Lt Mechanics of poctele us Newhn's 2nd Law pemv (hz) w= FE Oh fe mdfama , a-F5 01.6) Newton's dst Law : Chafias) imertel Fame Geo, Trent Consenvetron Theorem > Linear Monertum , Argalar Momaxtum » Every =O 2 P=0 > P cowtant “in tive!” Th Cmpplr wowetun Cabock port "0" ) tovgne ar mowant of force Abate -tx fort) ct) An ACP emi= Tx me + # x Ltwir) CI. 10) Paci de PB chil)att et 4-2 N=0 > Dao : E constant iv “tine! Wore — Kiratre Enevyy theorem the werk. cone by the external fiyce E vote the particle ws gong from pome 4 to pome & Wie = (Fe Chiz) 1 fe 5 © canslewt we YVp2 s 2 = drop 2 MC ditidt = By sut i Meee ee rf rede 2) wart C3) T= > Wee Te-T) i wore eet omnryg theorem Who. vs the same tor any é prysrcably, posible path het promls 4 amd 2 Conservative fora > § Ee etn © h=-vve) Vi potential ov potential ney yy r. 2 ov pee ov He = - Fe eee fora Wyo = aa re 2 1 J, fede = (lav = Vi-V2 3 only valid far the TV) 2 Tet Ve: Emerg consery PF fenLI-3 2 Mechanics of @ System of partreles Ce.4., rigid body — rotate >) nn An Z Fic +E eR chy aay on external force Ee inten force on the i-th porticle clue to the j-th particle C Fic = 0, Tm genome) Newton's Sd Law The forces two partieles exert on each other ove equal aol opposite . Ciseak law of action aol this conditen oles not include waction. However, the specie case tWet two fore veetws (ie in the Same (te, which 1s “strong law of acton ema veactron' Hjce the gyrovitactronak amd Coulowb fore.) ; BEE 2 i Zp = Emcte = 2 ZF C128) ~~ eS a =O due to Newtels Brel awd (Fist i-"? ) Conley of mass ( Conter of gravity) ea! a 7 lMty “Or ae R= meal = al © the average of the radii zm M * Vectors of the parteles , werghhed in gropenion ed a.21)=(e) ete -yedued to the motor of Be ale) nee Zhe = RO Fcyayy tH Center of mets Conservation Theavem hy a_sysiem of gnc helts , ) Total Linear Momentum , Angular nomovtum, L Erecyy. fe fai yak P= smiate = moe zr; . ? a total) omgular mowsetiam L Fo 20 constant tn Lime total aoe pala womowtum L Le Zh é:) d (iz npc) = Z(dexmi + Rxpe) ee ad pe@teZ at Tae ‘ ; =0 = : Soa ey 2 2 = ERR) = Zhe Zieh, CO za) a5 = = > i. i Nae tots Meludes fx Fre tH xh, 2 a = = (re~ Ay HCTF a ts * Pye : Strong law of actor omel react 5 the mernal forces between two paviscles alco lie odong the Ime Jomnrg- He gorticlesdes xh oN? cheb) i >) J obad angola momeutam — 1S Nvzo 5 LEO | Constant ime Hive. Keeton to the strong | law of acto amd reacton ) in the terthookl (Figure 13) ne nD) a ot Seen 3 dR = 3/_ dt Ve=Vitv » VE Ge, We Fe Ls 2 trp = 2{(! +8) ) x me( (e+) 4 t W aM 2 xmo + Semele + +(Zmsté) a wR Rxffemi @) 6 aAn~-o =o Sm! =o becouse Gm): Smify + Zmck ery p by activin tA =MR= MRa i yo it L= Rx Me + DE KP ch28) é eee 7 wovdun ef mofo of wok omgular ey, of 3 about the confor of mass the Gatey of wrass ee The work done by al farces tan miving fhe systenn ae intr “configureton” 4 to @ final configuration 2 Crot “necessarily point ) Ne = ZC dé. 2) os Ae Fi ce NSE = - ep t dsr tet f 2) A; ar pal Ke vay am Newtons ‘and oat x at a wr = at Dede = oe eget GF j mvc Vedt E('d( dmv) = ae ae. Warko Knehe Tee Te, TER EME ogy stent Hr 1-32) a sy¢tem of pte { = ~ = ay T=5 2 m(H+u%)- (f402) & Der tH (1) Veg em velocity -ye ao A s Zev 4 sz aces 0H (Zmie a pee Mute Zmve (131) ee Specter lemette eneryy ka bie enoryy of maton Obtamed if aff the about th c-a—m mass were Conovbated at the C-o-—m iyrf a &- ~E ("va oy u-9 I the external forces ave olerivable ih tems of Fhe Grecia ef aw pobre The ern forces ave also canservatve , then Fees & Fie » dbtamed frm a potential function Vis The strong law af acton gnd feactinn ope hs, then Vi5 = 7 C13) a D Byes ~UVig = + VeVi = - Fy (1-33) Part rs| Ves Cite ¥51) = GF) F ae (Red dudes the terms fr each par Vike. 65 J) [i (ves Viz de + Vis - &;) vay ogom , ry = i -f, : Vo; : groan wrt te U,V = Uy Mg = G5 > OeVis det G Vass = TMi; - (dS; -d Be as) = GV “Tig 77 MG = arity = diyu-& ; si aie “S ("he Bas, V5 45 =-3 Ruy rr) . { ey In te calraledton of es = (avi dt [ By Vy "S 2 G5) gos ove summed twice Suimmnart. external aed arlene forces mie. conservative Cie, clorivable from poleatiels) thn a total podeutrel Query y V = Aan V= ZC B%S) a eS nlernall potential Query. THV conserved Conseruedtron +hoares of eee (ota) fixed nad Cannat vary with Time. yea (Figll Fer) ni lt 4 Ki h akene ot antler oar oes . a alo No work!! Vig = @rstaub, rigid bods. lms1.3 Gnstramts Lr-1 exaples ABE rallong on the tilted sure } hug congtramts 5 Cay Pally Gp olBe 1S moamntact with the surfsce Constant faveluer Cnet trai gitforwvard [y found) forces 2.5, normal forces eyerted on the dak by the surface Clossity various constants ? oO fcr, fyi, bE) =O a3) > holonamic (ch) From Wi vipediar > ee hale” Am Geel namic i" law” " ee (ti- 5) ~ cep =O (wrvedued by H. Here (i non-holonomic eee particle placed pn the Surface of a spree oe coliplaches fromthe Sphere. di) Lime —capbidonce ; epuatons of constramt cantam the tme as am explicit varvable 3; rheonomous (ab ne) not ephieitly epond aut on time 3 Scleronomous CE Zale Plt ) mmosthy fis Case 2% G5 A benel sindng on a rigid Carved wire12-2 two i69ues wlaled to constram WM cosrdinates F's ao longer oll om Paull a ME Fis “with "BR" conctrauts } Nad clegrees of Freedoms N equations satity (Veustou's 2nd law ae) mite FO - Lie ON J (®) (as worroned earker) the forces ene ove not detemned a priori (1m earn “ahead”) Need to solve the pole te Lindl the eredcee SS normed) force. Nom tis bal tee by the ice yNe varres while he body s vices glown the ice Vane a SAN; normal forces are dittest! Rolaed to "C)", intrduce geneetreed Coorivaes . yet ave indepeucltct of each otter !! "ed ot? Most generstly, A. gorticles jn aoe 7 BAL whegrees ot freedom + Pah fw) ; k- Constratwts 2 2N- hegrees of freedim for 2 Be Ch, Bowe) " ‘pole = A= AGB Bue) w= tw &, boo, gael t) +4 FA, hait) 0 C138) worth Cosh.Ld D'Alembert!s Prrecigle cmd Lagrangels Eaua tions (23 g “irtuall dxglament ; any acbrtrory infinitesimal chomy of the Coordineles S n Chomye ion the Configuration of the sytem oF " Chould bé consistent with the fares amd corsheils impsed on the systenn ot the given instore &". cee & fie = , then . the ee work of the farce ie 7 L% =O in the displacement Ste Zz hic Si =O fr whatever Siz talon as log ‘ (140) as The syster Ae des cpus lebrive, fie = a + fe (4) f S fre ef constramt “oppied fora zh Set Zhe =O Ch) stems for whith os rab virtual work, “Rostrcet ourselves to SY is gem’ Thebis, Choose of tho fares of constraint ce Co thet 2h Ske =O. (in order fo End Leite ots)pl (hon ZC eee 1 FH be 20 fir Sra" thot Sabtty Log cas) Ee die =o fe, = Note; Ef’ +0 because Oe are not Conpletoly tneep, bul are comected by the constramts. F 7? z ) trans fovmectDA , z mdepontint vin Had transtovmatren considoviy conshromts, because See ave If 2G,-S9.=0 , thn Gere antag. ic An obvious trick} itt Fi * P: 2 he- Be =° -P, 5 jeversed eflecte rce eroded, Zhe - pe) Ste =O ; gusliDriUin ‘ or 'aLuungs satished Sane ar quant fy the Chic af yirtuak Brac +net ynakes sh br=0 ; ZR) =0 C1.) b ee D'Alembert!s prnciple”Alow use the dranstovmeation bet Fe gz 2, Log = ee eet eee eee Zt? assuming holonomie i a Coustyaret ) a _ ate oe 6 ry TEE See ae 5 cr at Z oa, & tie i (eS il 1.46) > ate Str = < 54 oh C47) — Cham-rale ov ae U calcul ws, virtual gaan Sono variation of time, SE bomuse “oy gofmrtin” oO virtue Agplacemont is raha ot the coovdinales “only The virtual work of the ECs achwly ida to Z 21) pte the textbo 24. a -2 fe Fr’, 7 the textbooe 5 OE b5 Says Wl yas