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Pillai College of Engineering, New Panvel

CHAPTER 4
RELATIVITY - Set I
SYLLABUS:- Special theory of Relativity: Inertial and Non-inertial Frames of reference,
Galilean transformations , Lorentz transformations (space – time coordinates), Time Dilation,
Length Contraction and Mass-Energy relation.

INTRODUCTION
To describe the motion of an object, we need a coordinate system. The coordinate system is
called as a frame of reference.We normally have x,yand z axis and time t as a reference. We
have 2 reference frames.i.e Inertial Frame of reference and Non-Inertial frame of reference.
INERTIAL FRAME OF REFERENCE (UNACCELERATED)
A frame is said to an inertial frame of reference when a body in this frame obey Newtonian
mechanics. In an inertial frame all bodies continues in a state of rest of uniform motion unless
acted upon by a external unbalanced force. .
NON- INERTIAL FRAME OF REFERENCE (ACCELERATED)
A frame is said to be an non-inertial frame of reference when it is accelerated in the
presence or absence of a force. The bodies do not obey Newtonian mechanics in a Non-
Inertial frame.

GALILEAN TRANSFORMATION

Let S and S’ be two frames of reference, such that S’ is moving along the x- axis with a
constant velocity ‘v’. The origin O and O’ coincides when S’ is at rest. The time at
coincidence of orgin is t=0

Notes by Prof. Arun Shridharan Pillai +91 981911 0096 / profarun@mes.ac.in

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Consider an event P occurring at a distance x from S frame and x’ from the S’ frame. The
time of event will be same for both the frames i.e t=t’
These equations are called Galilean transformation.

x’ = x-vt
y’= y
z’= z
t’ = t

INVERSE GALILEAN TRANSFORMATION :- If the frame is moving in the negative

direction with a velocity (-v) in the -x direction, the equations will be

x’ = x + vt
y’= y
z’= z
t’ = t

Notes by Prof. Arun Shridharan Pillai +91 981911 0096 / profarun@mes.ac.in

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GALILEAN VELOCITY TRANSFORMATIONS
Consider a particle ‘M’ moving with a velocity u in the S frame and u’ in the S’ frame. The
components of u are (ux,uy,uz) and components of u’ are (ux’, uy’, uz’) respectively.
Differentiating Galilean equations above

dx’= dx-v.dt
dy’= dy
dz’=dz

Dividing the above terms with dt.

𝑑𝑥′ 𝑑𝑥
= -v
𝑑𝑡 𝑑𝑡
𝑑𝑦′ 𝑑𝑦
=
𝑑𝑡 𝑑𝑡
𝑑𝑧′ 𝑑𝑧
=
𝑑𝑡 𝑑𝑡

The above equations become

ux’ = ux -v
uy’= uy
uz’= uz

GALILEAN ACCELERATION TRANSFORMATIONS

If a and a’ are the acceleration of the particles in S and S’ frame. We differentiate velocity
over time

𝑑𝑢𝑥′ 𝑑𝑢𝑥 𝑑
= - v ax’ =ax – 0 ax’=ax
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑢𝑦′ 𝑑𝑢𝑦
= ay’ =ay
𝑑𝑡 𝑑𝑡
𝑑𝑢𝑧′ 𝑑𝑢𝑧
= az’ = az
𝑑𝑡 𝑑𝑡

The Galilean transformation for accelerations are

ax’ = ax ay’= ay az’= az

Notes by Prof. Arun Shridharan Pillai +91 981911 0096 / profarun@mes.ac.in

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OUR CONCLUSIONS FROM ABOVE

• A particle having an acceleration (a) in the S frame shall have the same acceleration
(a’) in the S’ frame of reference.
• Equation of Force (F= m .a) is valid in the S and S’ frame. Newtons laws are invariant
in Galilean Transformation.
• Velocity of a particle in the S frame u=√ ( 𝑢𝑥 2 + 𝑢𝑦 2 + 𝑢𝑧 2 ) and the velocity of
the same particle in the S’ frame u’=√ ( 𝑢𝑥′2 + 𝑢𝑦 ′2 + 𝑢𝑧′2 )
• The velocity of light is not equal in the S and S’ frame , hence there is a need to
redefine Galilean transformations’ special theory of relativity

POSTULATES OF SPECIAL THEORY OF RELATIVITY

• The laws of physics take the same form in all inertial frames of reference.
• As measured in any inertial frame of reference, light is always propagated in empty
space with a definite velocity c that is independent of the state of motion of the emitting
body. Or: the speed of light in free space has the same value c in all inertial frames of
reference.
The two-postulate basis for special relativity is the one historically used by Einstein, and
it remains the starting point today.

LORENTZ TRANSFORMATION

Consider two coordinate systems S (x; y; z; t) and S’ (x’ y’, z’; t’) that coincide
at
t = t’= 0. The frame S is stationary and S’ is moving along the x axis with a
velocity ‘v’

Notes by Prof. Arun Shridharan Pillai +91 981911 0096 / profarun@mes.ac.in

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Lets say at time t = t’ = 0, a light pulse is produced at x = x’ = 0; y = y’ = 0; z = z’ = 0. The

light pulse will travel the same distance in both frames of reference.
If ‘c’ is the velocity of light, then the distance covered shall be (c. t) i.e (velocity X time)
x2 + y2 +z 2 = (ct)2 - (1)
x’2 + y’2 +z’ 2 = (ct’)2 -
(2)

The Galilean transformations are x’ = x-vt , y’= y , z’= z and t’ = t

Substituting the above Galilean transformation in Eqn (2)

(x- vt ) 2 + y2 +z 2 = (ct)2

x2 + y2 +z 2 - 2xvt +v2t2 = c2t2

The Galilean transformation does not stand true . The additional terms above involve
both space and time.
We can avoid an unwanted term such as (- 2xvt +v2t2 ) above is to assume that t’ is a
function of both x and t.

Notes by Prof. Arun Shridharan Pillai +91 981911 0096 / profarun@mes.ac.in

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Notes by Prof. Arun Shridharan Pillai +91 981911 0096 / profarun@mes.ac.in

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Notes by Prof. Arun Shridharan Pillai +91 981911 0096 / profarun@mes.ac.in