Kiveme bies @ We sherb uh Me shady of a geomebral properbr of He space~Hue of the eleosieal mechanics: lerremartios is the vhudy of retin of idialgel objec, (a point, an abgollely vigad body, an ida! flard) witout refferrneg bo Pre rearons for sth ow motion (40, without shidying tLe ther bial properker el the oh jeots). From Hels Lefwibion, it should be clear that the nohion of man ters not appear vn lemema bes. Pravcd on Me experimen it 5 amsuned that the space-hne has Ve fallow ing ohrucher : 0) The space is homegentan and isohropic. klso one knows bow bo mrornare Liskmes le Me space os mubrigable . Exeenbi- ally | this peas Hut te space is Ewelidecn , R® b) The bine is Womogemeens it time se Mt same os R ce) Tine does wot Lepend on space. Ml of Hus can be encoded into fle robe of He refarcsece Frame: cach pont of Me space can be charachemped by tree woimbers — coordinates (and Here coordinates cau be choren ho te Corleyian) and abselule Aime , which runs Ma same ak al// pornls. To realize fois im prockice we need bo woe seme ferme body (4.9. an Mn origin of fle coordinale spelen, so ome cam say fret a reference frane ts fe wordnate syslem srsediotel with fhe efrenc bedy ) Kinsmabier shuliso uchaiead mekon of an eLjech: fhe change of Hee position in space wnt Hme, Because He vs absolufe, it server ar a poramelr Jie. Me reo hier ef a Mmaterrasl point fs = paramubiged curve tm $4 Encl sper Type ef problems in lemma kes 4) Given a reference frame arsecialed with an obverrer, sen’he Ye weber of an object eg. a molerial pent | ON i— x2) Givin to wlemna Framer, ome of which i arrociubed wile an observer, deoowine Phe molten of the Mur wrk be He frst oe, iY i— “v 8) Givin bwe referee ramus arrecialed with hwo observers and lemowing Mu molen of an object wink Hu first syedum, docribe Ue woken wih be Ha ofle one t J © Veckors Esseukally , vechrs are ebjeots that we can add and wa lh ply by wumbers. In addibon this operahious satisfy sonn compalibility condi hous ; i) walvaw) = (wav) ew — arreiolivily of alli bon ) mee verarmula Kuiky of adi bem im) JO: veOev VV exgknce ef O-vecler w) vu Bév)i val-v) =O 2yistenw of le nrerte v) &(pv) = (dp)-v compakbilihy with the valli cabiors v) deve vu vit) A{usv)saurdiv deshibubuily wrt te veclor addvhion vest) (appvedvapy des bbuburly wink He sealer addrhion Puy Hang Maat sobisfies (-witi) is called a veer space Vujv oe ee independent a> dutpuco ff depo Tae wk of | tear ly independent veckers tej és called a haris for avuhr space Vif vu gatec ur ze QM is the dimension of V. Example: Wal 3-4 veetrs wor LB 4 ad (vit) one eanily ducked (do i4!) om berms of Hs coordiuate , we hawe!Bs (44g Me) Tey ya) de Ara Tew Pau Trin Wa = (Unaty , My tly , Uy eUe), At (dug dty LU) Pat oor space is mere Pum just a vecler space (bine we mre weg lacing Ye diferene bebven a vecler mod affine spree), rd ts Ewelilem spa. Se we have also Me nolton of gn shor prdecl! VRS (A) cs Uy Va ety uy elas = 2 cucu 3 BS ue Hee B84 is Krowcler V-symbel : sue | 4 oj 243 © 64} Also we ured Mle Einshkin summation convention: whenever fee eee we should perform sumwahon > ath; = Z ath; HMK! eck Heat 88a e Pave Oe eee alee) are ce alee eee following properties: )= 2 li,@) +p (0,0) i) (484 po i) (@,7) ~(7,2) ef) (AH) 0 w) (@,%\s0 @> Teo fey optraben om a veekr ppact Vat sebisbics fur prprks is called ga inner (sealer) prodact Proportion: The Euclidean scalar product does net lepers om Ha oie of the bews, O let @;:(8j,¢) . Ten te er Ponermal bens. Ten 2 = maheix. (2,,8;)285 = (24,25) = or Heonerma lity en (2, .