CHAPTER 4

GENERAL MOTION OF A PARTICLE

IN THREE DIMENSIONS
--------------------------------------------------------------------------------------------------------Note to instructors there is a typo in equation 4.3.14. The range of the projectile is
v 2 sin 2
v 2 sin 2 2
NOT ... 0
R=x= 0
g
g
--------------------------------------------------------------------------------------------------------4.1

V V V
j
k
x
y
z

+ jxz + kxy
F = c iyz

(a) F = V = i

(b) F = V = i2 x j 2 y k 2 z
(c) F = V = ce( x + y + z ) i + j + k

(d) F = V = er

V
1 V
1 V
e
e
r
r
r sin

F = er cnr n 1
4.2

(a)
i

F =
x
x

y
y

=0
z
z

conservative

F =
x
y

y
x

= k ( 1 1) 0
z
z2

conservative

F =
x
y

y
x

= k (1 1) = 0
z
z3

conservative

(b)

(c)

(d)

er
1

F = 2
r sin r
kr n

4.3

e r

e r sin

= 0 conservative

(a)
i

F =
x
xy

y
cx 2

= k ( 2cx x )
z
z3

y
cxz
y2

z
x
y

2cx x = 0
1
c=
2

(b)
i

F =
x
z
y

also

4.4

(a)

x cx
= i 2 2 +
y
y
x cx
2 2 =0
y
y
cz z
+
=0
y2 y2

j 1 1 + k cz + z
2
y2
y y
y
c = 1

implies that

1
E = constant = V ( x, y, z ) + mv 2
2
1 2
at the origin E = 0 + mv
2
1
1
at (1,1,1)
E = + + + mv 2 = mv 2
2
2

c = 1 as it must

v2 = v2

2
( + + )
m
1

2
v = v 2 ( + + )
m

(b)

v2

2
( + + ) = 0
m
1

2
2
v = ( + + )
m

(c)

mx = Fx =

V
x

mx =
V
my =
= 2 y
y
V
mz =
= 3 z 2
z

4.5

(a)

+ jy
F = ix
+ jdy
dr = idx

on the path x = y :
(1,1)

0,0 )

F dr = Fx dx + Fy dy = xdx + ydy = 1

dr = idx
dr = jdy

on the path along the x-axis:

and on the line x = 1 :
(1,1)

0,0 )

F dr = Fx dx + Fy dy = 1

F is conservative.
(b)

jx
F = iy
on the path x = y :
(1,1)

0,0 )

F dr = Fx dx + Fy dy = ydx xdy
(1,1)

and, with x = y

on the x-axis:

and, with y = 0 on the x-axis

on the line x = 1 :

0,0 )

(1,0 )
0,0 )
(1,0 )
0,0 )

(1,1)
1,0 )

F dr = xdx ydy = 0
1

F dr = Fx dx = ydx

F dr = 0
1

F dr = Fy dy = xdy

(1,1)

and, with x = 1
on this path

1,0 )

(1,1)

0,0 )

F dr = dy = 1
0

F dr = 0 + 1 = 1

F is not conservative.
4.6

From Example 2.3.2, V ( z ) = mg

re2
( re + z )

z
V ( z ) = mgre 1 +
re
From Appendix D,

(1 + x )

= 1 x + x 2 +

z z2
V ( z ) = mgre 1 + 2 +
re re

2
mgz
V ( z ) = mgre + mgz
+
re
With mgre an additive constant,

z
V ( z ) mgz 1
re

F = V = k V ( z )
z
1 z + z 1
= kmg

re
re
1 2 z
F = kmg

re

mx = Fx = 0 ,
mz

my = Fy = 0

2z
dz
= mg 1
dz
re

h
2z
zdz = g 1 dz
0
z
re

1
h2
v 2z = g h
re
2

re v 2z
h re h +
=0
2g
2

2z
mz = mg 1
re

h=

re 1 2 2re v 2z

re
g
2 2

h=

re re
2v 2

1 z
2 2
gre

From Appendix D,

( h, z

(1 + x ) 2 = 1 +

h=

re re v 2z
v4
+
+ z +
2 2 2 g 4 gre

v 2z
v 2z
1 +

2 g 2 gre

re )