clropped «Her C145) Joo TH olamsion = Q-= 5 &, aaa componorts of the _generalioed te. 7) CLAD) fr mec ci.) Zhe if; = = Em edie 2 mie SE ey = aoe 3a, ya,A oft See Zmve Poet 2{ 7 me ot Poets Lb t di i del mi iy) me) | C139) FEE eres PEI ae . Fr eee ae iG z : fue Ged et Se Cis A(3E) = BUR) = yn ae oh 4% ae oe OR Spode ono * % 2 Z 2 (linlerchangeeble Jeause time anol coord mates @) Be % Ga net depend. |) Die ‘ago 1.46) > §6(4, %,t) = Ee 3 4 OE a coe "Fyne of Hs Baye is Us ts ave = y AE Oge\ _ 2 2g. RK 2b 23, 22; Cust) J nee ck Gllectng terms, ue 8 d (po, Be ai Z mite = htt wie 2 | i 2% oe if % 7 385 a AZ (we: F)- 2 ae _ A Bho ln :) 2 _ hale) 2620 (1.45). becomes ap Z ina?) | -% zat) -0,| A= zac B(giee)] alte) a)Le Z} 4 (at 2 | 53, = La i) ral go Crs) thet Cls2) was dered from fhe oly condian acomut makes the work Fh-Ji,-0 Removnber that the doice of virtual dap done by the Doras of constamts vanish, ie, Sa, + ndapancet a eee d (2) 2 -Q,=0 tral ? ie ag. %, J a css) ON -~&) quotes TF (Fa) W4e f constranmts 2 GV, then eee erst Q =F hr eg =F VB = 3% C18) VERB) OVER? 677) uO (Bs) i > dpa) Xe) i ale) 34, =o C185) V fs not «@ fanctin of Zz as above, ies - 20 9T _ ottv) fp 2 i Lagrowy's e5uedon 24, 24 A Qe) Ol Z-)\)—-S> =0 (= Tv C186) iel a) °% ; cl 5)4 Simple Applications of the Legromgiom Formulatin L2°F Primor advantage of Ose Les ram gram femitatron ; olo net have +o cloal with vectws An Bema, cotey ccalars T and V greatly simplifies the proten. tos tao ol ote ¢ rt T=2 gmi > Bam (25, 512) = Zhmc | (Ey 2 Fa + att ae 44 ee | (sel AF ag, OY Skah, Bk” : Zim ea aot\s als [salt \s = eam (se) + m2. +52 (2m5° r2 i? alg : \i 25K T A Sle EO gy ia =U, aan a Sa =Me = 5 ' Ee M, ie a M; & ts Myke 8; Be Cha) am) -

---

= 9x 24 a og (2) of nly] a 2%; a a; 1-53) gm) = he, hooey pl) A C198) chy plane polar coovdinks re Pa trans temnaton Peay) 22018) x= rose | ge rsd Xe cash 1 d5e8 y= bsg tr Ges T= fmba) aAmfrt+ cay] C1) nit vectors thet dokrnine (0.8) vectors. f, 8 dr adx 4 F = deh + dBL2-10 8 oo o\a7e ; fer? r6) @ gta a Pt ra? . ahead ar 8 Fae (Figure 1.6? - ,) 22 Od9 gor? A Neg) (led generative? Lras sor _f¢ @, Pea =F ee Qy < 2 oF A 0 f leap = B-rQ = Hy ot x2 Z- = mro Za = or Sele 4 or). = dat). at £(%)- or Qe > mr wr@ = F, ate n Memrd flnr i 90 ‘ 26 dee Elmer b)= med ramrrd dw) ae ; Al) £7 ? ned camer =PZ. Atwood's machine Le _ (Figure 14) Nveo ba x70 LK Van 9K - mM §(L-*) wen TE lonerm yx L2T-V = A (any tme)i + max ema (fX) eel Go calculate well defined poiential VD no oypnersticed Lice @ Lay rorss's i ee a a = (mtme) x 4 a = Gm De 4-2 (mete) X= imam <= — To ¢ dS, x= mam 2 3. 4 head (or ving ) g hiding ma vitor ly, roading wire 4" a fore fee Spe. = acd saeaetEa neti Constraint i Bee ee a Ht L eure around the time Ap. ae etait Oe reat ; vertical axis \ . Side -ViewdLae K= Poswt a 4 ers at Opals Sina lar ty motion i” glawe polar Cov dirateS cos Angular spe of rotation xcept O ew = const. «distance. ong wire tran | potation Axis ae eit tt) fez" Caos ) Note: one variable (caardinky Y not a hamageneous WU dagres of fry guodrahe dumctrm of th gounbived yolocttes 2, isan avolelitiorel fern not inve lym ie dns. form is lnomogeneors ucdete th & 4( 2t\- 2 =a ? r =O i farce free s2@ yz Smee Thee Cin case af 6? ? de ar ” yaeaning @Qr=0 Mr = mrw = (#0) r= rw wt Soluton Yo € 4-o, TI Citi conden) tet AL baie Eorgue coy 8, Ale wt d Geom N= & = omrre= 2me uw =yH es Bren of constromt angular Momentum how 2 2 LemrwO3-) 21 Hamitton's Promemle ee te Ti a@etron a Ldt , L=T-v (1) or ochan Tnteyel 4 has a statwnary vedue fav the acted path of the motor © SLaS (Mica, g, bo be tO Cea) 22 Somme techhipues of the calculu> of variations » Ay o> He =z Ye . J =f Oh wax (25) (Figne 2.2) ’ (apy Qala yo) t yoy [iy Ce tee Oo 80) Hoh) =k) = O \s x Jay) 4081) © 8,2 800) at Yo Gie DO) = Y, = Yor, 0) ke Tea)= : f (yin), alma), x)AK (2.5) di ee at 0% +2498) ( ear? (2b) a-( (Ret ey ae oe a he (DE Big = ("28 2 hg Ha (AR mi 35 5a ay Oxon | R78 ae : S$q'= Sosy S49 (2)9 7 L3-2 = 94 aa|% ie NC) Blte)= HK) =0 al =0 34 ok ee ae a x (9g en (Z). 