1

Overview
Chapter 1 & 2
2
Ch 1 Must-do-problems:
17, 20
4, 11,14, 17, 19, 35, 36
Ch 2 Must-do-problems:
3
Learning Objectives
Signatures of a particle in motion and their
mathematical representations
Velocity, Acceleration, Kinematics
Choice of coordinate systems that would
ease out a calculation.
Cartesian and (Plane) Polar coordinate
Importance of equation of constraints
Some application problems
4
Skip
Vectors and free body diagram
Tension in massless string and with strings having
mass, string-pulley system.
Capstan problem
While sailing it is used
by a sailor for lowering
or raising of an anchor
5
Capstan
A rope is wrapped around a fixed
drum, usually for several turns.
A large load on one end is held
with a much smaller force at the
other where friction between drum
and rope plays an important role
You may look at:
Example 2.13 & Exercise 2.24
6
Velocity
Particle in translational motion
x
y
z
1
r

2
r

A
O
r
t
r
0 t lim
t
r r
0 t lim v
dt
r d
1 2

= =
=

=
A
A
A
A
A
( )
z k

y j

x i

r
xyz
+ + =

r-naught
Position vector in Cartesian system
7
Acceleration
r
dt
r d
dt
v d
a
2
2

= = =
8
Kinematics in Genaral
In our prescription of r-naught, Newtons 2
nd
law:
( ) t , r , r F r m

=
To know precisely the particle trajectory, We need:
Information of the force
Two-step integration of the above (diff) equation
Evaluation of constants and so initial conditions
must be supplied
A system of coordinate to express position vector
9
Simple form of Forces
(Force experienced near earths surface)
t tan cons a , a m F =

( ) t F F

=

(Effect of radio wave on Ionospheric electron)

(Any guess ???)
(Gravitational, Coulombic, SHM)
( ) r F F


=

( ) r F F

10
Example 1.11
Find the motion of an electron of charge e and
mass m, which is initially at rest and suddenly
subjected to oscillating electric field, E = E
0
sinet.
The coordinate system to work on
We decide:
Information of force.
Initial condition.
We check:
11
Solution
Translate given information to mathematical form:
m
t sin E e
m
e E
r e E r m
0
e

= =
1.
..but the acceleration is NOT constant
As E
0
is a constant vector, the motion is safely 1D
t sin a
m
t sin eE
x
0
0
e
e
= =
m
eE
a
0
0
=
12
Solution Contd.
Step 1: Do the first integration
1
0
C t cos
a
x + = e
e

Step 2: Plug in the initial conditions to get C

1
At, t = 0,
e
0
1
a
c 0 x = =
e
e
e
0 0
a
t cos
a
x + =
Hence,
13
Solution Contd.
What would be the fate of the electrons?
t sin
a
t
a
x
2
0 0
e
e e
=
Step 3: Carry out the 2
nd
. Integration and get the
constant thro initial conditions
14
Graphical Representation
Red: sin term
Black: Linear term
Blue: Combination
15
Viscous Drag
Motion of a particle subjected to a resistive force
Examine a particle motion falling under
gravity near earths surface taking the
frictional force of air proportional to the
first power of velocity of the particle. The
particle is dropped from the rest.
16
Solution
Equation of motion:
Cv mg
dt
dv
m
dt
x d
m F
2
2
= = =
Resistive force proportional to velocity
(linear drag force)
17
Final Equation
( )
kt
e 1
k
g
dt
dx
v

= =
If the path is long enough,
t
ter
v
k
g
v = =
Terminal
Velocity
Solving the differential equation and plucking the
correct boundary condition (Home Exercise)
m
C
k =
18
Important Results & A Question
Some calculated values of terminal velocity is given:
1. Terminal velocity of spherical oil drop of diameter
1.5 m and density 840kg/m
3
is 6.1x10
-5
m/s.This
order of velocity was just ok for Millikan to record it
thro optical microscope, available at that time.
2. Terminal velocity of fine drizzle of dia 0.2mm is
approximately 1.3m/s.
How one would estimate these values?
19
Circular Motion
Particle in uniform circular motion:

x
y
( ) t sin j

t cos i

r
y j

x i

r
e e + =
+ =

( ) t cos j

t sin i

r
v r
e e e + =
=

0 r . r =

as expected
r

t e
20

u e = t
r

x
Coordinate to Play
y j

x i

r
P at
+ =

Position vector in Cartesian form

where we need to handle two
unknowns, x and y
P
For this case, r = const & particle position is
completely defined by just one unknown u
The Key:
But also,
( ) u , r r r
P at