x x2
+
2 8

v2
v2
From Example 2.3.2, h =
1

2 g 2 gre
v2
v2
1
And with (1 x ) 1 + x ,
h
1
+

2 g 2 gre

4.7

For a point on the rim measured from the center of the wheel:
cos jb sin
r = ib
vt
=t = ,
so r = iv sin jv cos
b
Relative to the ground, v = iv (1 sin ) jv cos
For a particle of mud leaving the rim:
y = b sin and v y = v cos
So

v y = v y gt = v cos gt

1
y = b sin v t cos gt 2
2
At maximum height, v y = 0 :
and

t=

v cos
g

v cos
h = b sin v
g

2
2
v cos
h = b sin +
2g
Maximum h occurs for

1 v cos
cos g

g
2

dh
2v 2 cos sin
= 0 = b cos
2g
d

sin =

gb
v2

cos 2 = 1 sin 2 =

v 4 g 2b 2
v4

gb 2 v 4 g 2b 2 gb 2 v 2
+
= 2+
v2
2 gv 2
2v
2g
Measured from the ground,
gb 2 v 2
=b+ 2 +
hmax
2v
2g
hmax =

gb
The mud leaves the wheel at = sin 1 2
v

4.8

x = R cos
so t =

and

x = v x t = ( v cos ) t

R cos
v cos
1
1
and y = v y t gt 2 = ( v sin ) t gt 2
2
2

y = R sin

R cos 1 R cos
R sin = ( v sin )
g

v cos 2 v cos
gR cos 2
sin = tan cos 2
2v cos 2

2v 2 cos 2
2v 2 cos
tan
cos
sin

=
(
)
( sin cos cos sin )
g cos 2
g cos 2
From Appendix B, sin ( + ) = sin cos + cos sin
R=

2v 2 cos
R=
sin ( )
g cos 2
dR
2v 2
=0=
sin sin ( ) + cos cos ( )
d
g cos 2
Implies that cos cos ( ) sin sin ( ) = 0

R is a maximum for

From appendix B, cos ( + ) = cos cos sin sin

so cos ( 2 ) = 0
2 =
Rmax =

2v

cos + sin
2
g cos
4 2 4 2
2




Now sin = cos = cos +
4 2
4 2
2 4 2
2v 2

Rmax =
cos 2 +
2
g cos
4 2
Again using Appendix B, cos 2 = cos 2 sin 2 = 2 cos 2 1
v2
2v 2 1

1

Rmax =
cos
cos + + 1
+ + =

2
2
g cos 2

2
2 g cos 2

Using cos + = sin ,

2

2
v
Rmax =
(1 sin )
g (1 sin 2 )
2

Rmax =

v
g (1 + sin )

4.9
(a) Here we note that the projectile is launched
downhill towards the target, which is located a
distance h below the cannon along a line at an angle
below the horizon. is the angle of projection
that yields maximum range, Rmax. We can use the

results from problem 4.8 for this problem. We

simply have to replace the angle in the above

result with the angle -, to account for the downhill

h
slope. Thus, we get for the downhill range
Rmax
2v0 2 cos sin ( + )
R=
cos 2
g
The maximum range and the angle is are obtained from the problem above again by
v 2 (1 + sin )

replacing with the angle - Rmax = 0

and 2 = .
2
2
g cos
2
2
v (1 + sin )
v0
h
We can now calculate Rmax =
= 0
=
2
g cos
g (1 sin )
sin

gh
1 + 2
v0

But, from the above sin = sin 2 = cos 2 = 1 2sin 2

2

gh
gh
Thus 1 2 sin 2 = 2 1 + 2
v0 v0

Solving for sin sin =

gh
v0 2

2sin 2 =

2
gh
= 1 2
2
csc
v0

1
gh
1 + 2 =
v0 1 + gh
v0 2

gh
Finally csc 2 = 2 1 + 2
v0

(b)