¢,) - (0;5e%, 0,6) « 0," 0;! (2, 2%) 0," 0; Bu =8,; Or OOT=4 ne O mush be an ortlogene! materx. Tun = ulo,) . Se we have Brulleeut ez; 2ul Ole; er wSe ————‘™SOCOCSC—S—C—C—C‘C‘CéiésS a Tis allows us fo defi He angle between twe vectors ! ore aw) where [OL = AU) te Hee length Cworm awl Really , became RMS. ders wot depend on fhe cher of Yn bows , chroow it im sch o wong Paat Ba ¥ belong i Hu xy plow: 4 Ge (dle, 11 sin, 0) 0=(Wl , 0, 0) Then (2,0) ATID 8, ne, Z aw te low of cortnes Also, 1a] clear y defines te Leng Fh th Hie usual sere! {Ul = (sata Becanse [erelsd we should have |(8,0)[< IUILU], ue Mis os hue always whiever (ivi) are sebsfied and it 8 is called Camby Sewer —Bunyakowske tneguall’ O (duav dutv) sd? (uv) + aa lula (vyy)20 wd => De 4 (uyv)*-dlulttul* so => | dwv) I ¢ lullul a Comseyumer : [Urol s lube lut O (wev,wav) = (hou) stlav) 404") & [uty a tullul sfel*s Cu delut)® 688 zr [wavlelulelul because both on non-negative a CEB guarantees eat lulss (uu? defrre te worm and Sluv)istuul Ufims ue dishne, Due bo Var fact Haat our space 's 3d, we have one more operation — a veel product: BxeTslAD]eW js a veckr such teat [Wlelw@|lDl sine, Wis dicular be Me 7 plane and @,0,W form oa right triple. alae r iv,w fo 4 P Ai os Clearly | ris defini bien dees not disend 6 ew Me banris. Prope bow: Let (P,P \%) be He erMronernen! bar's. Thinus ‘ at ya Mary) = 4+ (Uy Un Ua) Fp + (ua vy yen) e 1 We wd bo prove that Haris dees nob depend on He beois aud that ib peducen fo Vhe defrribon above when fe haris is comviviently chosen. Leb us inbreduce Phe botally ambi sgmimel- ric symbol of Levi-Cevitta > € ize { ulin bjt £3 am even porrautakion of, 1,2,3 Cie eet when “ lakou of 1,7,3 . [i whine aif UP Botlahon Ye Now lef A be a 3x3 matrix, Then det Ar ei ALAA « Tris is a Leet wowrequsnee of Har definibion of def or con Ve cluched expleitelly (de 4!) Maw we cam write i ty & see luluhs Ses e uly Uy 44 Uy :) Unler He whakens uls un! 0! 25+ 0;5e", Urixy O20," 55, Sts we have UNO." Sim =U Spy or SHOMS ueUe. So we have SP ey, e, uiuts Ses, OP 2) S¥0,"5,. U5" 0," by GC 0 GO On mente cin aaa zktoegmt Geely) eg Ce eu aaUik e proved Haat ib ry imvartaul unler ve fa bons. Melo: In our coleulebons we used 8.) (8°) bo lower [ras'se) indian, This is becuse tn fact Sy is the Ercbileemn mebn'e : a) 2555 (ah plays) ~ Py Mea genio tearm Peewee Siz (fy ib vet Hak ineporkut be dishigucish bebvecn uh us 2) Robele tle systems I te ewok = wag Haat m= (Il cord, lUlsin6,o) yl et o)) eal) eceee i ye S| (8 Zz ca Wy Wy Vy [d]6 [e]sine oo UL 4 Ue wl ° 2 = O-T4O-7-[a|lWleue-e | Le. Weslo 0,-la\lilsue) @ Uaing Ha properkes of Ma dulermanent, it earg be shew : i) CUS] --[o ay 8) (a 0]. Lao] +pu,o] “ ie yas) Tat, O]-A0e, vj w) CRT B] ELS 01,07 «CEOS. TF] +0 Tacobe seek fy Otley, wy ree La, By we elin Cem Ulu we But Cpe Citme - Cj "el 'lne - —Lrr—— Then Gi Clan + Gila Chet + oh Claw = endless ohn St)- (Br Ge -Fe e Sone) * (Bin Fen -F% ie Sem) = Ow Mele: Defrad vin the delerminant , Me veel product reon/ds th prubevecher . This meaws that sf one changes fe roght baois fo Hu left om (he. makes Me nflechon of all Hire av) the Ci,v]—> -Lu,d] HWK Show Veh t) Lari? ao ay O egubutety, UUMs (S30 Sen Sie Set Jai ueueun = = Gt Ot- a,7)* 2) (G00, 81) = (8 LH oJ) Owes Ute = bys w Marl @ 3) Define a _co-veclor s Uziz Spal. Frud He trams forma bien law under polwkens. us SFOMS ud a> Wee Deut = Sy 50,4 U" =O,/ u Le th framsfrrms in He same way aa arvoller object wilt lower inl , e; @ @ Mow we would ike bo consider parametriyed carves iy Buchs — Lean space. Later thay will be saat trajechries of mecha nieal ebjects (Wha 2 point parbiele). So, chasse some coordinale sy shan and comiler a une: tefa,b] > RQ? Here ELL) is some cufficcently emook vicler velud fanckiew. FI) is called a _tahus -vecbr of a pein t Mele: The radius -veclor Lepends on fle coin of Ha rferna frome while tHe wve ikelf vs & purely rowel od feck. ehWe com define denvahve ef F(t) wor. be the pararuder : JF[ Lg, Plegat) -P Lt) pe ato at c # is a vecler Meab vs by He defirvettion tangent fo te wrve ab each porut so if ’s acteally a veclr freld alog fhe carve. This ef course, will become vale ci ly, He toushruchion (3¥ JP) dt is tle lengte of Mex cuferi feyrmal part of Me curve areund Ma point FIL, Tarn we com lefra Me length of a fruite part of a curve (distance!) fn bveen Ha values of Ha parameter tet tots LUA) sf (AE Aye = PGP Se we Mas ts He amas! a . Lins ken of Ha long H, Fropenition CLF A) Leeo not dyad on fhe hove ef a paramutriza her, Let s25/8) be 2 mew parameter such Hat 4f>0 ve elite. Tw ge dP ss S6=dtds From bre dt a t ba o. as > te Ph eae dé btrin) =f (2 z)hle= {(2#4.