=
Position vector in Polar form
y
21
Coordinate Systems
Choice of coordinate system is dictated (mostly)
by symmetry of the problem
Plane polar coordinate (r, u)
Motion of earth round the sun
22
Electric Field around a point charge
Other Examples
Spherical polar coordinate P (r, u, |)
(r,u,|)
23
Mag. field around a current carrying wire
Other Examples
Cylindrical polar coordinate P (, |, z)
24
Plane Polar System
How to develop a plane polar coordinate system ?
x
y
i

r
r

u
To Note:
Unit vectors are drawn in the direction of
increasing coordinate.THE KEY
( ) y , x P
25
Relation with (XY)
x
y
i

1
u
u
u u u
u u
cos j

sin i

sin j

cos i

+ =
+ =
1
1
u cos
u sin
( ) y j

x i

r y , x P + =

r r

r =

How pt P (x,y) expressed

in polar form??
Q. Is u missing here?
26
Unit Vectors
u u u
u u
cos j

sin i

sin j

cos i

+ =
+ =
2. Dissimilarity: ???????.
0

. r

0 j

. i

= = u
Polar unit vectors are NOT constant vectors; they
have an inherent u dependency. (REMEMBER)
j

A i

A A
y x
+ =

u
u

A r

A A
r
+ =

1. Similarity: Use of Cartesian & Polar unit vectors to express

a vector and are orthogonal to each other
27
Consequence
As polar unit vectors are not constant vectors,
it is meaningful to have their time derivatives
Useful expressions of velocity & acceleration
y j

x i

r + =

y j

x i

+ =
r

r r =

???
velocity
28
Velocity Expression
r
r

u
( )
u u

r r

r
dt
r

d
r r

r r

r
dt
d
r v

+ =
+ = = =
29
u u

r r

r v

+ =
Conclusion
Radial Part v
r
Tangential Part v
u

In general, the velocity expressed in plane polar

coordinate has a radial and a tangential part. For
a uniform circular motion, it is purely tangential.
30
Acceleration
( ) u u

r r

r
dt
d
dt
r d
r a

+ = = =
( ) ( )u u u u

r 2 r r

r r a
2

+ + =
Radial Part a
r
Tangential Part a
u

Do these steps as HW
31
Example
Find the acceleration of a stone twirling on the end of
a string of fixed length using its polar form

r=l=const
( ) ( )u u u u

r 2 r r

r r a
2

+ + =
( ) ( )
u o e
u u u

r r

r r

r a
2
2
+ =
+ =

Centripetal accln. (v
2
/r)
Tangential accln.
32
Example 1.14
A bead moves along the spoke of
a wheel at a constant speed u mtrs
per sec. The wheel rotates with
uniform angular velocity rad.
per sec. about an axis fixed in space.
At t = 0, the spoke is along x-axis
and the bead is at the origin. Find
vel and accl. in plane polar coordinate
e u =

33
Solution (Velocity)
e u = = =

; u r ut r
u u

r r

r v

+ =
u e

ut r

u v + =

34
Solution (Acceleration)
0
0 r ; u r ; ut r
= =
= = =
u e u


( ) ( )u u u u

r 2 r r

r r a
2

+ + =
( ) ( ) u e e

u 2 r

ut a
2
+ =

35
Q. How Newtons Law of motion look like in
polar form?
Newtons Law (Polar)
y m F x m F
y x

= =
In 2D Cartesian form (x,y) :
In 2D Polar form (r,u), can we write:
u
u


m F r m F
r
= =
36
Newtons Law in Polar Form
( ) ( )
u
u u u u
u

a r

r 2 r r

r r a
r
2
+ =
+ + =

Acceleration in polar coordinate:

( )
( ) u u u
u
u

m r 2 r m F
r m r r m F
2
r
= + =
= =
Newtons eq.
in polar form
Newtons eq.s in polar form DO NOT scale
in the same manner as the Cartesian form
37
Constraint
Any restriction on the motion of a body is a constraint
How these things are associated with constraints?
38
More on Constraints
Bob constrained to move on an arc of
a circle and tension T in the string is the
force of constraint associated with it

