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PBC Lecture Notes Series in Physics: Classical Mechanics -
I
Lecture 1
Prepared by
 
Dr. Abhijit Kar Gupta
, e-mail:
kg.abhi@gmail.com
 1
Particle Dynamics:
inertial frame, linear and angular momentum
 
The mathematical description of mechanics of a particle starts from its position vector.We can derive all other quantities like displacement, velocity, acceleration, force etc.from that.In Cartesian coordinate system:
Position vector,
 z k  y j xir 
ˆˆˆ
++=
.
Velocity,
dt dz k dt dy jdt dxidt r d v
ˆˆˆ
++==
,Acceleration,
22222222
ˆˆˆ
dt  z d k dt  yd  jdt  xd idt r d a
++==
.From Newton’s 2
nd
law of motion force is given by
amdt vd mdt  pd  F 
===
, where the momentum
vm p
=
.When the applied force on a particle 0
=
 F 
, we have0
=
dt vd 
since 0
≠
m
.
∴=
v
const. This means the body is moving with a uniform velocity or the body is at rest(
=
v
0). Thus we arrive at Newton’s 1
st
law of motion.
Example of Force:
Weight of a body is a force exerted by the Earth on it.
 g m F 
=
, where
 g 
is theacceleration due to gravity.
Reference frame:
To describe motion, we need a coordinate system. Position vector is defined with respectto that. The coordinate system should be fixed in a frame, we call this
reference frame
.For example, we are standing on earth and this can be our reference frame. When we areriding on a bus and we want to describe motion happening inside the bus, the bus is our reference frame.The reference frame, if it is in absolute rest or in uniform motion with respect to another frame at rest, we call it
inertial frame
.Suppose, we have two frames
S 
and
S 
′
where
S 
′
is moving with a uniform speed
v
along some direction (say, x-direction) with respect to
S 
.We can write at time the following at any time,
t 
 
vt  x x
−=′
 
 y y
=′
 
 z  z 
=′
 The time in two frames are equal,
t t 
=′
.
 
PBC Lecture Notes Series in Physics: Classical Mechanics -
I
Lecture 1
Prepared by
 
Dr. Abhijit Kar Gupta
, e-mail:
kg.abhi@gmail.com
 2 The above relationship between the two sets of coordinates, in the two frames are called
Galilean transformation
.
Y 
 
Y 
′
 
 x
 
 x
′
 
 Z 
 
 Z 
′
 We can conclude from the above equations that
2222
dt  xd dt  xd 
=′
,
2222
dt  yd dt  yd 
=′
and
2222
dt  z d dt  z d 
=′
.Therefore, Newton’s 2
nd
law of motion,
=   ′+′+′=
222222
ˆˆˆ
dt  z d k dt  yd  jdt  xd im F 
    ++
222222
ˆˆˆ
dt  z d k dt  yd  jdt  xd im
remains
invariant 
under such transformation. Newton’s 2
nd
law of motion is called
law of inertia
. Thus we say, the frame of referencewhich is either at absolute rest or in uniform motion relative to any other frame at rest,the law of inertia holds good in it. Such a frame is thus called
inertial reference frame
.
Different kinds of motion:
A particle can have two types of motion: (i) translational or linear and (ii) rotational or angular.Any kind of motion of a particle or of a body can be either of the above or a combinationof the two.For 
linear motion
, we define linear momentum,
vm p
=
(1)Differentiating above, we get
 F amdt vd mdt  pd 
===
(Force).For 
angular motion
, a similar physical quantity is angular momentum,
 pr  L
×=
(2)Differentiating (2),
( )
dt  pd r  pdt r d  pr dt d dt  Ld 
×+×=×=
.
 
 X 
 
 X 
′•
P
vt 
 The coordinates of the point Pis (),,
z  y x
and ),,(
z  y x
′′′
intwo coordinate systems
S 
and
S 
′
.
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