Solving for Rmax Rmax =

h
h
h
=
=
2
sin 1 2sin 1 2 csc2

Substituting for csc 2 and solving

v2
gh
Rmax = 0 1 + 2
g v0
4.10 We can again use the results of problem 4.8. The maximum slope range from
problem 4.8 is given by
v0 2
h
=
Rmax =
g (1 + sin ) sin
Solving for sin
sin =

gh
v0 2

gh
1 2
v0

Thus

cos
sin
We can calculate cos from the above relation for sin
xmax = Rmax cos = h

1
2

gh gh
cos = (1 sin 2 ) = 1 2 2 1 2
v0 v0

Inserting the results for sin and cos into the above
1
2

xmax

cos v0 2
gh 2
1
2
=h
=

sin
g
v0 2

4.11 We can simplify this problems somewhat by noting that the trajectory is
symmetric about a vertical line that passes through the highest point of the trajectory.
Thus we have the following picture

zmax
v0
h0

h1

x0

x1
R

We have reversed the trajectory so that h0 (= 9.8 ft), and x0 , the height and range within
which Mickey can catch the ball represent the starting point of the trajectory. h1 (=3.28
ft) is the height of the ball when Mickey strikes it at home plate. is the distance behind
home plate where the ball would be hypothetically launched at some angle to achieve
the total range R. x1 (=328 ft) is the distance the ball actually would travel from home
plate if not caught by Mickey. (Note, because of the symmetry, v0 is the speed of the ball
when it strikes the ground also at the same angle at which was launched. We will
calculate the value of x0 assuming a time-reversed trajectory!)
v 2 sin 2 2v0 2 sin cos
=
(1) The range of the ball R = 0
g
g
2

R
g
R
tan

2
2
2
2v0 cos 2
g
2
(3) The height at x1
h1 = x1 tan
( x1 )
2
2
2v0 cos
g
tan
=
and inserting this into (2) gives
From (1)
2
2
R
2v0 cos
R
R
R
zmax = tan tan = tan
2
4
4
4z
Thus, R = max and inserting this expression and the first previously derived into (3)
tan

(2) The maximum height zmax =

(4)

h1 = x1

( x tan )
tan 1

4 zmax
Let u = x1 tan and we obtain the following quadratic
u 2 4 zmax u + 4 zmax h1 = 0 and solving for u
1
h

u = 2 zmax 1 (1 h1 zmax ) 2 and letting = 1 , we get

zmax

u zmax = h1

or

u 2 zmax ( 2 ) = 2 zmax ( 2 .0475 ) = 3.9 zmax . This result is the correct one

3.9 zmax
= 0.821 = 39.40
x1
Now solve for x0 using a relation identical to (4)
Thus, tan =

h0 = x0

( x tan )
tan 0

4 zmax
Again we obtain a quadratic expression for u = x0 tan which we solve as before. This
time, though, the first result for u is the correct one to use
u = zmax h0 and we obtain
h
x0 = 0 = 11.9 ft
tan
4.12

The x and z positions of the ball vs. time are

1
1
1
x = v t cos
z = v t cos sin gt 2
2
2
2
1
Since vx = v cos
2
v2
1
The horizontal range is
cos 2 sin 2
R=
g
2
dR
The maximum range occurs @
=0
d
1
1
dR v 2

2 1
=
2 cos cos 2 cos sin sin 2 = 0
2
2
2
d
g

1
1
1
Thus, 2 cos 2 cos 2 = cos sin sin 2
2
2
2
2
Using the identities: 2 cos = 1 + cos 2 and sin 2 = 2sin cos
We get:
(1 + cos ) ( 2 cos2 1) = sin sin cos = (1 cos 2 ) cos
or