The rollers roll down the incline

without flying off and the normal
reaction is the force of constraint
associated \with it
Common Both are rigid bodies where rigidity is the
constraint and force associated with it is ..
39
Example 1
Take a simple pendulum with massless string
x
y
l
0 z
. const l y x
2 2 2
=
= = +
Eq.s of constraint
Constraints can be viewed mathematically by one/more eq.
of constraint in the coordinate system it is used to express
(Note: Constraints may involve inequations too)
40
Example 2
If a drum of radius R has to roll down a slope
without slipping, what is the corresponding eq.
of constraint ?
R
x
u
Q. How eq. of constraints help us get useful information?
x R x R


= = u u
Eq. of constraint:
41
Useful Information
For a drum that is rolling without slipping down
an incline from rest, its angular acceleration (o)
is readily found using the equation of constraint.
R
a
at
2
1
x R
2
= =
= =
u o
u

R
a
x
Home Study: Ex. 2.4a
(Prob 1.14)
42
Ex 2.4b
A pulley accelerating upward at a rate A in a
Mass-Pulley system. Find how acceleration
of bodies are related (rope/pulley mass-less).
y
p
y
1
y
2
1
2
R
( ) ( )
2 p 1 p
y y y y R l + + =t
Constrain Equation:
( )
2 1 p
y y
2
1
y

+ =
A
43
Ex 2.7
B
A
Initial conditions:
B stationary and A rotating
by a mass-less string with
radius r
0
and constant angular
velocity e
0
. String length = l
z
Q. If B is released at t=0, what is its
acceleration immediately afterward?
Steps:
1. Get the information of force
2. Write the eq. of motions
3. Get the constraint eq. if there is any and
use it effectively
r
0
44
Ex 2.7 contd.
M
A
M
B
T
T
u
z
W
B
r

Eq.s of motion:
( ) ( )
( ) ( )
( ) 3 T W z M
2 0 r r 2 M
1 T r r M
B B
A
2
A
=
= +
=

u u
u
And, the eq. of constraint:
) 4 ( z r l z r

= = +
45
Ex 2.7 contd.
Using the eq.s of motion and the constraint:
( )
B A
2
A B
M M
r M W
t z
+

=
u

( )
B A
2
0 0 A B
M M
r M W
0 z
+

=
e

46
Fictitious Force
Two observers O and O, fixed relative to two coordinate
systems Oxyz and Oxyz, respectively, are observing the
motion of a particle P in space.
O
x
y
z
O
x
y
z
Find the condition when
to both the observers the
particle appears to have
the same force acting on
it?
P
47
O
x
y
z
O
x
y
z
P
Formulation
r
r
R
r r R
'
=

We look for:
( )
0
dt
R d
dt
r r d
dt
r d
m
dt
r d
m
F F
2
2
2
2
2
2
2
2
= =
'

'
=
'
=

t tan Cons
dt
R d
=

Inertial Frames
48
Non-inertial Frames
t tan Cons
dt
R d
=

If Oxyz is accelerating
To observers O and O, particle will
have different forces acting on it
fictitious true
2
2
2
2
2
2
F F F
dt
R d
m
dt
r d
m
dt
r d
m

+ =
'
=
'
49
Problem
Exercise 2.16
A 45
0
wedge is pushed along a table with a
constant acceleration A. A block of mass m
slides without friction on the wedge. Find the
acceleration of the mass m.
45
0
A
x
y
m
Fixed on Table and A
is measured here
50
Solution
We would like to use the concept
of fictitious force.....
45
0
A
x
y
Attach the ref. frame to the
moving wedge....
51
Force Diagram
y
45
0
mA
x
mg
N
2
mA
2
mg
N + =
2
mA
2
mg
f
surface
=
52
Accelerations
Acceleration of the block down the
incline:
2
A
2
g
a
surface
=
2
1
2
A
2
g
a
x
|
.
|

\
|
=
2
1
2
A
2
g
a
y
|
.
|

\
|
=
These are wrt the wedge!
53
Real Accelerations
2
A
2
g
A
2
1
2
A
2
g
a
x
+ =
+
|
.
|

\
|
=
'
|
.
|

\
|
=
'
2
g
2
A
a
y
fictitious true
2
2
2
2
2
2
a a a
dt
R d
m
dt
r d
m
dt
r d
m

+ =
'

=
'
To find the acceleration of m, we must recollect: