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Where are we?
Forces of the form F (v)
Example: F (v) = −m Γ v
Another example: F (v) = −m β v 2
Forces of the form F (x)
Review of the harmonic oscillator
Linearity and Time Translation Invariance
Back to F (v) = −m Γ v
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Forces of the form F (v)
Formally, it is almost as easy to solve for the trajectory for a system of one degree of freedom
in which the force depends only on v as for a force that depends only on t. For a force F (v)
depending only on v, we write F = ma as
dv
m = F (v) (1)
dt
We can rewrite this as
dv m
dt = dt (2)
dt F (v)
which we can simplify just by integration. Again we have to remember that the integration vari-
ables must be distinguished from the ranges of integration. Again I will use the notation in Morin’s
book and just put primes on them. Putting in all the steps very formally, we get
Z t Z t Z v(t)
dv 0 m m
dt0 = t − t0 = dt0 = dv 0
(3)
t0 t0 dt0 F (v 0 ) v(t0 ) F (v 0 )
The last step is a change of variable in the integration from t0 to v 0 = v(t0 ). A quick and dirty way
of getting to (3) is to write
m
dt = dv (4)
F (v)
and integrate both sides.1 This is a perfectly good way of looking at it. The equation (4) describes
how a small change in t is related to the small change in v that takes place during the small change
in t. Integration adds the small changes up.
Equation (3) implicitly determines v(t) in terms of t − t0 and the initial condition v(t0 ). And
once we know v(t), we can integrate to get the trajectory x(t) (using the initial condition x(t0 ) as
usual).
Let’s see how this works in an important example, describing a frictional force.
Example: F (v) = −β v = −m Γ v
If an object moves very slowly through a thick gas or a liquid, there is almost always a frictional
force approximately proportional to the velocity (and in the opposite direction). What “slowly”
means depends on the size of the object and the viscosity of the stuff it is moving through. We will
come back later in the lecture to why this force should exist. For now, let’s see how (3) works for
such force, which we can take to have the form2
F (v) = −β v = −m Γ v (5)
(3) becomes Z t Z v(t)
0 1
dt = − dv 0 (6)
t0 v(t0 ) Γ v0
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When we do that, we must turn them into dummy variables, which we do, as usual, by putting primes on the.
2
The factor of m is just there to make the units of the constant Γ simpler. It makes the ms cancel in (3). Physically,
the factor doesn’t really make any sense, because the frictional force on an object just depends on its size, shape and
surface properties — not on its mass. But of course the essential physics doesn’t change when you leave out the m
and write things in terms of β - the formulas just look a bit more complicated.
2
This looks nicer if we put the Γ on the other side
Z t Z v(t)
0 1
Γ dt = − dv 0 (7)
t0 v(t0 ) v0
or
Γ (t − t0 ) = − ln v(t) + ln v(t0 ) (8)
or
ln v(t) = ln v(t0 ) − Γ (t − t0 ) (9)
or
eln v(t) = eln v(t0 )−Γ (t−t0 ) (10)
or
v(t) = v(t0 ) e−Γ (t−t0 ) (11)
This makes sense. The constant Γ has units of 1/T , so the exponent is dimensionless, as it should
be. Thus the units work in (11). We can also check this in the limit Γ → 0. In this limit, where
the frictional force disappears, the velocity goes to a constant, as it should. For nonzero Γ, the
frictional force causes the velocity to gradually drop off. Because the force is proportional to v,
the drop-off gets slower and slower as the velocity gets smaller, in this case, exponentially. A plot
of the velocity (in units of v0 ) as a function of time (in units of 1/Γ) has an exponential shape that
I hope is familiar:
1
0.8
0.6
0.4
0.2
1 2 3 4 5
we get
v(t0 ) Z e−Γ (t−t0 )
x(t) = x(t0 ) − du (14)
Γ 1
which gives
v(t0 ) ³ ´
x(t) = x(t0 ) + 1 − e−Γ (t−t0 ) (15)
Γ
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Note that the object moves a finite distance, v(t0 )/Γ, in infinite time. The distance traveled looks
like this, where for comparison, I have included the linear extrapolation of the initial velocity.
