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Mapped wave-envelope elements of variable radial order are presented for the computation of time-harmonic, unbounded, three-dimensional acoustical fields. Their application to transient problems is described in a companion article (Part II). Accuracy is assessed by a comparison of computed and analytic solutions for multi-pole fields generated by a vibrating sphere. Solutions are also presented for plane wave scattering. Elements of radial order are shown to be capable of modeling multi-pole components of order although the provision of adequate transverse resolution is shown to be a stringent requirement, particularly at high frequencies. Ill-conditioning of the coefficient matrix limits the practical implementation of the method to elements of radial order eleven or less. The utility of the method for more general geometries is demonstrated by the presentation of computed solutions for the sound field …