€4) als- ty $ Sy . ay de f(#.8) ds where we ued (40,0) 24(0,0) Z Tass preperition emsunes Haat te length 1s well efived. The webew ef He length allows be inboduce « naherel para - warhriya lion of a carve! Pick some point on a curve (hpreaily if rhoull be au iui bal poist) and use ar a parameter fle length af o curve from ee el anes oflur, 6. Per ls) whee Fide. and o> SUES) “4. ° From him ih is clear Heat [2 [242 8) 2 Taco LS 0-18, 3]To amalige fhe yromubry of a arrve, if i's convenient fo inyre ~ dere a Joel frame. AY cach point of fle curve we cheore an vrtwenermel frame in He following way! a) The fest parts veckr will ke 2, =? it whe ses a ueheral poraneler, Tre fenput fo ae ee i) Brom Violet fellows ($28) -0 ne Fe ve orthogone| te T. Bub, im gemeral, [Vly4 Led Red, Mum Deke whe ke |S is called curvahwte and Rts called « principal wermal veeler, Se, we fale 8-0 a) The faa ee vector Renee ea net y= be [ER]. Bes called a _bi-normal vechn Shviowsly {b]=4 We have thice spacial planes: b La normal plane “> “Eon wekbyiny plane som osculabing plane. i sh rhe} Onn. oscalo kung plane is very snderea bing ap bp it second wrder ih 3 He curve Kien im Huis place. To see Huis, let uo eabablish the Fremet-Serret Lormelas z = seek 3S fe. De iz | ous His is jot Me depwchen of keh. | Trem b=l@,2] follews a. 14 ey+[e, #y= Les] « ce, From Jolad fellows LG = eid opt = 2, F]-ale k= av Coll 2:22) we have tb ad tb ewr, de os called forsion From 4-87] follows # (4 alg Es meth FI] ekIE 2] Finally $B sno D8 a Leb us now caleulole He expansion of a curve wink 5 amundHae pornt seo (because Mie choice of Hus point war arhit-ary, the woult will be gecere!) oe oe Pin Fld HBL LE Ss SHB ae OU) = SP (o) Ele) seL kwle) st+h d (eon hew)| st.ols')= 2Plo) +E loys + Se Rloysts L (LEO Flo) - Lio) (ote Elo4 Liste) 2? 20067): = P(e) + (S- Ke s*)T ls) + (Eds oo. FO. nlD - bcsp ete) 8 Ele) 400s") Soar we said above, up bo tHe sevond order the curve lier én Ye orcu lak ng plane. WMerever one con prove thal iff yoo the curve will be always im tits plane se. will be a 24 curve What is Ye vataning of te wrvebure kb? Let os consider a crete Leuching Fhe warve ab a given pecnt we wal Hols feuding be of Ha second order ie. the circle should coincite wikh fe arve up to Ol8), oon we already know Fuad up bo Huts order Ma curve bre in Hu escalating plane we car reshrict wurseles te a plane curve : ° Th eyrabion of the eirdle vs (F-2)*-R%0 for some a and R. Z Leb Fsvls) be Ye eyuuhion of Ha curve Mow wa have Mare conde de bons : 3) (FG) -3)° eS +o as 4 ]ra- ae e], +0 ua Ere a)*-e*], +0 This will guaran Mewt the boushing ts of the Second vrder. 4) Tis junk mains that P belongs fo hob the circle oud! fle curve a) HP (Ro)-2)| 0, ne. Fle Z is orthegonel fo FI-F)p, Pub Hcg means that beth Ha crele and Mu ecrre have he soma fangent ([cs)-8], is the radeus veclor of P from Hu center of the cirde) 3) (Ey. pea (79-2), <0 . But [te] oud ST SELLG ds "Ss Then from Gi) follows that ln (FD-Z)[, . Wong WROD ZLy eRond [SE], we gel 4 -k(DRO)=0 => kiwe te. So, the warvahure (eG) is epral fo He tnverse of Fla radius of fla arele fouhatng Hae uumve ah a given point. So, 0.9. the eurvahire is pre, leo. of Me curve is o sheaig ht lime je. Reco Example! Helix or a chargicl parkele in a comalart maguehie freldl : Fo (acwwt asinwt, bt) nas eel a LUrL—~—t—t— 4 @) Brot, eb oo fad soffdF [de EP (asa sinut, ewrcout, b) > Bfhsotwrebt ord? aml sefedtedb » Ahi we chore Slod= oO i) ue giv Bs, Sem He, bY 8) Bowe Poul fro He Girst Bet fermetler Fine se ee a, Uae) feet)? i: (42 ngs, Seam gero), VE] (A2)' > gt awt , gt _ vests ee ete ie Re anbh aml Hs Cents sluts, 0) Whin Leo we have a circle and Rea or ft shou/d be. ° ro) DeLee} (bsives,-Ponts + a), Jbl=4 a ik should be VY) From Hoe loot French eqncebion Bank Je. [bw bw bw bee be He. (deans, be sine jo) -- ER eer 7 aot bro , 0. Se, we see hat re¥0 is reopensible for Us fort Hak « hele fy wok w QL orve SRL [Bey w Hs ( Pome Ce Ber (ee ints Wes we b lees aa (ee ins, Pants, B) 2 FE be we byw aw xb ai (bsines, fonts + )= (-% ines, Meme (-S omnes, Sms, Applying to kinemwkes: 15 hype 1) Teajeclery Curveg wt are inferestel in nucharies art unions of Hu consecubive poikens of a polat parkele ao a fanchon of hime! FRC) Se now he uahural paranacler #s wot s bub &. 