radius concept, 10
history of, 8-13
Hydrodynamic force, 30-31
Hydrodynamic pressure, 28
Hydrodynamic torque, 31
Hydrodynamics
biology in, 17-18
center of n:action, 174
Knudsen number, 50
Kozeny constant, 393, 395, 396, 398, 401,
403-404,417,422
theoretical values of, 395
Kronecker delta, 86
Lagrange's equations, 178

Lamb's general solution, 62
Laminar flow, 33-39
centrifugal forces in, 32
cross section for parallel, 35
inherent instability of, 40
Poiseuille's law for, 34
Laplace operator, the, 72
Laplace transform methods, 55
Laplace's equation, 35, 58, 62, 72, 78,
211,322
Laws
Archimedes', 31
of conservation of mass, 23
Darcy's, 8-9, 389, 390,400-404
Faxen's, 67, 226, 227
Newton's, 24-25, 52, 115 n
Poiseuille's, 10, 34, 43, 50, 68, 401404
Subject Index
548
Laws (cont.) :
Stokes', 11, 42, 84, 91, 122, 133, 149,
272, 331, 389
for suspension viscosity, 12
Legendre polynomials, 69
Legendre's equation, 134
Linear momentum, equation of, 24-25
Lorentz reciprocal theorem, 62
Lorentz resistance formula, 327
Luhrication, theory of. 58-59
Madelung constant, 396

Metrical coefficients, 476
Mining engineering, 17
Mirror image technique, 87-88
Navier-Stokes equations, 27-28, 104,

393
inertial terms in, 32
nondimensional form, 54
nonlinear nature of, 31
omitting inertial terms from, viii
Oseen's differential equations and, 4546
practical applications of, vii
reduced to a single scalar equation, 33
relaxation methods, 40
simplifications of, 40-47
Newtonian fluids, see Fluids, newtonian
Newton's law of action and reaction,
115 n
Newton's law of motion, 24-25, 52
Nonconjugate system of revolution, 105
Non-newtonian behavior, 469, 471
Non-newtonian flow, 51-52
Nonskew bodies, 192-196
ultimate trajectory of, 203-205
o
Objects
flight through rarefied air, 3
oblique fall of needle-shaped, 225
scale of sizes of, 2
Objects (cont.):
See also Rigid objects
Oblate spheroid, 143-149
as a flat circular disk, 149
flow past, 145
resistance of, 149
Oblate spheroidal coordinates, 512-516
Onsager's relations, 166
Orthogonal curvilinear coordinate systerns, 474-523
bipolar coordinates, 516-519
bipolar cylinder coordinates, 497-499
circular cylindrical coordinates, 490494
conjugate coordinate systems of revo
lution, 508
conjugate cylindrical coordinate systems, 494-495
coordinate systems of revolution, 501504
curvilinear coordinates, 474, 477
cylindrical coordinate systems, 490
differentiation of unit vectors, 481-483
dyadics in orthogonal curvilinear coordinates, 488-489
elliptic cylinder coordinates, 495-497
geometrical properties, 480
oblate spheroidal coordinates, 512-516
orthogonal curvilinear coordinates,
477-480
parabolic cylinder coordinates, 500501
paraboloidal coordinates, 521-523
prolate spheroidal coordinates, 509512
relations between cartisian and orthogonal
curvilinear coordinates,
486-487
toroidal coordinates, 519-521
vector differential invariants, 483-485
Oseen's equations, 44-46, 49, 81, 82-85,
281-283
p
Packed beds, 1, 16, 417-422