(1 + cos ) ( 3cos 2

Thus

cos = 1 ,

cos 1) = 0

cos =

1
1 13
6

Only the positive root applies for the -range:

1
cos = 1 + 13 = 0.7676
6
Thus (b) for v = 25 m s 1 Rmax = 55.4 m

10

= 39 51
@ = 39 51

(a) The maximum height occurs at

or

1
v cos sin = gT
2
v2
1
H=
cos 2 sin 2
2g
2

or at

dz
=0
dt
1
v cos sin
2
T=
g

maximum at fixed

dH
=0
d
dH v 2
1
1

2 1
2
=
2 cos sin cos cos sin sin = 0
d 2 g
2
2
2

Using the above trigonometric identities, we get

1
1
(1 + cos ) sin cos = sin sin 2 = sin (1 cos 2 )
2
2
or
sin (1 + cos )( 3cos 1) = 0

The maximum possible height occurs @

1
3
The first two roots give minimum heights; the last gives the maximum
1
Thus, H max = 18.9m @ = cos 1 = 70 32
3
There are 3-roots:

4.13

sin = 0 ,

cos = 1 ,

cos =

The trajectory of the shell is given by Eq. 4.3.11 with r replacing x

z
g
z = r 2 r2
where r = v cos
z = v sin
r
2r
Thus, z = r tan

g r2
sec 2
2v 2

Since sec2 = 1 + tan 2

We have:
g r2
g r2
2
r
z
tan

tan

+
+
=0
2v 2
2v 2
(r,z) are target coordinates.
The above equation yields two possible roots:
1
1 2
4
2
2 2 2

tan =
v
v
2
gzv
g
r
(
)

gr

The roots are only real if

v 4 2 gzv 2 g 2 r 2 0
The critical surface is therefore:
v 4 2 gzv 2 g 2 r 2 = 0
4.14

If the velocity vector, of magnitude s , makes an angle with the z-axis, and its
11

projection on the xy-plane make an angle with the x-axis:

x = s sin cos ,
and Fx = Fr sin cos = mx
y = s sin sin ,
and Fy = Fr sin sin = my
z = s cos ,

and Fz = mg + Fr cos = mz

Since Fr = c2 s = c2 ( x + y 2 + z 2 ) , the differential equations of motion are not

2

separable.
mx = c2 s 2 sin cos = c2 sx
dx
dx ds
dx
m = m = ms = c2 sx
dt
ds dt
ds
dx
c2
c
= ds = ds , where = 2
m
x
m
x
ln x ln x = ln = s
x

z
g x
g x
From eqn 4.3.16, + 2 max + 2 ln 1 max = 0
x

2
3
u u
From Appendix D: ln (1 u ) = u
for u < 1
2 3
3
x
x
2 xmax 2 3 xmax

+ terms in 4
ln 1 max = max
2
3
x
x
2x
3x

2
3
z xmax gxmax gxmax gxmax
g xmax
+

+ terms in 2 = 0
2
3
x
x
2x
3x
x
2
+
xmax

3x
3x 2 z
0
xmax
2
g
1

xmax

3x 9 x 2 3x 2 z 2

g
4 16 2
1

3 x 3 x 16 z 2

xmax
1 +

4 4
3g
Since xmax > 0 , the + sign is used.
From Appendix D:
1

16 z 2
8 z 1 16 z
3

1 +
= 1+
+ terms in
3g
3g 8 3g

3x 3x 2 x z 8 x z 2
+
+

+ terms in 2
xmax =
2
4 4
g
3g

12

x = x e s
y = y e s

Similarly
4.15

2 x z 8x z 2

+
g
3g 2
z = v sin and 2 x z = v 2 sin 2 :

xmax =

For

xmax =

v 2 sin 2 4v 3 sin 2 sin

+
g
3g 2

4.16
y

x = A cos ( t + ) ,

x = A sin ( t + )

from x = 0 ,
from x = A ,
y = B cos ( t + ) ,

=0
x = A cos t
y = B sin ( t + )