2) Diskenee is 0 won megabive scalar which meamres hew much phe object has Fravelled. Formally t ‘ Uighemens So f [22 |ae pie HES cer prentons pa haral yorame bor, 4 only new we allow for a point te mave heck and fort aloug fle werve 3) pisplacemut ss a vechor af =T(t) -F Lh) by So one can we fal always asz[arl, be ct somo point and comes heck alow ee eee Tn He evbrent care when a parhiele slarbs Me dishance os fie Ha leg th ob Poe pote annd Ha displacmurt ig pore 4) Average speed vs average velocity Lr : Cay = BE es ts a veeber Da yeral Vay 2 [oul 5) Drshulemeows spend vy taslen lentes velocity These orc just He Wu of te above expressions’ > tim AS 2 d5 Deb SPs? Cesta] 1 CEN ai ae But now ne U=lol We woull (ike fo apply cur omelysis of curvis but moving from Yr prrameber $ be +s | \ i Th wl i \Ue eB oT Le Fes bangek bo the bajeclory and e ne e i = again [alu ee) As we bnew HF is fhe inshnbencou, acceleration & ae gg: SF. Lut). wee BLISS pst is oy utp ps ree ree ds "Te tp we iwmediallly naliye thet ape FE is Hee tangent acctlera hon ek ace is Me normal accelerabion. Th parkucler, for He uadfernr cirilar motion A¢2O ond ay ot whee Ris Me redinn of Me crele awd tHe Lirechen Le vs along Wie fowarls the center et He circle. TH wefel bo wrik Me corvahwe in berms -f 0 and & Proposition KTS PLeuT => ke [LAE JE] pe CEI Bae0 Fenally ' Example: Comvider a troin Phot mover along fhe path yoyo) : 0, 220 a (= 4 | $l), 220 S Tf Hee normal acceleration changes Siscoubuuosly , Me parrougers will fill o sik kick. Find He condehous of fie) when Hers ees vot happen Da) Fest of all Me railroad should be coukmurms => f(o)= 0 wi) askot welEPl shee Palas yer) and derivakves Fe! ef F cam be wart. aay parameler $e, Mle x os He parameters Arey), F (0.4%). So, k(aeo)=0 => a, (220) 20 Tg This means Hint af a20 arond k should be yoro, So gi(e)=0 is) If yo) Ws mot combturous Hix y"(x) ~ Sa) + smooth fanebion.This will lead be an infrwst acttlerakon, it. a beck. So, y(()=0 Ze | Reo => k=ce 50, finally » Ha conditions ame} (0) =f'le) =£"(0) 20 Zz Exemnple The aceleration hus o coubant Lirechion. Prove thal Bleck where 6 5% some courtemt and eee O t2P. eeketh ty Hx condibion ZB = 4% whet dis some sealer fusmehion From here (wil kiplyng by w) we got darda om Zbaaed, Leb oo ewer DPeee zaplicilellg wring Frevel dt dt formulas Jmol stu ase st, seu) e pe, Tee pha Re Ws bur ye fe eye MeO ko? u(sel «be) = = (LY Lu) e+ (seu de ute) R eked a(t kote dtt dt & a) The wefftcient in front of B should be pore) ekuFe a)u20 is possible only if a20 b) Ko a Raw => Me brajectery rar stro ht [one C) e202 He mobon ts ad. Tis re Ma meet geruew? care amd we will amuby the care bdo, vto ) Compare Hr cotffiriewls om frowh of i: 3ku dee ‘edhe or deahdy tied 4 > dt toed ae . 3 at deb ten o> pba ed bb? a> We Se scent 27 ancl The coefficiewls ix frowb ef T should be fine automa heally ce) What isc? Consider Ha veclr 2: BL eso and [eleL Thin Te- 8 o-% where U, 6s te compound of T per pends au lr “to @ Cobvieusly CL chould be constant, see Lelrew)is 4p, bured pasty S= pts pe Bape ed kor 4 i. du oe , ket A enous piles bs (HY) + pe a Ba eee Aut fis Geos $e, enh | Finally vt hnws 3 ae , for 0140 Exomple (HWE) Find tle curvahere of the trajectory of * prjeck le. VR const Ht molion fs 24 (us abe) a = ii Choon Het frome; B= (0,4), Them ° or Ue t Xe fea? gepate ayers, elalev, , Croore 20) =gl0] 20 a(k)= Vcd -t 20,6 Ux = UL gli) = Osiwd te BB oat 39h Ug = Ue gt Ursus Ups ube (Us-g#) vs - TF re oq Tn geusral aug object What fransforns Like this ¢s called avecter (or patter He wreporent of). Tes is tre only for a coordinule hans 3:22E Tha wermalized han's in controd 1 ° tS called neon-coordinak The meeting o/ 455 +e Bis cantly seem from Ma Ellowig cay Booey dete gy dqhyi - Le gy provides te genera hon of He PyHhagoren Vicon for @ curniimer coordikeks (local) Example : Cylindrical coordinates ne pune Ste detadpraptde® Le ye gine 100 oy Ie oo4 ExtGo we vet Heat He Lame Punchous ane HyeHyed Heep and Ha basin is shill or Mhegousl, but He coordinate ou vs nok orthovermal. The velocs hy cam be written