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PBC Lecture Notes Series in Physics
Lecture 1
Prepared by
 
Dr. Abhijit Kar Gupta
, e-mail:
kg.abhi@gmail.com
 1
Dynamics of a Particle
In Newtonian mechanics, for the description of a particle (or of a system of particles), wemust know the position of the particle (or all the particles that comprise the system). So,it is important to know the position vector wherefrom we can derive everything:displacement, velocity, momentum, acceleration, force, energy and work done, power,the trajectory of the particle and so on.
Position Vector:
We start from a position vector of particle moving in a plane. The position vector in 2D
Cartesian coordinate system
:
 y j xir 
ˆˆ
+=
, where
i
ˆand
 j
ˆare the basis vectors.The velocity and acceleration can be derived directly by differentiating it and we caneasily find the components along the axes.Velocity:
dt dy jdt dxidt r d V 
ˆˆ
+==
andAcceleration:
2222
ˆˆ
dt  yd  jdt  xd idt V d a
+==
.For the description of the system, we often need to choose an appropriate coordinatesystem. Therefore, it is necessary to know the velocity, acceleration and their componentsalong the respective axes in the new coordinate system.In
 plane polar 
coordinate system ),(
θ 
r 
:
θ θ 
sinˆcosˆ
r  jr ir 
+=
 The basis vectors in polar coordinate system:
r r r r e
r 
∂∂∂∂=
ˆ=
θ θ 
sinˆcosˆ
ji
+
……….(1)
θ θ 
θ 
∂∂∂∂=
r r e
ˆ=
θ θ 
cosˆsinˆ
ji
+−
………(2)
        −=    
 jiee
r 
ˆˆcossinsincosˆˆ
θ θ θ θ 
θ 
 
⇒
 
        −=    
−
θ 
θ θ θ θ 
ee ji
r 
ˆˆcossinsincosˆˆ
1
 Or,
        −=    
θ 
θ θ θ θ 
ee ji
r 
ˆˆcossinsincosˆˆ 
∴
θ θ 
θ 
sinˆcosˆˆ
eei
r 
−=
 
θ θ 
θ 
cosˆsinˆˆ
ee j
r 
+=
 Wherefrom, we get
=
r 
θ θ θ 
θ 
cos).sinˆcosˆ(
r ee
r 
−
+
θ θ θ 
θ 
sin).cosˆsinˆ(
r ee
r 
+
 = )cossincossin( ˆ)sincos( ˆ
22
θ θ θ θ θ θ 
θ 
r r er r e
r 
−−+
 
 
PBC Lecture Notes Series in Physics
Lecture 1
Prepared by
 
Dr. Abhijit Kar Gupta
, e-mail:
kg.abhi@gmail.com
 2
∴
 The above is however, trivial as any vector can be written as the product of the unitvector along that and the magnitude of the vector. Now one thing we can notice. The basis vectors here change with time as the particlemoves (
i.e
., the position vector changes), unlike that in Cartesian system where
i
ˆand
 j
ˆ are fixed.We can derive the following from (1) and (2),
=
•
r 
e
ˆ
••
+−
θ θ θ θ 
cosˆsinˆ
ji
=
•
+−
θ θ θ 
)cosˆsinˆ(
ji
=
•
θ 
θ 
e
ˆ, (3)
=
•
θ 
e
ˆ
••
−−
θ θ θ θ 
sinˆcosˆ
ji
=
•
−
θ 
r 
e
ˆ(4)
Velocity:
The velocity can be obtained by differentiating the position vector:
•••
+=≡=
r r 
er er r  dt r d V 
ˆˆ=
θ 
θ 
er er 
r 
ˆˆ
••
+
 Thus the component of velocity along the radial vector is
•
=
r V 
r 
and the componentalong the tangential direction (perpendicular to the radial vector) ,
•
=
θ 
θ 
r V 
=
ω 
r 
,
ω 
=angular speed.Here,
•
=
θ ω 
is the angular velocity. If the rotation is zero, 0
=
•
θ 
, we are left with onlythe velocity along the radial vector direction, which means there is
only translational motion
.If the
=
r 
constant,
i.e
. the particle is moving on a
circle,
0
=
•
r 
. The only velocity isalong the tangential direction.
Acceleration:
••
r 
=
••••••••••
++++
θ θ θ 
θ θ θ 
er er er er er 
r r 
ˆˆˆˆˆ  =
r r 
er er er er er 
ˆˆˆˆˆ
••••••••••
−+++
θ θ θ θ θ 
θ θ θ 
[
Q
=
•
θ 
e
ˆ
•
−
θ 
r 
e
ˆ]=
θ 
θ θ θ 
er r er r 
r 
ˆ)2(ˆ)(
2
•••••••
++−
 For a circular motion,
=
r 
constant and thus 0
=
•
r 
, 0
=
••
r 
. We call
•
θ 
=
ω 
, angular speed.
∴
••
r 
=
θ 
ω ω 
edt d r er 
r 
ˆˆ
2
+−
 
 
r 
er r 
ˆ
=
 
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