1 2 1 2 1 2
kB = ky + my
2
2
2
with

B 2 = 16 A2 +
Then

( 9

y = 4 A , y = 3 A

and =

A2 ) = 25 A2

B = 5A
4 A = 5 A cos and 3 A = 5 A sin
4
3
= cos 1 = sin 1 = 36.9
5
5

y = 5 A cos ( t 36.9

Since maximum x and y displacements are A and 5A ,

respectively, the motion takes place entirely within a
rectangle of dimension 2 A and 10A .
= = 36.9 0 = 36.9
2 AB cos
From eqn 4.4.15, tan 2 = 2
A B2
4
( 2 A)( 5 A) cos ( 36.9 ) 10 5 1
=
=
tan 2 =
2
24
3
A2 ( 5 A )
1

= tan 1 = 9.2
2
3
4.17

mx = Fx =

x = A cos

V
= kx = 2 mx
x

k
t + = A cos ( t + )
m

13

k
:
m

V
= 4 2 mx
y
y = B cos ( 2 t + )

my =

V
= 9 2 mz
z
z = C cos ( 3 t + )

mz =

Since x = y = z = 0 at t = 0 ,

= = =

x = A cos t = A sin t
2

x = A cos t

Since v 2 = x 2 + y 2 + z 2 and x = y = z ,
v
x =
= A
3
v
A=
3
v
x=
sin t
3
y = B sin 2 t ,
y = 2 B cos 2 t
v
y =
= 2 B
3
v
B=
2 3
v
y=
sin 2 t
2 3
z = C sin 3 t ,
z = 3C cos 3 t
v
z =
= 3C
3
v
C=
3 3
v
z=
sin 3 t
3 3
Since x = , y = 2 , and z = 3 the ball does retrace its path.
tmin =

2 n1

2 n2

2 n3

The minimum time occurs at n1 = 1 , n2 = 2 , n3 = 3 .

14

tmin =
4.18

=2

Equation 4.4.15 is

tan 2 =

2 AB cos
A2 B 2

Transforming the coordinate axes xyz to the new axes xyz by a rotation about
the z-axis through an angle given, from Section 1.8:
x = x cos + y sin ,
y = x sin + y cos
or,
x = x cos y sin , and
y = x sin + y cos
From eqn. 4.4.10:

x2
2 cos y 2
x
y

+ 2 = sin 2
2
A
AB
B

Substituting:
1
x2 cos 2 2 xy cos sin + y2 sin 2 )
2 (
A
2 cos 2
x cos sin + xy ( cos 2 sin 2 ) y2 cos sin

AB
1
+ 2 ( x2 sin 2 + 2 xy cos sin + y2 cos 2 ) = sin 2
B
For x to be a major or minor axis of the ellipse, the coefficient of xy must
vanish.
2 cos sin 2 cos
2 cos sin
cos 2 sin 2 ) +

=0
(
2
A
AB
B2
From Appendix B, 2 cos sin = sin 2 and cos 2 sin 2 = cos 2
sin 2 2 cos cos 2 sin 2

+
=0
A2
AB
B2
1 2 cos
1
tan 2 2 2 =
A
AB
B
2 AB cos
tan 2 = 2
A B2
4.19

Shown below is a face-centered cubic lattice. Each atom in the lattice is centered
within a cube on whose 6 faces lies another adjacent atom. Thus each atom is
surrounded by 6 nearest neighbors at a distance d. We neglect the influence of
atoms that lie at further distances. Thus, the potential energy of the central atom
can be approximated as
6