a9 Oe aes 2 pes Oye 28, 2H Ge Le Ups Pp, Up ph ,Uyed . Up just gives Me usual rela bien betwerh Men cngular velocihy Band He Miser one Up» Nel Heat Me Ty rpars is leony nor-voordinate: ple cannet be writen ap dq for vome new coordinale 4. HWk De Phe sam aanal y's for te spherical coordinwtes. This effeckvely ends Ma anulysis of Kinemabies in a given veferenee from © Applying fo Limemabes: a type Now we want be shidy the motion of ome system wih anoller ont. Associating to He syskue on woken some rgd body (i on object such that Mee diskimee betwee cong be points Rains cows hot deeri wg Moa mobion) we see that ersen bia lly ae a lo s bdy te kinemation of a rgd body. i He *Lovbn* aa will be eer "labe — frame’, tt. Ha frame with roped to ie He” Grek* frame c& th motion | As umeal, §3,F8f ce Hee unit veclers Me {e.r3 axes. Let P he an arbihrary potut. wort He Crk eye bom th vedius-veolr és Fy ond wrt. Me Lakn ow — F,, Clear! pty ate eho e (gfe tbe) Hur wohen of Hu whale syslem (a nyrd body) Pecan we shelg Frit Se oe cout bowl. Thum for He velocity ee eee es 4 po Uae (5, 4F * tei erawk for Me eceolera bien! 7 By > Bos «(5 dee “tp Zi att “6D So we see Maat He whole mohenr con be Hoag ht of 42 a combria fiw of two ro fens 4) o 7H —rrr——r——S———C=tC Urader Moss melon Flee ever (amd all eHar shraighd brnes) of He reek systn pemain paralle! be Hrwselves is) Pyetemt This a He mobion with a pred point Whale (4) #5 brivial, (ii) pequutreo some analysis, frecause we ane iwkrokd in Ma nohen of a sy bem wilt « fixed porn k, we Arorr Ve origin of He Laku syskeem af © fixed point, teat Ke erigh ¢h He Greek system THM Por Mu molion with « fixed point curshs = veeler depen ding en Kee OY), such Meat Me snslanteweous veleci by wf ony point P 4 He sysbon wilh be readeus- veulor Flies given by _— Leb yan be Me wlckey ys ben 2 = ‘ d K Urpt t oH (3.05) one fixed in He polali ling sys lew Leb us frnd Ma projec. Jd Ken on He poanis ( b symplify evpinions we un PF inghald of F,): ee ee ar, div ydim ste ee ie iene ers Sere rl ew a L~ 20 laa we _ frou tire dee ae ar 2 iy se7 Se Uy at oad | ja vy: [ee Fe! ‘\y 3 FDs Use su} Uys pt ee #3 2: [3,7] 2 FO wl BH(ERT + (FD. (He " Here we will give one mere prove demonthabing Me effevk wonurs of (la trdi» wele hows: Anotler proof Lal @cs4Pj Rf. Tan Vertes ox WC Cn he (2 cee eo gy iB Oo Len . ao Turportaut ' Ay 5 0 = Ay follows from BO: 25.; So, Viz €jiu tiwte]e,e], a (woke, here we frely indians fecaun he webie is just v5) tnlerchenged Hie upper ad Jewer Ty wndershawl (le physical Waarring of Mris roult let uy wale Hy core when tes owe the direchou of @ along 2 (ihgs com ax bi bras chee!) | Beok Tham from a 2(HRT+ (BDL (ANE we beve: we SF (Bets) ow GED. 5 ulfeiF) ma eole Bo. . gt _ 26 ant HST ° follews wecoush So each point moves olen Mu circle around ¢ Lrech'ens , Cee vee bangent bo the crcl en [U, |= wr, sinagsw te. P ' Pe © is MA game fe all peo ae de(Fet) pllows Pri? wlie we os Fe So Mamegh Up and Fy, de depend ot P, ink. From: 2 Rowe lie fale) st - Ae angle behuen FaeLeechs (we chewse Yle)20)- So we have ao ot Yroull to be we He Bis callel fee angular rebeihy For Hn aceelerwker we have: rs Oe Ue Ups ee Lee, y or 2 ae te tein = Sy Tee ma Beet peip tat fet wlane an 2 oe = angulow acalora tion Tihedae fia | Yon Ha banger weerleralion is given by _— . Te wutriprlel aterwhion O,, = Hw swt pr Of corse im Has core Fase a jest Ha deconrper sbi | eA [er]. [eo FD 1S, 0], We will se that ax goo! case while Me second fern rll be exactly fle cenbripelel arelerabon , Pau iwlerine leben of Mle first one os slightly Liffloct Wing Hoe perl wh cam inlerpwt the gerure! cose an Ve pelnhon ground Me inskinlreoys axis with the Neel 2 wilh Yu inslonleous angular velociby 3B Before proending we wenll [the fo male a couple of commenk, Bropesibien, The ims lan beneos angular velocity g das nob Lend on Le chocee of fle origin. TD Costlr He mehen of a pout Po let usp heere tee Leffiah origins on Ha Greek sysleri Og OY and Lb Be Ge be cernapondiog eongaler velocities, Then werk Ya Loko aston: 0,2 0y.