A text I am reading displays the attached image. Can someone explain the general method for obtaining the velocity analogues of those terms (in parentheses) in 1.5? I know the second and third terms in parentheses in 1.6 and 1.7 are the squares of angular velocities, but can a general procedure be expressed to convert such equations between arbitrary coordinate frames?(adsbygoogle = window.adsbygoogle || []).push({});

In other words, how may we derive equation 1.6 (or 1.7) from 1.5 in an entirely mathematical sense?

(I am familiar with the coordinate transformations between Cartesian and spherical coordinates)

*In the attachment, a dot indicates over a symbol indicates the time-derivative of the quantity over which it appears.

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# Homework Help: Conversion of energy expression from Cartesian to spherical coordinates

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