PH 101: PHYSICS 1 Lecture 04 [1]

Lecture 04

Coordinate systems
PH 101: PHYSICS 1 Lecture 04 [2]

Unit vectors Spherical coordinate & Partial derivatives

Unit vectors in spherical 𝑟 = 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥 + 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦 + cos 𝜃 𝑧
polar coordinate are 𝜃 = 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥 + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦 − sin 𝜃 𝑧
function of 𝜽 and 𝝋 only. 𝜑 = − 𝑠𝑖𝑛 𝜑 𝑥 + 𝑐𝑜𝑠 𝜑 𝑦
Z
𝝏𝒓 𝜕𝑟 𝜕𝑟 𝑟
=𝟎 =𝜃 = 𝑠𝑖𝑛 𝜃 𝜑
𝝏𝒓 𝜕𝜃 𝜕𝜑
𝜃 90 − 𝜃
𝜕𝜃 𝜃
𝝏𝜽 𝜕𝜃 𝜃 Any axis in
=𝟎 = −𝑟 = 𝑐𝑜𝑠 𝜃 𝜑
𝝏𝒓 𝜕𝜃 𝜕𝜑 XY plane

𝝏𝝋 𝜕𝜑 𝜕𝜑
=𝟎 =0 = − 𝑟 sin 𝜃 + 𝜃 cos 𝜃
𝝏𝒓 𝜕𝜃 𝜕𝜑
PH 101: PHYSICS 1 Lecture 04 [3]

Velocity in Spherical coordinate

𝑟 = 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥 + 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦 + cos 𝜃 𝑧
𝑑𝑟 𝑑
𝑣= = 𝑟𝑟 𝜃 = 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥 + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦 − sin 𝜃 𝑧
𝑑𝑡 𝑑𝑡
𝜑 = − 𝑠𝑖𝑛 𝜑 𝑥 + 𝑐𝑜𝑠 𝜑 𝑦
𝑑𝑟 𝑑𝑟
= 𝑟+𝑟 𝜕𝑟 𝜕𝑟
𝑑𝑡 𝑑𝑡 =𝜃 = 𝑠𝑖𝑛 𝜃 𝜑
𝜕𝜃 𝜕𝜑
𝜕𝑟 𝑑𝜃 𝜕𝑟 𝑑𝜑
= 𝑟𝑟 + 𝑟 + Chain rule
𝜕𝜃 𝑑𝑡 𝜕𝜑 𝑑𝑡

𝑣 = 𝑟𝑟 + 𝑟 𝜃𝜃 + sin 𝜃𝜑 𝜑

𝒗 = 𝒓𝒓 + 𝒓𝜽𝜽 + 𝒓 𝐬𝐢𝐧 𝜽𝝋 𝝋
You need to try this out?
Can you obtain Acceleration??
𝑎 = 𝑟 − 𝑟𝜃 2 − 𝑟𝜑 2 𝑠𝑖𝑛2 𝜃 𝑟 + (𝑟𝜃 + 2𝑟𝜃
− 𝑟𝜑 2 sin 𝜃 cos 𝜃)𝜃 + 𝑟𝜑 sin 𝜃 + 2𝑟𝜃𝜑 cos 𝜃
+ 2𝑟𝜑 sin 𝜃 𝜑
PH 101: PHYSICS 1 Lecture 04 [4]

Velocity in Spherical coordinate

𝑎 = 𝑟 − 𝑟𝜃 2 − 𝑟𝜑 2 sin2 𝜃 𝑟 + (𝑟𝜃 + 2𝑟𝜃
− 𝑟𝜑 2 sin 𝜃 cos 𝜃)𝜃 + 𝑟𝜑 sin 𝜃 + 2𝑟𝜃𝜑 cos 𝜃 + 2𝑟𝜑 sin 𝜃 𝜑