+[,,0P ] = +JS., 0°? J Te ww tion of O08 wink Of ts grven by U5» Se we have: Gy afin, OP] 2 Oy 4 Ld, 00] PG, 07 | Put OP - OO" = OFP on Then [0 ,-0,,0°P] 20 Taking inl account a? Haak povnt P is arhibrary , one conclules Phat W-wy 20 We Prclur wement is en He relation be bween He hiner valecihy wont, Hee Grek frome and Ma ins banbaneous an pel 7r voleci by pit OF Love] Dt seems Mal knenving Hoe Limtwr velecily of ene porn sheuld fe enough fe recoverBs This 1 wok correct! vis ety wie” The mebrix Diy re Cy Be OS 3x8 and ambsymmebve, ne RT -e, Tee deb 2 ~ Leb ah eC LAD: det RW => Lb LO aul RL cannel Wet ve tel | Ge ory eed ten ey Le velocity of at bark one mre wenntoll inser peiwt? build (he planes per ng Marvoug h Tow ty eed perperdi'. cla fy dy « a reapeckive! The tHe refersechion [rue will i oN give He Urechion of *. and Me value will he eo. oe rn sihad Te wyt propers Hor shows Pat we are really dealing wih on absolutely nga d body whin we ak balbing about the Greele Sy sles Proposition: Let Pra Pz, be hwo a bi bray pink of He Greek system Cia, Hay have fixed coordina fm Hat yet). Dun %,,| Up, where is Me projechow on PD, direc Pa , inn aa pe kon, O Pecan we altady buow that fe chovee of tle or iw me fel syle is arby brary, choot P, a2 Ha onigrn Then 22 Up (+10,P,e] Because PP LTO, BP] te roult a 2 Be we aliealy know thal (le velocity oJ an arhibrary pork Pos gi rem by Up= Ope #20, %pJ . What about Me ectrlera ben. In He coo of 8 seompy] He Hault was ee ee a tal From Ope Og, +LB,7,] Ma gemeral veaelt will be exactly Vee came with le only aycaphion Phat th general Lyfe. te He comsegurme PL rl is not tangent be He Frajeck oy ce call CT,F]=:@ Me fack thet LHS is yeopensible for Arak wow Hae direchon of 0 changesLee Tyg DET] ew on ib as expected Tris vompleks ow analysis of Hu stcond type of. the kinenaheal preblens Applying to kinemarbics: 3% fype This can tormaponds le tle following physica! sitea hens we Lesow fhe woken of of a point wart some (Grek) system and we woull [ike bo describe Mais mohom wink fe some ober (Lakin) syslen: 2 Clearly, te dive what we womf we will hee bo woe He veoulh of He fint two canes Ye Yu Pe whet 4 fro pea gk ogee We will call yy t= $F Ue obrelule velecs ty Ten we have: at Clear! : ae, os Me velabue re of P wink fhe Greek frame, Se we se Henk wa Peis ally have! Vous? My tUey jpwhe Oo, «He Het pi dee = bramifer valectby, Oy. 8 fk Me ve lei by of 4% pesat ofa Greek system wrt. Ha Laku sythen. Mats poral corregyronds be Mu ra stembenvas post Bem Ce s Grek pris) of our parke ele. So, what we yt es He low for He velechy addi hen. Nek We wa Ha immporkent arrmmphion flat He time rans Hi same in bot syshen, it, fr urs Mae bine behaves a0 an aylerned parimvler, This ts am apipreximahions He SpecialRalakviby fells us Haat Hes is vali! os lorg ao Zeed for all veloskey involved cule a problen Lit ur heen te the aetaleraken : 7 ‘ Ey cule, Hes yg dgdes vel Bayes SE ey Te 2a ae & Again, several fernns have an immediate tmlerprebohieus BepieES, ris ts fle wlehive acceleration wird the Greek syslen, eH Re id@s bhi, a the framfer acctlermbion of He Greek tystion wick Hae Lakn one cs called Cortelis eeceleruhon ard o's Fle new ore. As an neo en of one sytem wart. smother ene isa combination of a tranclativn cmd a motion with a fixed poiml amd 3820 for Ma franc lehon, we ste thak only We woken with © Fixed poit matters. Bab You fer ang veoler ho fixed iw Ve Greek sys we have! ah. aoe “4d 22. 03,8.) oud Bey 22[8, PE] = 2L8,5.J, Se, Pra eos lube axeelerabion is given hy Ons? My t Apel t Bey Dynan Tis part should be included at the verg begrving , spou-lwe % dismsed befere Hi kintma Hier Lok ur discuss We shwchrre of Hue nen-relabives bic epac- bree th prore delnals. 