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PBC Lecture Notes Series in Physics
Lecture 2
Prepared by
 
Dr. Abhijit Kar Gupta
, e-mail:
kg.abhi@gmail.com
 1
Motion a Particle-II
We calculate the
velocity
,
acceleration
in different coordinate systems.Once again we emphasize that the position vector is very important and this is our starting point.
In Spherical Polar Coordinate system
,(
r 
θ 
,
ϕ 
):
Position vector
,
 z k  y j xir 
ˆˆˆ
++=
 =
+
ϕ θ 
cos.sin. ˆ
r i
θ ϕ θ 
cos.ˆsin.sin. ˆ
r k r  j
+
 The basis vectors
,
r r r r e
r 
∂∂∂∂=
ˆ=
θ ϕ θ ϕ θ 
cosˆsinsinˆcossinˆ
k  ji
++
,
θ θ 
θ 
∂∂∂∂=
r r e
ˆ=
θ ϕ θ ϕ θ 
sinˆsincosˆcoscosˆ
k  ji
−+
,
ϕ ϕ 
ϕ 
∂∂∂∂=
r r e
ˆ=
ϕ ϕ 
cosˆsinˆ
ji
+−
.When we consider the motion, we should remember that the unit vectors
r 
e
ˆ,
θ 
e
ˆ,
ϕ 
e
ˆarealso changing with time. They change as the directions
θ 
 
and
ϕ 
 
change
.
The time derivatives,
dt ed e
r r 
ˆˆ
=
•
=
i
ˆ).sinsincos(cos
••
−
ϕ ϕ θ θ ϕ θ 
+
k  j
ˆ..sinˆ).cossinsin(cos
•••
−−
θ θ ϕ ϕ θ θ ϕ θ 
 =
•
−+
θ θ ϕ θ ϕ θ 
).ˆ.sinˆ.sincosˆ.cos(cos
k  ji
+
•
+−
ϕ ϕ ϕ θ 
)ˆ.cosˆ.sin(sin
ji
 [Rearranging the terms]
∴
 
•
r 
e
ˆ=
•
θ 
θ 
e
ˆ+
•
ϕ θ 
sin
ϕ 
e
ˆ(1)Similarly,
ϕ θ θ 
ϕ θ θ 
eedt ed e
r 
ˆcosˆˆˆ
•••
+−==
and (2)
θ ϕ ϕ 
ϕ θ ϕ θ 
eedt ed e
r 
ˆcosˆsinˆˆ
•••
−−==
. (3) Now the
position vector
can be written as
∴
Velocity
,
•
=
r V 
=
••
+
r r 
er er 
ˆˆ=
ϕ θ 
ϕ θ θ 
er er er 
r 
ˆ.sin.ˆˆ
•••
++
.
 
r 
er r 
ˆ
=
 
 
PBC Lecture Notes Series in Physics
Lecture 2
Prepared by
 
Dr. Abhijit Kar Gupta
, e-mail:
kg.abhi@gmail.com
 2
Acceleration
,
a
=
•
V 
=
••
r 
 =
r 
er 
ˆ
••
+
••
r 
er 
ˆ+
θ 
θ 
er 
ˆ
••
+
θ 
θ 
er 
ˆ
••
+
••
θ 
θ 
er 
ˆ+
ϕ 
ϕ θ 
er 
ˆ.sin.
••
+
ϕ 
ϕ θ θ 
er 
ˆ.cos.
••
+
ϕ 
ϕ θ 
er 
ˆ.sin.
••
+
••
ϕ 
ϕ θ 
er 
ˆ.sin.=
r 
er 
ˆ
••
+
•
r 
(
•
θ 
θ 
e
ˆ+
•
ϕ θ 
sin
ϕ 
e
ˆ) +
θ 
θ 
er 
ˆ
••
+
θ 
θ 
er 
ˆ
••
+
•
θ 
r 
(
ϕ 
ϕ θ θ 
ee
r 
ˆcosˆ
••
+−
) +
ϕ 
ϕ θ 
er 
ˆ.sin.
••
+
ϕ 
ϕ θ θ 
er 
ˆ.cos.
••
+
ϕ 
ϕ θ 
er 
ˆ.sin.
••
+
•
.sin.
ϕ θ 
r 
(
θ 
ϕ θ ϕ θ 
ee
r 
ˆcosˆsin
••
−−
)[ using (1), (2) and (3)]
∴
a
= (
••
r 
2
•
−
θ 
r 
r 
er 
ˆ).sin
22
•
−
ϕ θ 
+ (
••
θ 
r 
+
••
θ 
r 
2
2
.cossin.
•
−
ϕ θ θ 
r 
)
θ 
e
ˆ+(
••
ϕ θ 
sin
r 
+
θ ϕ 
sin2
••
r 
+
••
ϕ θ θ 
cos2
r 
)
ϕ 
e
ˆ ………………..(4)When the motion is such that the angles
θ 
 
and
ϕ 
 
vary at constant rate
,
==
••
ϕ θ 
const
 
⇒
0
==
••••
ϕ θ 
,
we have the following expression
:
∴
a
= (
••
r 
2
•
−
θ 
r 
r 
er 
ˆ)sin
22
•
−
ϕ θ 
+ (
••
θ 
r 
2
2
.cossin
•
−
ϕ θ θ 
r 
)
θ 
e
ˆ+ (
θ ϕ 
sin2
••
r 
+
••
ϕ θ θ 
cos2
r 
)
ϕ 
e
ˆ.……………….(5)Further when
θ 
 
and
ϕ 
 
remain fixed, we can write
0
==
••
ϕ θ 
and we get back the trivial case,
a
=
••
r 
r 
e
ˆ, only translational motion (no rotation).
Motion on a sphere
:
Consider the motion of the particle
 
on a sphere
,
then we can write
=
r 
const
⇒
 
0
==
•••
r r 
.
Thus from (4) we can write,
a
= (
2
•
−
θ 
r 
r 
er 
ˆ).sin
22
•
−
ϕ θ 
+ (
••
θ 
r 
 
2
.cossin
•
−
ϕ θ θ 
r 
)
θ 
e
ˆ+ (
••
ϕ θ 
sin
r 
+
••
ϕ θ θ 
cos2
r 
)
ϕ 
e
ˆ.
Motion on a plane
:
=
ϕ 
const.
⇒
0
==
•••
ϕ ϕ 
 
From (4), we can write,
a
= (
••
r 
2
•
−
θ 
r 
r 
e
ˆ) + (
••
θ 
r 
+
••
θ 
r 
2)
θ 
e
ˆ. [This is the same result that weobtained with
 plane polar coordinate
system.]
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