𝑎𝑟 = 𝑟 − 𝑟𝜃 2 − 𝑟sin𝜃𝜑 2 sin𝜃 Z
𝑟
Centripetal part due to angular motion Centripetal part due to angular
in a plane containing Z- axis motion in xy plane
𝜃 90 − 𝜃
𝜃
𝑎𝜃 = (𝑟𝜃 + 2𝑟𝜃 − 𝑟sin𝜃𝜑2 cos𝜃) 𝜃 Any axis in
XY plane
Coriolis part due to angular motion Centripetal part due to angular
in a plane containing Z- axis motion in xy plane

𝑎 φ = 𝑟𝜑 sin 𝜃 + 2𝑟𝜃 𝑐𝑜𝑠θ𝜑 + 2𝑟𝑠𝑖𝑛θ𝜑

Coriolis part due to angular

motion in xy plane
 Lecture 04
PH 101: PHYSICS 1 [5]

Elementary vector element 𝒅𝒓 in spherical polar

𝒁

𝒓 𝐬𝐢𝐧 𝜽 𝒓 𝐬𝐢𝐧 𝜽 𝑑𝝋 𝝋
𝒅𝒓𝒓 𝒓𝑑𝜽𝜽
𝒓 𝐬𝐢𝐧 𝜽 𝑑𝝋 𝝋 𝒅𝝋𝜽, 𝝋)
(𝒓,
𝒅𝒓
𝜽 𝒓 𝒓 + 𝒅𝒓
𝒓𝑑𝜽𝜽
𝑑𝜽 𝒀
𝝋

𝒅𝒓 = 𝑑𝑟𝒓 + 𝑟𝑑𝜃𝜽 + 𝑟 𝑠𝑖𝑛 𝜃 𝑑𝜑 𝝋

PH 101: PHYSICS 1 Lecture 04 [6]

Velocity from expression of element 𝒅𝒓

𝒁

Elementary
displacement 𝒓 𝐬𝐢𝐧 𝜽 𝒅𝝋 𝝋
in arbitrary 𝒅𝒓𝒓
direction 𝒅𝒓 in 𝒅𝒓
dt 𝜽
𝒓 𝒓𝒅𝜽𝜽
𝒀
𝝋
𝑿

𝒅𝒓 = 𝑑𝑟𝒓 + 𝑟𝑑𝜃𝜽 + 𝑟 𝑠𝑖𝑛 𝜃 𝑑𝜑 𝝋

𝑑𝑟 𝑑𝑟 𝑑𝜃 𝑑𝜑
𝑣= = 𝑟+𝑟 𝜃 + 𝑟 𝑠𝑖𝑛 𝜃 𝜑
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝒗 = 𝒓𝒓 + 𝒓𝜽𝜽 + 𝒓 𝐬𝐢𝐧 𝜽𝝋 𝝋
PH 101: PHYSICS 1 Lecture 04 [7]

Use of spherical polar coordinates

Particle is constrained to move
on the surface of a sphere
𝒁
 If you use Cartesian system (𝑥, 𝑦, 𝑧),
then all the three coordinates will
change, thus you need to consider
three variables to describe the motion
of the particle.

 If you use Cylindrical coordinate

𝜽 system (𝑟, 𝜃, 𝑧), all three will change
𝒓
during general motion of particle.
𝒀

 If you use (𝑟,𝜃,𝜑) coordinate, then

𝑟 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝑟 = 0.
𝑿
 You need to consider the change of
two coordinates (𝜃, 𝜑) to describe the
motion.
PH 101: PHYSICS 1 Lecture 04 [8]

Use of spherical polar coordinates

A particle is moving on the
inner surface of a hollow cone
𝒁
 If you use Cartesian system (𝑥, 𝑦, 𝑧),
then all the three coordinates will
change, thus you need to consider
three variables to describe the motion
of the particle.

 If you use Cylindrical coordinate

system (𝑟, 𝜃, 𝑧), all three will change
during general motion of particle
𝜽 over this cone.

𝒀 A cone about 𝑧 = axis with 𝜽 =

Constant. Two variables ( 𝑟, 𝜑 ) are
enough to describe the motion of the
particle at any instant.
𝑿
PH 101: PHYSICS 1 Lecture 04 [9]

Use of cylindrical coordinates

A particle is moving on the  If you use Cartesian system (𝑥, 𝑦, 𝑧),
helix then all the three coordinates will
change, thus you need to consider
three variables to describe the motion
Helix of the particle.