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0.8
0.6
0.4
0.2
1 2 3 4 5
In Dave Morin’s book, he works out a slightly more interesting example in which there is also
a constant component of the force. This is relevant to objects falling in a gravitational field and
also subject to friction. If the force looks like F (v) = F0 − m Γ v, the velocity as a function of
time is µ ¶
F0
v(t) = v(t0 ) e−Γ (t−t0 ) + 1 − e−Γ (t−t0 ) (16)
mΓ
One interesting thing about this is that v(∞) = mF0Γ independent of v0 . Whatever the initial condi-
tions, v approaches the same “terminal” velocity, as illustrated in the graph below:
3
2.5
1.5
0.5
1 2 3 4 5
If Γ is very large, this gives a kind of Aristotelian physics. When you push on something, it
moves with a velocity proportional to the force. If Γ is large enough, you might not notice that
it takes a little time (1/Γ) to settle down to this terminal velocity.
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Now (3) becomes Z t Z v(t)
0 1
dt = − dv 0 (18)
t0 v(t0 ) β v0 2
This looks nicer if we put the β on the other side
Z t Z v(t)
1
β dt0 = − dv 0 (19)
t0 v(t0 ) v0 2
or
1 1
β (t − t0 ) = − (20)
v(t) v(t0 )
or
1 1 1 β v(t0 ) (t − t0 ) 1 + β v(t0 ) (t − t0 )
= + β (t − t0 ) = + = (21)
v(t) v(t0 ) v(t0 ) v(t0 ) v(t0 )
or
v(t0 )
v(t) = (22)
1 + β v(t0 ) (t − t0 )
I won’t work out the details here, but you can now integrate this again to get the position as a
function of time: ³ ´
1
x(t) = x(t0 ) + log 1 + β v(t0 ) (t − t0 ) (23)
β
I did another example basically just to show how differently the initial condition (the value
of v(t0 ) in this case) comes into to the final result in different cases [compare (22) and (23) with
(11) and (15)]. The trajectories always depend on two initial conditions, but what that dependence
looks like depends on the form of the force. You have to think and keep your wits about you — if
you try to remember formulas for all the different possible force laws, you will just get confused.
Instead concentrate on understanding the derivations! But nevertheless the matra — two initial
conditions per degree of freedom will be a useful check that you are doing sensible things.
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Next time we will see this again when discuss conservation of energy.
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This determines v in terms of x. And then we can determine x(t) using
dx
dt = (27)
v(x)
which implies
Z t Z x
0 dx0
dt = t − t0 = (28)
t0 x(t0 ) v(x0 )
While this formally determines everything, this analysis is usually not very useful, because it is
only for very carefully chosen force laws that you can actually integrate and solve explicitly twice.
This can get complicated. If we are doing well on time, I will work out the example of a force of
the form
F (x) = b ek x (29)
using Mathematica. The results are in a Mathematica notebook on the website.
Meanwhile, we should note that this trick is related to conservation of energy, which we will
discuss next week.
F = −K x (31)
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where K is called the spring constant. The larger the spring constant, the stiffer the spring.
Now Newton says
d2
F = m a = m 2 x = m ẍ = −K x (32)
dt
This is a force law that depends only on x, so we could find the solution using the technique that
we just described for F (x) = −Kx. This works, but it is tedious. It is easier to just solve the
differential equation. You probably know that the general solution to the second order differential
equation (32) is
x(t) = a cos ωt + b sin ωt (33)
where s
K
ω≡ (34)
m
We can check this by differentiating (33):
v(0)
x(t) = x(0) cos ωt + sin ωt (40)
ω
As we will discuss in more detail later, we can easily adapt (40) to use the initial conditions at any
time t = t0 as follows:
h i v(t0 ) h i
x(t) = x(t0 ) cos ω(t − t0 ) + sin ω(t − t0 ) (41)
ω
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It is interesting to collect the various examples we have discussed in one table.