7? ie Ha) Ga O = 1K) : arbitrary 5 oF 4/2 or (eD) 22 42) gus i 0 (22) da = 54 (2.12) (Fla: bJ (2-13) Three exameles 1. Shortest clbtamce. between two ports in a plane ds = [array Le {45> (fini, $2 [a Ce 2 Minimuw curdace of revolution Opem + Figuie 230 GFF M42) é Comer a OH, BDThe awa of astrp of the sur face. 33 2txds = 2mxfIt y* Ax ee hee r = nf xl &k f= xfieg? ly BF _ d p BEY. eed 5 ie (5g )*° 2. The brachistochrone problem (Figave aba) 4 —7 x yZe | \ wv End & goth between a) ly ncHtas fixed two poms 4 amd 2 along whith a particle coves Tn’ the least time _ ds Wwadey the daunwarel = dse (leg? oly gravity Starting -to fall frou vest ot 4. 2 Find a Vig dinut= mo P= Y2gy ie a fe [= Sete ted ony -4(2 2). O 742.3 Decivaton of Lagromge's Eguatms from Ly Hawi fan's Pron ciple Expand $2.3 +o mubtiple oltme,smns 2 §3 =8 ‘ F 04,054,003 -- , yon): Gi), --, x aK (2.4) GG) = 4, 0K, 0) + AY (x) 92 %G8) = 9. 0K.) +ol42 Cx) (2.15) 95 at ade 4 [less ave §T= a Dae f° 2 an ES dae oar a4 of a of | : x4: aK 35, =0 , C=ha--u0N (2.1%) Euler Lagrange diffandol epvetions oo. I = (TLC, dete ca.) oS ane o=0 Phy 2s + Eh cleponctourt amono genre systems ; all forces Cexcept Hie forces of Conshenmt ) are devtuable Fam a generated Sorter potential (a fmchor of coavdirats, elocties, an He), reno in case thot Hu golettad is atuncton of cosvdinees anby, eanek,24 Er lending Hamilton's frineple to Systems wirt Let Constramts Puvpuce 1 Find the force of Qoastramd with Legranyrein fovmulaton y : he lonanrc ond. apace £46 Xs) =o 1,2, 7 mM Constramts n 4 S +o doserbe the syste with Lagramsron =) (n-m) independant varpies | old oppracle 5 jyeduco “He runber of varnbes teow N to from) by casing Ly Gis) =e thon nstruct Lg 3. Pall aby Sau ot) Apply Legrmps eguntrons Row Kap fhe oveginel gis them conte iE fe. iu ot undetermined! aby hens (dear Ay ro Freaked Af Indep. variables D1 rs constructed over n independant varivbles Same — Harer How's ae Cvaritrwel wetlud) ifr fxao 3 2rdk=o ee “Spa fhebagia UAE va nem snaled varL4-2 Sowe. poedure as m™ $2.3 T= dete 9b ota 5r=(" de 2 Cie5¢ ENG -) s,] =0 has) 9 =o Difkence goa bad 2.21) 0) 83; > mot imctap. of each other become “in” gis akile (”-m) degrees of $redom in (2.21) (2) Can choose XA¢s thet! salty yn Qonstrant- epua tions tor arbitrary Shs 6) with chosen Ags , (y-m) 54s or eguations Pm (zl) => All He same |epuctims y Bet Zag =0 (2.22) Lop Hhe chore of y's sv kal, 7, m for ewes, for (nem) thdep. Shs Evert _ Ok of, “bs, gf - he -2 dy rae Or C223) Gererebiced “force Orclagliny fore of Canstre mt43 Nf ig (geo. L= git (ae ye) ~ Me ye Igneve Y-coerd. © 420 plone ; exes” @ (4.2 90,8) beseee yoo pln ie, xe plone Quith anstrant O- fkaz =o x= rom 4,2 Ka vm +¥85"9 Ze¥ C056 be venp 75nd cepts 4 oe Le lnc p46) — Mg res 8 { % rsa =oLeg Q4 Mas imgcsh + A = O Q> Mord ~MaasmB = 0 treks 3 dd _ db dd _ 6 46 dt ~ “ge dt dé ! an gq He 7 lb a ae 0 de 516 =| juctral condttnn ; £0 Ode =| Fad — 6-0 B20 Lge “Zone = 2 (|- 038) oo ors 2 crest) te Marah ~ Mab ® = Mages 29 ((-088) = hg (206 2) A% tore of Conshants e, Mmasnitnole al the fore Keospmy. the parte le ow the sphere C novmal force) Azo igerticle ames the Sphere & = os")Las Non—holoromic — canstramt $ fal, Bethe fitd =o C224) B= 7) mw n ’ Lu = 2 ag dy +0 =O (2.25) Oak Res L) Oo C45 : £) Crmilar arquinad; b me 7 sfP(L- Z dah ) db =0 2 dy - ae [Zee Rn rk Beep) Hink tay be found in J. Roy. Aor J. Phys, 34 Clear) 1969 WTAM Ala = Ueclt)L4-6 £,.4,,~ fa? ae dn) fie ee & 2 died + Qiedt = r aby meee Zaha “9 =| i GE) a , oe (He dag Hx a= 2 {aul my sa) - a rdg-ax=0 © flax)=0 & pote a . 