4) The wonmvelativishe world f¢ a Y-Limewsiowa/ affine «pace . Defimiken A at A long with a vether space V aching freely whew Hee (ja) use onl beams hy ly om AL LiVEASA i) Osaek Waed ond DEV tt) va(wea)=(vew)ea Vuwev adaeh Mm) Vea s ure usa is a bijechion So romghly apes hing we do net prow what is arb inf butwe bnew Mab a-boveV vabed. This «s clearly whet We hover we cannot all Ha pots of Mu spact-bne (aka evel) but we cam take Ma difference which wil he epel be Ma veolor (boo) which we have ty wre be branslele 4 prink a ewe a pornt bs A o afler some workinske oul. A point a becomes a vecler 7 ayskes 6s chosen | ie tle origin is fined and we iwhoduce « [war ehuchees © So, again , our spacetime is a tdim af firre space with R*(2v) ning the romp of brant lakes 2 Ture is = refered map L 2 RR called Hume Tus rsa the following; tale hwo evewh, a andl, Ten bea cht is callel an tnberval ef fiw bebveen aand b. a amd b te he _srulbancous, Thin abi Elb-a\=o form a 3-Lim affore tlb-o\ =i ta-bh ER If Ele-a)20 we call lant =RPER" and all space of the gime bareous evens. 3) Ue We sealar product cm R¥ > (uv) vuveR*. Mus 2 dbb)ie (Tabak? vasbe a? Ukwr a Lslane in ne Tee) eevee ee colton epee es The ofkue space sabis tying (ii) cr called Pe Galilean spruce. Lwiporbont welt, If two eveuds ant cimulbemeus ive, £(b-a) =O then we com ont wheter Mary ane in He same place or wo, Prk of Elba) #0 we canwek aq if Hey at Ma somme place er wot, Eg. hve evenls at teh are ab Ma come place word. He Earth let af Mie different places wind fle barn Tie we have bo gperify Me coorlinele sys ham. Hee Galilean spaa-bime or ReR* (clearly Hass th ae bio Ra presen bing saksfies (iit) 1s equivalent te Aeosri ng Ha eoordcna te sys lemGalilean group ta transformation of At (ice proerving Pe affine shrehie) that preserve Mee Calilean shruchire form He Galilean grep. Pick tHe cordinak syste RAR? Max it) (Ceyalee (6,840) This es whab uswally called the Galilean bransfor ma Kom v) (lo (t40, 248) Treslahons ( homopenesly of spoce-hiee) ai\ (Le) 2 (6,08) — 3-d wh Hous (csobeny of space) Se He Galilean qrosp ben 3 (Gali leam) & 1 (translabons) #3 (rokeben$) = 519 para molers Eperi numbed foaks : 1) Armsong all fhe Galileom shuchoes flere one fhe specie! ones, culled inertial frames! all physial laws are He same cm all turkel frames 5 any ohn sgeten that moves uvtformly and sheaiF tech liwearly wink fo seme given teerhal frome alse tur kal, Mel: only fle expurimunt cam tell sf tle frame is Mechel or rot. 2) Newlou's delermanishe proeiple : fo speeify Me mobien of a syaler we lave bo specity Hu positions and velehies of Hla coushibuents ab some mecment of Hme tte. We con fake @) and (2) a2 Me porkulabes Essenbially Plese ant Yon firsh amd Ha seromd Mewhen’s lows: From (2) follows Hat for aug sys Tf i Re RY R” lise NM is fee number of He turhal wordneler and veledhes (depen o| freedom) such Mat: Bis fia,4,t) aw (224 vewken's Iw) The avheal form of £ should he delernsinad Eom Hea experiment = LUr—~—“—~—S—SOSSSS—sS F cannot dysend on 2 is) Evy tmvartenb wits banslehions. Por F ove have BRE) aE (Red hea) pagan Bond & ort arbihary = eet veebor Wi) Combat veel breaks Hae isohrony of Ha space, ie chs vet cuvariant under rohions =2 Fro So fle Galilean rela biviky principle (i) is eynivalent fe saglag Mat amy isolated porkele sm om cuerhal frame with a combant velect by (3 of He St Mewhn's law, will prove | Ths 7s tle rads Arona! form Applysng tle Galilean rela ivi by principle be any composite voolaled system we vmmedalelly conclude! a) £2 (» 4,8) . fi (ar, Rinne, t) Because aben* ¥ je ont Chvariant tmder aR ETE (TF is He same for al! parkeles) ve) fi ay tiae) of! (b-ae atode) bis Ma same for o/ parkeles so due fo tte if should go away, hot wank cs shill cuverianl 433) FF OX! ar fF(Ox, 08 )2 OL bia), ce fils a vecker Tee at Newhn's law 7s am addibvmel experimental fact about He forces (snlerachvns ) 1 for aang schon enish a reaches of Vou same maguaihede and opporile in the direchion Le, if fa cyclen FT oacts on Ha system To with Ma free Frp and the ysl Tacks on Mu system T with Hu force Fon > For Spr tle Leb ms Le Pe preliminary analysis ef the 24 law _ em bme we get (m=cowst) mee =m 5(4) -m ile) = fFese) Je te In hegati to The RH.S. 16 called impulse. So we see feat teeee ee ae ce 2" Jaw look as SP =F) cs wore appropriale to characlesriye Hou dynamics . Meaning you We same empulse will proces. dif ferent change in Pe accelerabom bat fe_same in He linear momenhem p.We get Hs s0 colle impulse rome hem Vlucrenr > ple) Pl) ~ P F(pr dat Mebe: Dy youtral F —— on Fit) so Me snlegral is wene briviol [one her be knew (te sebebien FL), But Fie