Force x(t)
F0
F0 ⇒ x(t0 ) + v(t0 ) (t − t0 ) + (t − t0 )2
2m
v(t0 ) ³ ´
−m Γ v ⇒ x(t0 ) + 1 − e−Γ (t−t0 ) (42)
Γ
1 ³ ´
−m β v 2 ⇒ x(t0 ) + log 1 + β v(t0 ) (t − t0 )
β
h i v(t0 ) h i
−m ω 2 x ⇒ x(t0 ) cos ω(t − t0 ) + sin ω(t − t0 )
ω
What I think is interesting about this is that it shows very clearly that while each of these force
laws requires two initial conditions, which we can take to be the position and velocity at the time
t0 , the way in which these two constants appear differs dramatically from one force law to another.
This is an important lesson. There are always two initial conditions per degree of freedom, the way
the initial conditions appear in the trajectory depends on the force law.
There is a very different way of writing the solution (33). Using (I hope familiar) trigonometric
identities, we can write
Because the sin and cos functions are periodic with period 2π,
x(t + 2π/ω) = c cos [ω(t + 2π/ω) − φ] = c cos(ωt − φ + 2π) = c cos(ωt − φ) = x(t) (49)
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and thus the motion repeats after a time
cycles radians
Note that ν has units and ω has units . (52)
sec sec
These are really the same units in the sense of dimensional analysis because 2π is dimensionless,
but thinking about the units as stated in (52) will help you remember the factor of 2π which is just
the conversion factor between radians and cycles. It will make even more sense soon when we
make the connection between harmonic oscillation and uniform circular motion.
So what is it that is special about harmonic oscillation? — two general principles —
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So suppose that you are studying oscillations in some system, and all you know about it is that
it oscillates about a point of equilibrium. Let’s call the quantity that measures the displacement
from equilibrium x, to make it look like the mass on a spring. We expect that the time evolution
of the system can be described by the solutions to some second order differential equation (like
F = m a):
d2
x = F(x) (54)
dt2
where F is the analog of the F/m in F = m a. Because I’ve assumed that we are in equilibrium
at x = 0, it must be that
F(0) = 0 (55)
Now, assuming that F(x) is smooth, we can use the most important formula in physics — and you
can probably guess what that is — the Taylor expansion
1 1
F(x) = F(0) + xF 0 (0) + x2 F 00 (0) + · · · = xF 0 (0) + x2 F 00 (0) + · · · (56)
2 2
Then unless F 0 (0) is exactly zero, the first term will dominate for sufficiently small x. This is
why linearity is so important. Most functions in physics are smooth. Most of the time, there is no
particular reason for F 0 (0) to be zero, so it isn’t. Thus the equations of motion for most systems
are linear for sufficiently small x.
I should perhaps just note that the most important example of linearity has little to do with
classical mechanics — it is quantum mechanics itself. Just as classical sound waves or electromag-
netic waves can add together and sometimes interfere constructively and sometimes destructively,
so also the mysterious quantum matter waves that describe quantum states can be added. As far
as we know, the linearity of quantum mechanics is exact, not an approximation. At least, very
sensitive experiments have failed to find any nonlinearities.
Next time, we will discuss the consequences of time translation invariance and linearity in
detail. We will see that when the physics of a system obeys these two general principles, the
trajectories can be written in a very simple form, as sums of exponentials.
√ But sometimes, the
exponentials will be complex — that is they will involve i = −1. Furthermore the generality
of argument will allow us to extend this result to systems with arbitrary numbers of degrees of
freedom, with rather dramatic results.
Back to F (v) = −m Γ v
For now, let us now return to the force law that we considered at the beginning of this lecture,
F (v) = −m Γ v. What is the physics of this force law? We saw that when friction arises because
stuff gets knocked out of the way, we get a v 2 dependence on velocity. But this v 2 dependence is
not linear. When v 2 is sufficiently small, we might expect that this effect will become negligible
compared to other effects that give a linear dependence on velocity. Indeed, in most liquids, we get
an approximately linear dependence of the frictional force on velocity for objects that are moving
slowing enough. Then the molecules of the liquid are not so much knocked as they are gently
pushed out of the way, so that the process is very smooth and reversible. This is a good excuse
to show you one of my very favorite demos, illustrating the smoothness that one gets in a in very
viscous medium, in which the linear regime is easy to reach.
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