42 - | ne Mire HK) SF Shyer Le = + = My Easing Qu ‘ ae = Masm 3 Mx ax 4 Q.=-r as ( 2 fe ; a) es 7) - ae itgeh Oe ig este) a i SEG 38 =O 1S hy Qy= Ar ? d(&)- a 1@ x bax] ox "OX Ja — Mgsng = A (25) 4p3h) a. RS) - 3% 9% Meh = ar (25)2.6 Conservatov' Theo tems Symmmerey Properties La] gale mowdutiun Comonicoh mowuntur oY Cony L P= a. (2.44) aD ignorable (generakited ) coovdinates 2 Cyclic ov whin Lis not a fanchom of 2. 0 Ka spectre coovdinde oo ) (ike Bo He 93; 94, a => a QL aaa Ab BS) Py = ansbont mn Gime ite de 2g O° ae Conservation -frovem: the genersliaee pmomeutum conjugate to Cyclic coordinate is Conserved Symmenic prepares of the system: toms latal Thyaviom @ C)_ Linear wowourt rotetiona rt aS am jolav 7 q cranslation ef covdnates rs eyelre rotatrom ef Coovdinates S cyclie, wa Cansevuatinng2.1 Energg Fanclon and the Gnsorudion 4 Energy La? dL _ 5 ab aay pe Bcd ab og ge ag ae t Sees) from 10%, 2,+) Li ; ol _ a ae Gayo 5 Og. ox ie(3¢) aya de sd fae a 8s ¢ )9 at 2S) 4h 3% ‘dt +36 2405 35 + Ect. aL. rete a RZER Ut ca energy fincton hC¥,--,2,3 Aro, de) *) =< ae L (2.53) dh de = 2 — h=Ttv=£ @s®)Bl Reducton ty the ezuivalecdt One-boaly Problem Lo] Ue of Comer — of mass Coordinate my . 2 - 2 M2 7) 1 & tnelep. vavinle L=7(#)#)-UCLG, fh, weep use R, P= aon : z CHM coordinale L-TiR NU | Ut any Anckion of the vector Kx her fee Wye tte ERs a. mir 4m te a(R r=en79 3 ao = - 2 matin hy et ttm = ta rte g 7 [ 22 { = Kn To fmt gM cee m => 2 : => : ae : = Smt - oe ele dm (Bs ma R+ mw tia. QS mete | 2 hata TCE ee R= RR eat my + Manny? He am = = £ (meer) B isa! (mam) (32) mm, 5% 7 32 = dL tham) e+ | 2 tiie 3° yr 3% ii g+4 —— (4,4) G3) ee ha tM U 3)Ri tyes te, Ze =o Ls2 Af Ot oe af f)\ = u af 2) =0 > Oe = Fg const C-0-m pith, ot yest or movig unifermLy > S ere zi ree : decoupled, ie, no kr BRoin F's €3. of Re wrt tS e-o-m | only om corned abod 2d (6 inde. var) grble ap (3 mep.vor )! mye. M= (3-4) yeduad raass fin, Mz oY 1 ee + | (3.5 Mm Me : ) BX The equations of motion aad Fist jnkgreds Conservative central fires ronservetine teas PF olep. v fete os 8 UR, RD 2 vied ‘% ® general “cordial! yugaumey 0) on a sored a ng ty agen F sprariak symmetry &® vy votaton abaut any Fixed ax3 Can have fo effect on the solution© wm wale Coovdmate ve preseatig votativn igs about a fixed Ay ust be cycle! & LC 2Fxp = const cue to qherical symmet@. pokaln Mvartonce Spheriend Syne & aoagu lar wowintlin Con Sevvetron ; Back to Sect 2.6 Cpoge Sf-b0, Figure 2.8%) > yo fatrondl Muarionce G> porgalar ynonontum Consorynt™ ©) volatmn coordinate 35 ja tycke, he, = =0 Fesme = IA | eh eee eee by PR [are | = 1% sm0 dg, ak = eae Axe (2.50) EHELea 7 3-92) = Fee. Qe Zhe Feo Zhe Aare) = PACA) c J ° é | cA ziek< BEM AN A i general ited few ornyodng to gorteed ced coor drole dn, Q5 in cose sf rotatm Comgle) ar & generibired Cov Covresgmnds to bee AN91 2) air (isi) LS Pee = DS mil” = 2 Mute (S a = e Oe. = Zim B= Zmire (ax) § t 5 6 peelened) Age t oe se A ot =<@- & av N Lagrowye’s ¢p a(®) @,@ F yotrtron coovdmale Cangle ) & 15 cyelte , 1.€, Hao = f(2). aa ~ dt eg) > Fe Be (abe ; nggnlo¥ vawunton >) = censored mofon i¢ Not affected ey the yofatmal dransledtm, se, che cable syenetores rotetonal fmvartomee | Now, back to Sect 3.2; Bah veontrak fre” var) only (> Moan © cpheiad Spramebic eFE SD cagular tandem of He Sytem = Pep = cost. Leo when ear iver moto> a Otewse, LL Constiud ju olprectn Les pour AS not vecessarity MP 8 A > Te cont+ WA + generally = wee, ad : =SOlt [LE] =cowst, too Hf = “Cantrell fice” makes th wotiom 1 "op' on the sucface L DL ccwsh = Use 2D plane polar Coovdinates ; =Tyu=t sepa ge L tev = tm HO) -V) see ete 26 QL Po = 26 mre 37° > cyelic im "9" © royatonal, Mueviauce 5 d zh el h- 2cmré) = a =O mre = const = £ 5 canstowts maaaiduele of dma wom, (3-9) a dfipg\- : © 4 (gr6)=0 BO: anal ve locity 48 = Const &, laplevs 2rd lad Fige 3. 