We present a new formalism, based on Richards-Wolf theory, to rigorously model nonparaxial focusing of radially polarized electromagnetic beams with freeform wavefront. The beams can be expressed in terms of Zernike polynomials. Our approach is validated by comparing known results obtained by Richards-Wolf theory. Our integral representation is compliant with diffraction theory, is thoroughly discussed and solved for various freeform wavefront that, so far, have not been treated analytically. The extension of the method to other polarization states is straightforward.
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