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This article uses the standard notation ISO 80000-2, which supersedes ISO 31-11, for spherical coordinates (other sources may reverse the definitions of θ and φ): . The polar angle is denoted by [,]: it is the angle between the z-axis and the radial vector connecting the origin to the point in question.
Let (x, y, z) be the standard Cartesian coordinates, and (ρ, θ, φ) the spherical coordinates, with θ the angle measured away from the +Z axis (as , see conventions in spherical coordinates). As φ has a range of 360° the same considerations as in polar (2 dimensional) coordinates apply whenever an arctangent of it is taken. θ has a range ...
Once the radius is fixed, the three coordinates (r, θ, φ), known as a 3-tuple, provide a coordinate system on a sphere, typically called the spherical polar coordinates. The plane passing through the origin and perpendicular to the polar axis (where the polar angle is a right angle ) is called the reference plane (sometimes fundamental plane ).
Vectors are defined in cylindrical coordinates by (ρ, φ, z), where ρ is the length of the vector projected onto the xy-plane, φ is the angle between the projection of the vector onto the xy-plane (i.e. ρ) and the positive x-axis (0 ≤ φ < 2π), z is the regular z-coordinate. (ρ, φ, z) is given in Cartesian coordinates by:
In the cylindrical coordinate system, a z-coordinate with the same meaning as in Cartesian coordinates is added to the r and θ polar coordinates giving a triple (r, θ, z). [8] Spherical coordinates take this a step further by converting the pair of cylindrical coordinates (r, z) to polar coordinates (ρ, φ) giving a triple (ρ, θ, φ). [9]
Now let () = ((), (), ()) be a curve expressed in spherical coordinates where is the polar angle measured from the positive -axis and is the azimuthal angle. The mapping that transforms from spherical coordinates to rectangular coordinates is x ( r , θ , ϕ ) = ( r sin θ cos ϕ , r sin θ sin ϕ , r cos θ ...
Some of these formulas are expressed in terms of the Cartesian expansion of the spherical harmonics into polynomials in x, y, z, and r. For purposes of this table, it is useful to express the usual spherical to Cartesian transformations that relate these Cartesian components to θ {\displaystyle \theta } and φ {\displaystyle \varphi } as
The haversine formula determines the great-circle distance between two points on a sphere given their longitudes and latitudes. Important in navigation , it is a special case of a more general formula in spherical trigonometry , the law of haversines , that relates the sides and angles of spherical triangles.