Parabolic cylinder coordinates, 500-501
Paraboloidal coordinates, 521-523
Parallelepipeds, settling factor for, 231232
Subiect Index
Particles
application with arbitrary orientation,
294-296
boundary value problems, 3-4
Brownian motion of, 6
coefficients for typical, 340-341
comparison of Brownian and gravitational displacements, 412
comparison with data, 462-469
comparison of theories with experimental data for two spheres, 273-276
concentrated systems, 448-456
coordinate system for two-particle interactions, 240
cylinders moving between two parallel
plane walls, 344-346
cylindrical rod located along the axis
of another cylinder and moving
perpendicular to the axis, 343
a cylindrical rod moving axially inside
a stationary circular cylinder, 341343
defined, 2
dilute systems-first-order interaction
effects, 443-448
dilute systems-first-order interac438-443
drag force exerted on, 5-6
experimental data for rods in circular
cylinders, 343-344
flow relative to assemblages of, 358426
concentrated systems, 387-399
dilute systems-first-order interaction effects, 371-386
dilute systems-no interaction effects, 360-371
fluidization, 422-426
packed beds, 417-422
particulate suspensions, 410-417
scheme for summation evaluation,
375
systems with complex geometry,
400--410
flow systems of, 3
generalization for translation, 246-247
generalization for translational motions, 292-294
infinite number of, 371
interaction between two or more, 235283
interaction effects among, 4
549
Particles (cont.):
method of reflections, 3-4
motion along line of centers, 251-260
motion perpendicular to line of centers,
260-268
moving in axial direction in a circular
tube, 298-321
moving boundary or net flow at infinity, 296-297
moving relative to each other, 1, 5
moving through a fluid, 1, 4-5
non-newtonian behavior, 469-471
non skew, 192-196
ultimate trajectory of, 203-205
nonspherical and nonrigid, 456-462
one- and two-dimensional problems,
341-346
pressure drop and, 6
random arrays, 4
relative viscosity of a suspension of, 6
rotation of a sphere inside a second
sphere, 350--351
rotational effects, 247-249
scale of sizes of, 2
sedimentation of, 1,4-5
solid of revolution rotating symmetrically in a bounded fluid, 346354
spheres moving relative to cylindrical
and plane walls, 331-340
spheres moving relative to plane walls,
322-331
spheres rotating in a viscous liquid inside a coaxial circular cylinder,
351
symmetrical, 183-192
terminal settling velocity of an arbitrary, 197-205
translation of, in proximity to container walls, 288-297
two spheres falling along their line of
centers, 270--272
two spheres by the method of reflections, 249-270
two spheroids in a viscous liquid, 278281
two widely spaced spherically isotropic, 240-249
uniform flow, 367
unit cell technique, 3, 4-5
unsteady motion of a sphere in the
presence of a plane wall, 354-355
550
Subject Index
Particles (cont.):
values of eccentricity function, 309
velocity pattern, 365
wall effects on the motion of a single,
286-355
See also Bodies
Perturbation techniques, 60
Physical sciences, 17
Point force, 110-111
Point source, 106-107
in a plane wall, 140
streamlines for, 108
Poiseuille's law, 10, 34, 43, 50, 68, 401404
Polyadic algebra, 524-534
Prandtl's theory, 45
Pressure
dimensionless, 53
drop
expressions for dependence of, 419
due to a spheroid in Poiseuille flow,
339
dynamic, 28, 161
equation of motion of, a newtonian
fluid and, 27
hydrodynamic, 28
mean normal, equation of, 26
stream function and, 116
Principal axes of coupling, 176
Principal axes of translation, 167
Principal translational resistances, 167
Profile drag, 122-123
Prolate spheroidal coordinates, 509-512
Prolate spheroids, 154-156
as an elongated rod, 156
resistance of, 149
translation of, 155
Quasi-static creeping motion equations,

53-54
Random suspension equation, 384

Rayleigh dissipation function, 30, 178
Reciprocal theorem, 85-88
Resistance
coefficient for equal-sized spheres,
269
of long finite cylinders, 227-231
principal translational, 167
of a slightly deformed spherical body,
207-219
of a spheroid at a central position between plane walls, 336
of a spheroid at an eccentric position
between plane walls, 334
of a spheroid in Poiseuille flow, 339
of a spheroid sedimenting in a cylindrical tube, 339
to translation, 205-207, 216
Resistance matrix, 178
Revolution
conjugate coordinate systems of, 508
conjugate system of, 105
coordinate systems of, 501-504
nonconjugate system of, 105
one-sheeted hyperboloid of, 514
paraboloid of, 523
two-sheeted hyperboloid of, 511
Reynolds numbers
angular, 53
in catalytic cracking systems, 16
drag on a sphere at low, 46
extending present treatments to higher,
viii
first separation in flow, 40
first-order effects of, 43
inertial and viscous effects, 3, 42-43
movement of particles relative to fluid,
viii
rotational, 54, 198
stability of laminar flow for, 40
translational, 54, 198
unsteady flows, 53, 61
Rhombohedral suspension equation, 384
Rigid objects, motion of
arbitrary shape in an unbounded fluid,
159-232
average resistance to translation, 205207
combined translation and rotation,
173-183
nonskew bodies, 192-196
resistance of a slightly deformed
spherical body, 207-219
rotational, 169-173
Subject Index
Rigid objects (cant.):