7 de rad = 7 r ca 5 dk70 drdg-7 0 fasterthon 48 46 +5, Ly Arde x grdeECan Acme) —mré% 22 20 3.10) fen 2-2 infect fee (SE) yh oy meme =F) O31) ee E= amy +6) + Vie) Emepy epacton C213) CS qquiwlet Rhewhm’s Ind aw or _ ree & = fir) Ve, meG=cust & mre Prove) ee 7 “on be wx) rentals we Bhs = wer = Ge A (Lime) vhs = ~ ra (vt avn} = at a (vtz 2 wre 2 ae we + A vt dee) <0 oe scrnste E (3-5) > ger4s tetv Matheraeds ead Shuchie; tuo varias ne Reales Dad laws Qnk order detracted <9 one * feo + necessary to nto Gquetrons bike (3.15) & GBD Ablernatinely > tio ast order + to moe efuatios; sacs Le) 6.5)5 r= Ptev-f5) 2 ar dt dt = * eB (3.19) ale a 7 =t (312) 2 a Beak) DS ve) ow td 6 EL re i comtort 62)9 op. Lo aoe gett i‘ dole a ay 7H dt = 0-8, (3.26) = Ot) or #0) : 9, Ef, 1, Oy ¢ dekevmos the Syston Stop i works aS Ye, Op (altnatively)B3 The Cauivelent dne- Dimensional Problem, amel- Lé-I Classi ficaton fF Orbrts Guabitecrme Discustion + ‘General Belovrer af Moin vith FD analogy ID motron , Energy conservation E-tmuttva) @& ve Z (€-w) (321) Mole that vreltl# Yr ( Aa fhe 86 ) 2 \ t= Fer) (3.16) Eom fx rr (312) aaette = fir) B= med =const mrt 7 Foye BV) > wre f= eae i mr? ae Qe = TEs centrifuged free ve Vere 2 fe we & vl 7 Erconple fe + v=-4%wm bound & circular ov bit . I Y=0= EY) extreme af vir) prey a) _ ct if Pdi ee ae Lb-22 ft =~ A =-mno © Combe potel fece L663 | 2a ot wets: Une Bo te AE (070 7 Ve sere > fa-kr (Hooke's {aw , Navmonic ose 24 The Viviak thosvewn Awe averegs of various wachonr al — Pranhes Us. “ohadatral” — avevops in Nature © @mmonLy used is shan treel yuchanies Sach a5 onsowbles > ?: =f: C3) Nowtbm's QnA lav Qe =p tr a Zt = toe ig <2 3 ups qe = 2 i Pet 2 fete ¢2.23) Pee = Ewikete = Z mg = 27 Cc 2 = = att Z hits c Tele tine average over on mervol Co, t] dd Fo a4 zi le dt = = 7 + Dhete = 214-40] arguiout F 0 Ci) Git) = Gea) perl ) Gl-@le) 6 foc while tobeLbé~4 _ _ Te -¢ Zhe te syivrel hem — (3.26) Stee cnsioee Jiviel of Clausing a-pplicaton: gevivaton of ideal gos law equpe rh ton +hworewe CO emahre theory | atom = ST Outrage leinete energy of ac & defincton of tempercture. porte aie catows) NA perks : T= 2ueT of T VeLe EF. in G26) i alk the Spras including. Qforws of interacts Veet, pardeles ae ot constant on the syste Che, by the wails >) ideal gas) Q=o by godweirm No interact 9 is own sTee C volume) Oly ee — af Constant is considered Fis -Pu AA | J aFdv = 3V Gaus law 2 T= -9 Sh ; 3 Nhe T = apy + soloed $e lavdLES Fe =- VV Conseratve forces on paar a anteal force ge fo a Sang le particle mov m4 = va pe-- ar F ! gv P= 9 ort f vinear (> flow), tee OV Sf = ini) V SF. MY N= —2. 1 Mvege Sguare [ao 2 Vv vMi— aBS Te Defheen Freak Gucton for te Orbtt amdl r 7 LI (ntegrable Power —(a03 Potentials Goal, Find 8) dxpliertly from Eo venanber Y(t) oy ty) Ale) or tO) Caw be Orlamed from Sectod 32 egunttons Ide= md (39) & gawd = marge = cost eee a qe = myr* dO 3.32) 7 agers ee eb . ee me - 2 = fo a du te mr au 9 M42 - 7% dydr\)_ ba whl) = 4ed0(vaeae ernie semen 2 ad > wn 2 waved » & May ? do” tU=- MA, G 34) orden olrffermtial ee. 8 wader G2 -0 °° symuetic abo two adjacent Aunnang pooets “funny gomts Chogen as g=0" 2nd - Wvarvant initial Grdelon Qo : U=ule) (4) =0 S Pwueriawt vader 99-8 dit p reesceatieeAbtiectivel | ( grnd Casey approach leeause it enc wp os LI-2 rn dvb order alttetatinl apuaction ) 2 2 (Eun Ae Qmre 2 lr Lar my 3 2 ao “2-5 > sori (3.38 ZL ‘Gaieaea z r a 4 d > 9-6, - | ages u Ware ime zmy iy VE a ue SE [eee ae 39) example; Power- {avo | Ve ar 03.98) 4 lu b= 6 - [ ee (3.34) a