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## Homework Statement

## Homework Equations

## The Attempt at a Solution

I have found expressions for the unit vectors for cylindrical coordinates in terms of unit vectors in rectangular coordinates.

I have also found the time derivatives of the unit vectors in cylindrical coordinates. However, I am having trouble seeing how it simplifies. For instance, I do not understand how to arrive at the following for the

*rho hat*unit vector.

**Can someone enlighten me, please?**