Cartesian system

Description	Symbol
Orthonormal basis	${\mathbf{e}}_{\mathbf{x}}^{\mathcal{A}},{\mathbf{e}}_{\mathbf{y}}^{\mathcal{A}},{\mathbf{e}}_{\mathbf{z}}^{\mathcal{A}}$
Cartesian coordinates	${\mathcal{X}}_{Pc}=[x,y,z{]}^{\top }$
Position vector	${}_{\mathcal{A}}\mathbf{r}=x{\mathbf{e}}_{\mathbf{x}}^{\mathcal{A}}+y{\mathbf{e}}_{\mathbf{y}}^{\mathcal{A}}+z{\mathbf{e}}_{\mathbf{z}}^{\mathcal{A}}=[x,y,z{]}^{\top }$