zmeé _ 2mMy <4 ie a ee gu -U Special cases; n=l, -2, -3 3 +r gonovelvic saluting cto the Afegeal N= 5,3,0,-4,-5,-9 = ell tic funchors fom the Solus of the dabegeal ab Crditoas fy Closed Orvits ( Bertrand's Theorem) Closed orbits fine the case. of attractve Contre fy ces 5 fhe parkele eventually ichracs its aon forklgs.Special cace vevarted i Civcular orbrt LB r 4 Ltr =0 & He 0 sexdremum of Ver) 2 2? f-F4 =o 4 & 3 fip)=- a (3.48) attractive force E = Vln) 1 20 it fe ViG)+ —z GAD 2m viry \ gdditonal condition fe (40) Vi) © Concave wp Kite a OV oF 3f* & pbSeereeEH fae + stable corcular - 20 Stabe 2% ler "be id orb G.42) 2 ae 8 aft) > orl S wr 26) Soe \ F(6)-2 GB) i Tote Power~ avo fre : fo-br® ; G 43) eawes oF nt ot i : oe hearth <4 =a > nr-3 (3.44) (A702)(2.24) ia mado rl G4 tu=- 2a (a) LIYE viz 0 vi) £ (Za) Eg veiveilay orbit \y br) Gn be exgarded as havmnie polenta Debsls or fete av) on 1 dV" reg pr so a aban Sele *) + a ar : et Toxo expomscon wae + OCeny) 5 of D Can provide avd) as atunckor efu i Cm fact , Towne mW) de = OU 1 Aro | Stwple Vrawmonce oscillate {Ue 2 U=U. + Aspe 0.45) ad e ay af av as aber!) f= 34 £ ar rete 7 cauistani (3-4): G attend number ie) $ where paw B- are amntegors => cHer % yevolutions of He radtus vecter, +he ovbek wold begm to Hehace idself. clued avb*t!(3.46) ter oll te > gyounral cotton fv clyed ov bts LVS DF 2 one = p3 (3.47) { Ae) = ((2) 41a) oo —— h Cd ce) = (P53) at + Dok 3 - p3 he eos} §4 Be (3.48) mnegecion costo” B=| 5 Mvene Sprne law i Clased oc be} Bh, penawber that the above conddlon aos derived Flom the assum tm thet the Engg is slit grove the circular orbit amd the 2nd order perms co only were Considered |! Syd ov Wve ovoer -ferms ave ancloled Ho. guest fae whroh § there exists Closed orb, Answer by J. Bertrand “in 1873 > eg! aad et +o quswer orks \ eee Heoke's ee law law Bortrand's theo ! eer2.4 The Kepler Problem 5 Inverse ~ Spuare law fF farce Le fe- ve-4 (3.44) Fe, 6 = | eau From 3.34 with ne-2 [REE Te (3.50) nob necessary 0, od t20 vecawe abs is mdefiaile tkgrt mow C chopendls om itil congtttron stl” ) {degra table Cor Mathematica ) {== En ( B+2¥K os) [aapxere” YV C@S (- HF ) (3. Fr Bo RY a P b= O- arcas FE (3.54) Ee mA tok z Une = aa (i+ te «5 (0-8) ) (3.55) Constowrts af inkgatin 5 C2 ond 6! eer = “4 “a pged OME wore ymitial omg le &, ot £20 From fea =[edeRow , mathemadres plays a ple: L9-2 COSY The general Spuaton of a cnic with one ees at the origin YU) cetermes fle “Shope” or the ovbeh accord to (348) 7 =C[i+e ete) | 0) eccentvierty of the ee conte Sectron fram (55) a. (3.59) (256); e771 hyperbole ; £70 ec] paboln : Exo e< | ellipse 3 E Mae ea) & FET Let Ee € 3.64) Pee ‘ pervielon § a chelwn Agtomce et 920, t=0, Vole Focus new (aurilary ) variable AP eccowkre anomaly reach ey) = a Cie) (620) ni [t+ Ease Peer wed nes 6-0 Y= ali-é) ayrelion 2 Pom reacts) O=w = acire) ; cote) o228 = ate) ean yeatee) TS TS Samer regeLe tite aci- 2) : Ja Ts ACF ems) - = at fl-eost) i 2 C-e*) 7 ale ety - 2 U- creat -2E0) - 44 Le] = a.de( rosy) = doesn de = aesinp dip ("seer - fz Tay [ gaesniy oi (40; rh) ac{— ees) . [E (Seema C3.40) fe2n 2 t= t Coe conplee orbit = — ne eee : Cl- easy Jar = A ona r Kepler's Bd law . Be Ramen bev Keyler's 3rd low = Ompalor mam, Gnsorvetton ok 2 ge ro aoa = const: Trak i (Ge) s As = : arta of ellipse over A Complete eviod T 3 Lf. = = Tab = TAQ|I-e Zale ( O=% with (0)as - a 7 " a s (6.6); acre) = # mm sane as 3-91) tive-bedy > one-body 1 reduced was mm ies Me G m)me grovi toned m+ M2 aa force A= G my me [a a we tae t= ota" Te on Mz» | ! Sun planet um fe We = = Vina i 6.m) > te (Oe (TC-eopay - 4 [ares] poe -esudr (3.96) kapler's Czualnn cn ac{-e?) = alles) (3.68) 1+es8 7 I-er p trete [tech Hed = Teepe FOO 8 remyOs = % e (oy-€) i