V = cri
i =1

2d

15

r1 = ( d x ) + y 2 + z 2 2

2x x2 + y2 + z 2 2
+
r = ( d 2dx + x + y + z ) = d 1

d
d2

1
n
From Appendix D, (1 + x ) = 1 + nx + n ( n 1) x 2 +
2
2
2 x x + y 2 + z 2 1
r1 = d 1 +
+ 1
d2
2 d
2 2 2

2 2

2
2
2
2
2
2 2
2 x 2
x3
2x x + y + z x + y + z
+
term
s
in
+
2

d2
d2
d3
d
d

x3
4 x2
x
2 ( x 2 + y 2 + z 2 ) + + 1 2 + terms in 3
r1 = d 1 +
d
d 2d
4 2 d

x

r1 d 1 +
2 ( x 2 + y 2 + z 2 ) + 2 + 1 x 2
d 2d
d 2

r2 = ( d x ) + y 2 + z 2 2 = d 2 + 2dx + x 2 + y 2 + z 2 2

r2

2 x x2 + y 2 + z 2 2
= d 1 +
+

d
d2

x

d 1
2 ( x 2 + y 2 + z 2 ) + 2 + 1 x 2
d 2d
d 2

r1 + r2 d 2 2 ( x 2 + y 2 + z 2 ) + 2 ( + 2 ) x 2
d
d

Similarly:

r3 + r4 d 2 2 ( x 2 + y 2 + z 2 ) + 2 ( + 2 ) y 2
d
d

r5 + r6 d 2 2 ( x 2 + y 2 + z 2 ) + 2 ( + 2 ) z 2
d
d

2 2
V cd 6 2 ( x 2 + y 2 + z 2 ) + 2 + 2 ( x 2 + y 2 + z 2 )
d
d
d

2
2
2
2
2
6cd + cd
( )( x + y + z )

V A + B ( x2 + y 2 + z 2 )
4.20

16

kB

F = q E+vB

jE

0
iv

kB
= iyB
+ jy + kz
jxB
v B = ix

F = iqyB
+ jq ( E xB )

mx = Fx = qyB
qB
xx =
y
m

qB

my = Fy = qE qxB = qE qB x +
m

qE qBx qB
eE eBx eB
y=

+
y
y=
m
m m
m
m m
eE
eB
y +2 y =
+x ,
=
m
m
1 eE

y = 2
+ x + A cos ( t + )
m

y = A sin ( t + )
y = 0 , so = 0

1 eE

+x
2
m

1 eE

a = 2
y = a (1 cos t ) ,
+x
m

qB
x=x +
y = x y = x a (1 cos t )
m
x = ( x a ) + a cos t
y = 0 , so A =

x = ( x a ) t + a sin t
x = a sin t + bt ,
mz = Fz = 0
z=zt+z =0

b = x a

4.21

1 2
b
mv + mqh = mg
2
2
2
v = g ( b 2h )

y
b
h

mv 2
Fr =
= mg cos + R
b

17

h
b
h mv 2 mg
mg
R = mg
=
h ( b 2h ) =
( 3h b )
b
b
b
b
the particle leaves the side of the sphere when R = 0
b
b
h = , i.e.,
above the central plane
3
3
cos =

4.22

1 2
mv + mgh = 0
2
at the bottom of the loop, h = b
1 2
mv = mgb ,
2
v = 2gb

so

mv 2
Fr = mg + R =
b
2
mv
R = mg +
= mg + 2mg = 3mg
b

v
4.23

From the equation for the energy as a function of s in Example 4.6.2,

1
1 mg 2
E = ms 2 +
s ,
2
2 4A
s is undergoing harmonic motion with:
"k "
g
1 g
=
=
=
m
4A 2 A
Since s = 4 A sin , increases by 2 radians during the time interval:

A
= 2 2

g
For cycloidal motion, x and z are functions of 2 so they undergo a
complete cycle every time changes by . Therefore, the period for the
cycloidal motion is one-half the period for s .
1
A
T = T = 2
2
g
------------------------------------------------------------------------------------------------------

T =

18