settling of orthotropic bodies, 220232
settling of spherically isotropic bodies,
219-220
symmetrical particles, 183-192
terminal settling velocity of an arbitrary particle, 197-205
translational, 163-169
Rotation
of an axisymmetric body in a circular
cylinder of finite length, 351353
combined translation and, 173-183
of cylinders, 353-354
of a deformed sphere, 214
of a dumbbell, 195
motions of, 169-173
of a sphere about a noncentrally located axis, 195
of a sphere inside a second sphere,
350-351
tensor, 171-173
two or more particles, 247-249
s
Saltation, 19
"Screw-propeller," two circular disks
joined to form a, 178
Screw-velocity matrix, 408
Sedimentation, 1,4-5
constant gravitational force and, 6
earth as soil from, 16
rate of turbidity currents, 18-19
Sink, 106-107
streamlines for, 108
Skew-symmetry, 189
Skin drag, 122-123
Slezkin's formula, 343
Slow viscous flows, 3
Soil, properties of packed beds of, 16
Specular elastic rebound, 50
Spheres
average resistance to translation, 216
in axial position, 318-321
the centroid of a deformed, 217-219
coaxial, 517
551
Spheres (cant.):
comparison of methods for estimation
of the resistance coefficient when
touching, 276
comparison of theoretical viscosity
relationships with data for uniform, 463
comparison of theories with experimental data for two, 273-276
concentric, 130-133
in relative motion, 130
coordinates of, 62-71, 504-508
general solution in, 133, 138
definition sketch for movement of, 322
definition sketch for, in shearing flow,
329
dilute systems of, 438-443
direction of rotation of, 267, 326
drag on, 157
coefficient for, 45-47
a single sedimenting, 317
eccentricity function for rotation in a
circular cylinder, 311
eccentricity function for translation in
a circular cylinder, 310
exact solution for falling along their
line of centers, 270-272
falling along their line of centers, 251
final results for off-center, 313-318
flow past, 123-124, 141
flow through assemblages of, 395
fluid, 127-129
frictional force and torque on, 66-71
general motion of two, 268-270
the method of reflections, 249-270
motion perpendicular to line of centers,260
motion of three, 276
moving in axial direction in a circular
cylindrical tube, 298-321
moving parallel to one or two stationary parallel walls, 322
moving perpendicular to a plane wall,
329-331
moving relative to plane walls, 322331
region between concentric, 66
region exterior to, 65-66
region interior to, 64-65
resistance of coefficient for equal-sized,
269
552
Spheres (cant.):
resistance of a slightly deformed, 207219
rotation of
about a noncentrally located axis,
195
a deformed, 214
inside a second sphere, 350-351
in a viscous liquid inside a coaxial
circular cylinder, 351
settling of isotropic bodies, 219-220
settling velocities of dilute suspensions
of, 381-386
in a shearing flow between two parallel
walls, 328-329
slip at the surface of, 125-126
Stokes' law correction for moving
parallel to their line of centers,
272
streaming flow past, 123
streaming flow past a deformed, 209215
streamlines for moving, 121
streamlines for streaming motion past,
123
suspension in a cylinder, 379
translation of, 119-123
two widely spaced isotropic particles,
240-249
unsteady motion in the presence of a
plane wall, 354-355
wall correction factors for, 132-133
wall correction factors for rigid, 319,
320
Spheroids
between two parallel walls, 332-337
at the center of a circular cylinder,
338-340
interaction between two, 279
moving parallel to a plane wall with
its symmetry axis at an arbitrary
angle of attack, 337-338
moving relative to cylindrical and plane
walls, 331-340
oblate, 143-149
coordinates, 512-516
as a flat circular disk, 149
flow past, 145
resistance of, 149
viscosity constant for, 458
pressure drop in Poiseuille flow and,
339
Subject Index
Spheroids (cant.):
prolate, 154-156
coordinates, 509-512
as an elongated rod, 156
resistance of, 149
translation of, 155
viscosity constant for, 458
resistance at a central position between
plane walls, 336
resistance at an eccentric position between plane walls, 334
resistance in Poiseuille flow, 339
resistance sedimenting in a cylindrical
tube, 339
settling factor for, 231-232
torque exerted at an eccentric position
between plane walls, 335
in a viscous liquid, 278-281
Stokes' law, II, 42, 84, 91, 122, 133, 149,
272, 331, 389
Stokes' operator, 24
Stokes' paradox, 47--49
Stokes' stream function, 98, 103
Stream function, 96-98
boundary conditions satisfied by, 111113
dynamic equation satisfied by, 103-106
local velocity and, 98-99
pressure and, 116
properties of, 102-103
in various coordinate systems, 99-100
Substantial derivative, the, 24
Supersonic aerodynamics, 29
Symmetric matrix, 178
Symmetrical particles, 183-192
Systems with complex geometry, 400410
Taylor series expansion, 80, 289

