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VECTOR FUNCTIONS
VECTOR FUNCTIONS
12.4
Motion in Space:
Velocity and Acceleration
In this section, we will learn about:
The motion of an object
using tangent and normal vectors.
VELOCITY
VELOCITY
Vector 1
r (t h) r (t )
h
approximates
the direction of the
particle moving along
the curve r(t).
VELOCITY
VELOCITY
VELOCITY VECTOR
Equation 2
r (t h) r (t )
v (t ) lim
h 0
h
r '(t )
VELOCITY VECTOR
SPEED
SPEED
ds
| v (t ) || r '(t ) |
dt
= rate of change
of distance with
respect to time
ACCELERATION
Example 1
Example 1
Example 1
9t 4t
4
Example 1
When t = 1, we have:
v(1) = 3 i + 2 j
a(1) = 6 i + 2 j
|v(1)| = 13
Example 1
Example 2
Example 2
v (t ) r '(t ) 2t , e , (1 t )e
t
a(t ) v '(t ) 2, e , (2 t )e
t
| v (t ) | 4t e (1 t ) e
2
2t
2t
Example 3
Example 3
Example 3
Example 3
It follows:
v(t) = 2t2 i + 3t2 j + t k + i j + k
= (2t2 + 1) i + (3t2 1) j + (t + 1) k
Example 3
Example 3
v (t ) v(t0 ) a(u ) du
t0
r (t ) r (t0 ) v (u ) du
t0
Example 4
Example 4
Example 4
Example 4
Notice that:
F(t) = m2r(t)
This shows that the force acts in the direction
opposite to the radius vector r(t).
Example 4
CENTRIPETAL FORCE
Example 4
Example 5
Example 5
Example 5
Example 5
Example 5
Example 5
Example 5
E. g. 5Equation 3
Example 5
E. g. 5Equations 4
Example 5
Example 5
Example 5
Setting y = 0, we obtain:
t = 0 or t = (2v0 sin )/g
Example 5
2v0 sin
d x (v0 cos )
g
v (2sin cos ) v sin 2
g
g
2
0
2
0
Example 6
Example 6
Example 6
10 75 2 t 4.9t
Example 6
Example 6
Then,
x 75 2 (21.74)
2306
Example 6
v (t ) r '(t )
75 2 i (75 2 9.8t ) j
Example 6
151m/s
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
r '(t )
v(t )
v
T(t )
| r '(t ) | | v(t ) | v
Thus,
v = vT
ACCELERATIONCOMPONENTS
Equation 5
ACCELERATIONCOMPONENTS
Equation 6
| T'| | T'|
so | T ' | v
|r'|
v
ACCELERATIONCOMPONENTS
T ' | T ' | N vN
ACCELERATIONCOMPONENTS
Formula/Equation 7
a v 'T v N
2
ACCELERATIONCOMPONENTS
Equations 8
and
aN = Kv2
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
a v 'T v N
2
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
(Since T T = 1 and T N = 0)
ACCELERATIONCOMPONENTS
Equation 9
Therefore,
v a
aT v '
v
r '(t ) r "(t )
| r '(t ) |
ACCELERATIONCOMPONENTS
Equation 10
| r '(t ) r "(t ) |
2
aN v
| r '(t ) |
3
| r '(t ) |
| r '(t ) r "(t ) |
| r '(t ) |
2
ACCELERATIONCOMPONENTS
Example 7
ACCELERATIONCOMPONENTS
2
r (t ) = t i + t j + t k
2
r '(t ) = 2t i + 2t j + 3t k
r "(t ) = 2 i + 2 j + 6t k
| r'(t ) |
8t 9t
2
Example 7
Example 7
ACCELERATIONCOMPONENTS
r '(t ) r "(t )
aT
| r '(t ) |
8t 18t
8t 9t
2
ACCELERATIONCOMPONENTS
i
r '(t ) r "(t ) 2t
2
k
2
2t 3t
2 6t
6t i 6t j
2
Example 7
Example 7
ACCELERATIONCOMPONENTS
r '(t ) r "(t )
aN
| r '(t ) |
6 2t
8t 9t
2
KEPLERS LAWS
F = ma
Law of Gravitation:
GMm
F 3 r
r
GMm
2 u
r
GM
a 3 r
r
So, a is parallel to r.
It follows that r x a = 0.
d
(r v ) r ' v r v '
dt
v v ra
00
0
Therefore,
rxv=h
where h is a constant vector.
We may assume that h 0;
that is, r and v are not parallel.
h r v rr '
r u (r u) '
r u (ru ' r ' u)
r (u u ') rr '(u u)
2
r (u u ')
2
Then,
GM
2
a h 2 u (r u u ')
r
GM u (u u ')
GM (u u ')u (u
u)u '
(Property 6,
Th. 8, Sec. 11.4)
However, u u = |u|2 = 1
Also, |u(t)| = 1
Therefore,
a h GM u '
Thus,
Equation 11
v h GM u c
where c is a constant vector.
r ( v h) r (GM u c)
GM r u r
c
GMr u u | r || c | cos
where c = |c|.
GMr rc cos
Then,
r ( v h)
r
GM c cos
1 r ( v h)
GM 1 e cos
where e = c/(GM).
However,
r ( v h) (r v )
h
h h
| h |
h
where h = |h|.
Thus,
2
h /(GM )
r
1 e cos
2
eh / c
1 e cos
Equation 12
ed
r
1 e cos
KEPLERS LAWS