are-e L349 f-ecsp [eco C3.) ap-e (400 = 2068 ae _ fees tes’ \- eee [-eay |= © cose | —cas8 = zone oye = [- He j-eca Corfe \- Coy eee | (~ ecostp _ (Hell cos) eae taal EM EHEE SE [-car He aaml a 1-e€ epee et ets eer ese EE athe eas Ie ace f a ae ay o_ té@ bans [EE ef Coe)Fl The Imdoporoleat Gord mate of a Kiyrd Bacly Lv Les olf abot "Rotator" 3 Chap 4 & © dO \ lewanaties Dynamics \ how-to deserbe Syme TmPuonce motto, especially Ciilee Borge) Yotatom make the body Rus Ros Re Criged body) rapete wnilegue to Bem Codthon C Constramt) for a wigrd body N pavincles rene wp vad booly omd by cufatdon Gy = Cis = constont (m Lime) afl the Hime sNeopd body! cat) A) packeles 9 2 dho-F for kL IN particles 3 N(N-) equations tne Eee per N20 4 zn) wy an eS, eeu allel H oF covsbtunh d-o-F epuations » means ray + not all wade. for a raged oay C moe aceatately tre the olesergrtnr of the wetmn of a vigrd boely) 6 o-o-f5 ae vepuned; 3 Le he cadens of & fe fume pomt m the booty Ly the avtentate, of & ee Tie oe Be Cxlend combsArguments te pave thet 6 d-e-f are nag (9-2 Cyne #1 three non(ollihear poms => determme all the presi Bron of the Other Cae by ‘iy = Cy = cost. he Ne, ec, Vag 2 Krown 2 3 + cefermmec ZB poms 3 4 do-f Mee Ga . Woes, MGs (+3) oof D & def are requaed!! Choplr 4: 6 15 livieled mmo 3 “trans latons 4 3 Svoketion 5” 2! a fous of Chaper & = 2 , al mure a2 Se ees se - Fpl body 3 a x yl orienthun ot Kyle! wrt Kye (with he same L 3 dof ovmiry as x'S2) There ave moe poche trys to spect) 6 doo fh ba Oneghe Gcusey on the rotatm bet. two Gelesiag Gord?Lee at vecty mm Kye A, §, fe at ie “ am x2! a aaty = ot h) 22 peat aw ee Grasle belwetn : ae ty (42) vole | Cos Oo © @s Oy u W WAN ane w y y Convento in the fextbaote 85 >t primes System J anagrimed ” a {l= cos ty & + 5 On f+ ets le 7 fe at a Wy = eve ay & + Ode f + asbfe. “a 4 ' a q% fel = co OW + 05 Bn} + 03 Op fe. (43) x 7 COs a : directon @sines ary vector F > wotten au Um primedd system r =X it + yf + ak 2 written fa primed 95 = xh ty fl 4 Ze Csame 7) > ve (F i) = cos Bux $08 OY 4008 Oy & y= (FH) : (45 fs (eek) ‘ *)Avy arbitrary vector G Curtin an primed ar Un pvined ) Lq4 Gy = GU = 050 Ge +8 O2Grt+ SOGz (4-6 x A o bs (4) + desevipio™ af yolatinel matron of primed $75 wire eagrinad sys och is fixed im tive F Gs + onby fivee shold be ivlep = mne Ganstomis to dua to B olof's i-j=i-&-€ v=o i ee fhegqpe BR=-4 (49) alse yaled fy it”, fad ec! (D9 Gell = ed tert ds =| < al = CSG, Os By + C08 Co On 4 Gea, =O Seeeegeeeeee Cece egeE eee mel, m=2 ‘2 D ZOO 6m = 0 mem" } ' (#2) 4 Ma Ww dm asl 42m fin i fae Kronecker d= symbol. 2 2 oS thy 8p, = Sm? C44)4.2 Orth agonal Transhy metins L(0-| Sections &2 amd 43 + portly mnctherad cs esgecelly Ireay allgebeo Healing with mudvices! Ai; = cos Be; XL = Ol Xy + ea Xa + 1s %3 Xe= QaiXy + Au Xo + Ora 3 Ye = Gy Xj # dn ke tOp % CAI) Cummedon Conventron Cake, Einstem Summattne Convextron ) 7 veperked mdee means Summation ater that aden, not using, z. ir) > v= Gey Ky 23 (4.2!) Ch, 2yd = ike t potato represented by director @oSines > specie case of the genimel lar onsfomton ttle " rte ava ctranshrmaton” 3 Q specmal case ivanevis general [near transfertecton thet onglies to directon Consimes , i.e) aK (inar transbrnedion clotettnined vy only 3 dof's.Constamts of directo cosines : Lio magnitude ot a vector (2.9. lompth of a position vector ) > gavdriant pw prived amel npritwed Sys Vix = Xk OHI) r r Xi= Oss K5 oy XC= Aik Ke t f Ke Xt = Dez ik Xj he = XeM D Ow =4 jek ; : & djdw= Se otk 341523 eee kk? Y ome (415) , 2 3 dot's Diz Gk = Sie 4) eguwalant +o oliiecttn costes UI Ortheynal Sranscfovm ectton j Ke Gis ¥5 with Oiz Aik = Sp I © We = Ken MatvrK "yeppesentatnn” at th (hear transformation A= Gu Me Ab ia [ Qu Oe AW (4.16) Os) Ae An