Tensor
coupling, 174-177
rotation, 171-173
translation, 167-169
Terminal settling velocity, 124-125
Theorems
Euler's, 63
Fourier's, 78
Gauss' divergence, 87, 89, 94, 219,
533-534
553
Su biect Index
Theorems (cont.):
generalized reciprocal, 85-88
Helmholtz, 92-93
Lorentz reciprocal, 62
Time, dimensionless, 53
Toroidal coordinates, 519-521
Torque
buoyant, 31
at an eccentric position between plane
walls, 335
hydrodynamic, 31
on a sphere, 66-71
total,31
Translation
average resistance to, 205-207
average resistance of a deformed
sphere, 216
combined rotation and, 173-183
of ellipsoids, 220-227
generalization for two or more particles, 246-247
of a particle in proximity to container
walls, 288-297
principal axes of, 167
tensor, 167-169
Translational equations of motion, \63169
Turbidity currents, 18-19
u
Uniform flow, 106
Unit cell technique, 3, 4-5
Unit cell technique (cont.):

spherical shape for, 4-5
Unsteady creeping flows, 52-54
v
Vectors
differential invariants, 483-485
unit, 99
differentiation of, 481-483
normal and tangential, 101
unit tangent, 476
Velocity
comparison of fluidization to lifting a
single sphere, 425
dimensionless, 53
equation of motion of a newtonian
fluid and, 27
mass average local, 25
relation between relative sedimentation and relative viscosity, 467
relation between stream function and,
98-99
relative functions, 389
terminal settling, 124-125
uniform flow and, 106
Venturi tubes. 150-153
Viscous fluids, see Fluids, viscous
w
Wall correction factors, 132-133
Whitehead's paradox, 44
Wrench matrix, 408

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Orthogonal Curvilinear

A-l Curvilinear Coordinates

or, in terms of the position vector,

In regions where the Jacobian determinant,

o(ql> q2' qa)

Orthogonol Curvilinear Coordinate Systems

is different from zero this system of equations can be solved simultaneously

y(qj, q2, q3),

R = R(qj, q2' q3)

which describes a surface in space. By assigning a series of different values

Figure A-1.1. Curvilinear coordinates.

that surface. The intersection of any two coordinate surfaces results in a

These quantities (or simple variations

hk(qt> q2, qs)

Let it, i2 and is be unit vectors

Whereas the magnitudes of these unit vectors are necessarily constant,

ik(q[, q2' qs)

Orthogonal Curvilinear Coordinate Systems

Upon combining Eqs. (A-I.4) and (A-1.5), we obtain

which provides an alternative formula for determining the metrical coefficients,

The utility of this particular expression lies in the calculation of metrical

-\- = (OX)2 + (Oy)2 + (~)2

For example, in cartesian coordinates where ql = x, q2 = y, qa = z, we

= IdRI 2 = dq~ + dq~ + dq~ + 2(i

.i) dql dq2

dq2 dqa + 2('la'll

Therefore, an essential attribute of orthogonal systems is that mixed terms

which provides a useful test of orthogonality for systems of curvilinear

x(ql' q2' q3),

z = z(ql' q2, q3)

y(ql' q2' q3),

If, instead, the system of coordinates is defined explicitly by the equations

the computation of the partial derivatives required in Eq. (A-2.6) can be a

or, expressing V in cartesian coordinates,

+ oqj Oqk + oqj Oqk =

Orthogonal Curvilinear Coordinate Systems

or, expressing V in terms of cartesian coordinates,

Oq2 _ o(q" q2' qa)

With the curvilinear coordinates arranged in proper order we have

A-3 Geometrical Properties

= dl2dla = dq2 dqa

dS a = dl,dl 2 = dq, dq2

= dq, dq2 dqa

Orthogonal Curvilinear Coordinate Systems

A-4 Differentiation of Unit Vectors

Thus, the vector oikjoq! is either zero or else it is perpendicular to ik.

Hence, for any j,

O~j (:~ "

or, performing the differentiations,

Similarly, interchangingj and I in Eq. (A-4.1a),

~"oR+ o2R "oR=O (k*j)

Adding this to Eq. (A-4.1a) then yields

But, from Eq. (A-I.7),

Equation (A-4.2) may therefore be written as

Since k and / are different, il

= 0; hence, the preceding equation becomes

Orthogonal Curvilinear Coordinate Systems

Differentiate with respect to qJ and obtain