 If you use spherical coordinate

system (𝑟, 𝜃,𝜑), all three will change
during general motion of particle
over this cone.

A helix along 𝑧 = axis with 𝒓 =

Constant. Two variables ( 𝜃, 𝑧 ) are
enough to describe the motion of the
particle at any instant.
PH 101: PHYSICS 1 Lecture 04 [10]

DONE

Well, We are done with the

necessary mathematical concepts!

Ok, Now in to Physics!

PH 101: PHYSICS 1 Lecture 04 [11]

WORK
Elementary work done when a particle
moves in 1D from 𝑥 to 𝑥 + 𝑑𝑥

𝒅𝑾 = 𝑭𝒙 𝒅𝒙

Geometrically it is the shaded area as 𝐹𝑥

shown.

Total work done by the force when a 𝒙𝟏 𝒙 𝒙 + 𝒅𝒙 𝒙𝟐

particle moves from x1 to x2.
𝒙𝟐
𝑾= 𝑭𝒙 𝒅𝒙
𝒙𝟏

Geometrically it is the area between the curve and the 𝑥 axis.

PH 101: PHYSICS 1 Lecture 04 [12]

WORK and POTENTIAL ENERGY

𝒅𝑼  Change in potential energy of a particle due to displacement 𝑑𝑥 under the
force 𝐹𝑥

 𝑭𝒙 𝒅𝒙  Work done on the particle by external force 𝑭𝒙 .

 Thus, work done by the particle = −𝑭𝒙 𝒅𝒙

Work done by the particle = Change in its potential energy

(if no energy is lost by dissipation like heat, sound, etc.)
−𝑭𝒙 𝒅𝒙 = 𝒅𝑼

Rule of partial differential

𝑑𝑈
𝑑𝑈 = 𝑑𝑥
𝑑𝑥
Conversely if force is derivable from scalar
Thus potential (known as conservative force) then
𝒅𝑼 Work by the particle = Change in its
𝑭𝒙 = − potential energy
𝒅𝒙
PH 101: PHYSICS 1 Lecture 04 [13]

WORK and POTENTIAL ENERGY

An example: Harmonic potential energy
𝑈(𝑥)
Harmonic potential energy:
1
Have the form U 𝑥 = 𝑘𝑥 2
2

Why this particular potential energy?

1
Harmonic potential is very important in 𝑈 𝑥 = 2 𝑘𝑥 2
physics, i.e., in the analysis of molecular
vibrations, thermal properties of solids.
𝑥

Spring model for

Carbon dioxide
Atoms within crystal
PH 101: PHYSICS 1 Lecture 04 [14]

WORK and POTENTIAL ENERGY

More on harmonic potential energy
Force corresponding to harmonic potential U 𝑥

𝒅 𝟏
𝑭𝒙 = − 𝒌𝒙𝟐 = −𝒌𝒙  Hook’s law
𝒅𝒙 𝟐
𝑘 is spring constant 1
𝑈 𝑥 = 2 𝑘𝑥 2
Equation of motion of a particle under harmonic
potential
𝑚𝑥 = −𝑘𝑥 𝑥
𝑘
𝑥+ 𝑥=0
𝑚
Solution is harmonic.

2
𝑘
𝑥+𝜔 𝑥 =0 ⟹ 𝜔 =
𝑚
 - frequency of oscillation.
PH 101: PHYSICS 1 Lecture 04 [15]

Harmonic approximation of potential energy

𝑈(𝑥)
Spring model for Carbon dioxide
𝑈(𝑥)

1
𝑈(𝑥) = 2 𝑘𝑥 2 𝒙

Pure harmonic potential Harmonic approximation of the potential

 Potential energy for atom and many other practical systems are close to harmonic
around equilibrium point but deviates at larger distance from equilibrium

 Exact potential is hard to (re)solve.