pve povchion af ft ib's very usefull Example, Let F her Me blowing form Fe) -F, $l), whe F. is some comstant veckr and fll) is per hy: r _ 7 ua. fs fs. beth fa] we Jl) =a O(E-4) 8 list) b, tt t 7 Thun tmpulse s¢ Tis JF dt= Fea lted,) fer 426), bot be ta PL Pl) = Balt) or Be = geet Fea led) Take a2 2 where To toust and [T]esee | then nt Fite * Pare * Fe T evn whim t,-b, 70 Leb wy inlegrele cme mote heme: Smee -mE(b))LE = fav fae Fre), F0), £°) te bo Call Flh) ee Fiber. So we get ; Plel= 40 (Et) et Jae fae FIFO), Ce) be Agein it does web mean Mask we solved the Mewfon's sgookien | RH depends on Fl4. Se we just badd Me Irffen bial cyration for Hae tmbgral ome. Bayt Hes coull he still ef He grat advantage tm special care or in fla perkerba- toon Heong, Examples ! 1) Fevewst Fe) eRe Wt LEP aM pae®where Bos the cousbewl acelerabon. 2) F= Fe cmlwtew) (If Fo2q Ey this 1s a charge in electre fre ld) t Jolwoben)se = sinlweey) -i Sim Po (t.~0) oy oe Jue [se on bathe) a z L EL vos (whet) +h oat - (th) ster] Se, PWeRit Roe + (0 - + Rsints)t ~ LF, co lw toh) Th ts tmbnerbing Heat if Ol- 4 Fsinte #9 Hen Me porbele will wok jusk crcillale but alse will have a linearly growing part. Leb or ure (¥) be adbierns Ve pre bow of Ma number of Par indyendent data. Of course, tt iy clear Phat because fhe eypanhen os 9] Mu second wvder Mart are bare of Hem Drak tf 18 oe ful be yee thas seplios belly So Pll = 640, (Ew) et Jae fae FITS) L) for vere bh. es Solve Wn tanw syprcion hot wilh Me initial Bme €, > te, Then t w Bl = 40, (Et) eh al ae & We gam wrek: Rae fue Fre) Fe), £°) = fue fue Pre) Fe), + to 4 4 a +fde! fae Fre) Fe), #) + fae fue Flr) Fe), t°) dee wm Ua-Ve ) (4-89) Ran we Rene far Fle: ‘ B= HU. (ee te)s fe Nai give ler, 4 Delt-b,) © (Gy-U.) (t-te) 4 Ill = & let.) 4 af . + eS db fase FF) Fe), £) dy teee ee eee oe velocity abt teb, with Hae ot hal Se teally we take fle inikal Coordinate and ar Hug would he after the development dale af + Hx brajeclry remains Me tame, Me inthral posibon ond velocity umiprely kler- maine Ha rafeclory, {-dimersiona/ shedy we will peat He liner! cant Mew we will in mere leleils can when Phe de mano danapee Fl), ted cone, Speci freelly pendence of Fon mn ar vs To wnalyy Mes for te gene pp x FUE) dat us shtdy fhe follewitag i ysor in bee toe - yovious Sifferenbal eyen bon 2m tes ble) T) Homogenious eure, bolt)=9 ral 4 dex Oe aa 2 ae Te 0 2, (*) Two bavial Vr orms ! ) TE wl) cs Hee selubkon of (x) Huan Cale) is also a solukm Woe 2) Tf x. U) aol 2 (Hare Pa solubiows of (x) , Men eam os also a soluhion. From Phe two facts fellows Meat te geruenl solu ive of le) bas He following form elt) = 2 C, at) AL we nm Wealy inde pendent sola tions, He seluben of Mu differewtial eyuation (x) fo Hu gelekon of an algebrarc equation. We will he looke% fer H(t) mm He form 7 i ~ Plugging Hic into (x) we get Z ftyd 20 , hare Leb ws wl They eyrahor her complex reot Ceaumbing pum lbiplicches), ce Bae eee Ow | TE all yook ae different , At asset clearly oe Mrearh Padipendnd and we have selved Mr problem. Dn generalwe have webs with the wulhpliethes Leflrent from 7. Theorem : Let Az be Me rood with Me maaltip lie hy Kk, Then xl) =e (whens of (v), ID In Hes care ZtuN = Mt 520 Ted one fineanly endependent (Rd TON) =O Then je a (2, aw) ar? WS eT. awe Cle oly whin sso, t, 78 works for $4. The eter costs ome aimilar “eod*) cor emteMba ct apteMadyte watt jet! Bae ea ee ae da ah be) [ez 2 ad Ys Za ores -Led,nat +f dont] ese ® ° } Example: demped harmente escillalor miaF whe FoRuth, | Ay =-ka (ooke's law) , Fy de In foot ,deopite the appearance Hus «5 a yuile naaly case. If ee [onc sey ete iepaeiecme) as tiene Vomsmceee an ice firsk woe briviel order fm 2) expancian will cowrlant casffiecen bs. ma tdeska =O Se, faeueas tyakion is mda dhekoo “HALE ee PEPE, Beye the damping coefficient dart a2 ’ Tam TVS) ssw? - “e hakural frepueng, hawt [yt-wd 4) Superdamped , you. Ae Ag p beth Ay and one wal and negekve. So altl=¢, ae VDE yo at Rute {eee G Bled =~ 0, (Y- (ud) - ee (rt (708 ) From Mais system we bud Cy, sm forms of 24, Ue. Se, de pendraghy of Ha inikal wn ditions Hu wordinule a per & yer exponen ally fo.