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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
=
( ) 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
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
+ =
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 =
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
+ =
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
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
+ =
+ + =
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
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: