SCHAUM’S OUTLINE SERIES THEORY AND PROBLEMS OF THEORETICAL MECHANICS MURRAY R. SPIEGEL SI (metric) edition INCLUDING 720 SOLVED PROBLEMS METRIC EDITIONS Balt So Schaum’s Outline SeriesSCHAUM’S OUTLINE OF 4 THEORY AND PROBLEMS of THEORETICAL MECHANICS SI (METRIC) EDITION with an introduction to Lagrange’s Equations and Hamiltonian Theory e by MURRAY R. SPIEGEL, Ph.D. Professor of Mathematics Rensselaer Polytechnic Institute Adapted for SI Units by Y. PROYKOVA, Ph.D. McGRAW-HILL BOOK COMPANY New York» St Louis - San Francisco - Auckland - Bogoté Guatemala - Hamburg « Lisbon - London Madrid - Mexico - Montreal ~ New Delhi - Panama - Paris San Juan + Séo Paulo - Singapore » Sydney » Tokyo » TorontoSchaum's outline of theory and probiems of THEORETICAL MECHANICS, SU (Meitic) Edition Intemational Edition 1982 Exclusive rights by McGraw-Hill Book Co., Singapore for manufacture and export. This book cannot be re-exported from the country to which it is consigned by McGraw Copyright © 1967. 1980 by McGraw-Hill, Ine. All rights reserved. No. part of this publication may be reproduced, stored in a retrieval system, or transmived, in any form or by any means, electronic, mechanical, photo: copying, recording. or otherwise. without the prior written permission of the publisher 4.5 6789 20 KKP 987 British Library Cataloging in Publication Data Spiegel, Murray Ralph Schaum's outline of theory and problems of theoretical mechanics. — SI (metric) ed. — (Schaum’s outline series) 1. Mechanix [Title IL Proykova, Y_—_LUL Series 531 QC125.2 80-40372 ISBN 0-07-084357-0 When ordering this title use ISBN 0-07-099025-5 Printed in SingaporePreface 31 FI In the 17th century, Sir Isaac Newton formulated his now famous Jaws of mechanies. These remarkably simple laws served to describe and predict the motions of observable objects in the universe, including those of the planets of our solar system. Early in the 20th century it was discovered that various theoretical conclusions de- ed from Newton's laws were not in accord with certain conclusions deduced from theories of electromagnetism and atomic phenomena which were equally well founded experimentally. These discrepancies led to Einstein’s relativistic mechanics which revolutionized the con- cepts of space and time, and to quantum mechanics. For objects which move with speeds much less than that of light and which have dimensions large compared with those of atoms and molecules Newtonian mechanics, also called classical mechanics, is nevertheless quite satisfactory, For this reason it has maintained its fundamental importance in science and engineering. It is the purpose of this book to present an account of Newtonian mechanics and its applications, The book is designed for use either as a supplement to all current standard textbooks or as a textbook for a formal course in mechanics. It should also prove useful to students taking courses in physies, engineering, mathematics, astronomy, celestial me- chanics, aerodynamics and in general any field which needs in its formulation the basic principles of mechanics, Bach chapter begins with a clear statement of pertinent definitions, principles and theorems together with illustrative and other descriptive material. This is followed by graded sets of solved and supplementary problems. The solved problems serve to illustrate and amplify the theory, bring into sharp focus those fine points without which the student continually feels himself on unsafe ground, and provide the repetition of basic principles so vital to effective learning. Numerous proofs of theorems and derivations of basic re- sults are included in the solved problems. The large number of supplementary problems with answers serve as a complete review of the material of each chapter, Topies covered include the dynamics and statics of a particle, systems of particles and rigid bodies. Vector methods, which lend themselves so readily to concise notation and to geometric and physical interpretations, are introduced early and used throughout the book. An account of vectors is provided in the first chapter and may either be studied at the be- ginning or referred to as the need arises. Added features are the chapters on Lagrange’s equations and Hamiltonian theory which provide other equivalent formulations of Newtonian mechanics and which are of great practical and theoretical value. Considerably more material has been included here than can be covered in most courses, ‘This has been done to make the book more flexible, to provide a more useful book of reference and to stimulate further interest in the topics. I wish to take this opportunity to thank the staff of the Schaum Publishing Company for their splendid cooperation. res M. R. SPIEGEL Rensselaer Polytechnic Institute February, 1967Flt CONTENTS VECTORS, VELOCITY AND ACCELERATION ............. Mechanics, kinematics, dynamics and statics. Axiomatic foundations of me- chanics. Mathematical models. Space, time and matter. Sculars and vectors. Vector algebra. Laws of vector algebra. Unit vectors. Rectangular unit vee- tors. Components of a vector. Dot or scalar produet. Cross or vector product. ‘Triple products. Derivatives of vectors. Integrals of vectors. Velocity. Ac- celeration, Relative velocity and acceleration. Tangential and normal acceler- ation. Circular motion. Notation for time derivatives. Gradient, divergence and curl. Line integrals, Independence of the path. Free, sliding and bound vectors. NEWTON'S LAWS OF MOTION. WORK, ENERGY AND MOMENTUM - —, - we Newton's laws, Definitions of force and mass. Units of force and mass, Inertial frames of reference. Absolute motion. Work. Power. Kinetic energy Conservative force fields. Potential energy or potential. Conservation of energy. Impulse, Torque and angular momentum. Conservation of momentum Conservation of angular momentum. Non-conservative forces. Statics or equi- librium of a particle. Stability of equilibrium. MOTION IN A UNIFORM FIELD. FALLING BODIES AND PROJECTILES .............. eee we eve anaes Uniform force fields. Uniformly accelerated motion. Weight and acceleration due to gravity. Assumption of a flat earth. Freely falling bodies. Projectiles. Potential and potential energy in a uniform force field. Motion in a resisting mediwn. Isolating the system, Constrained motion. Friction. Statics in a uniform gravitational field. 62 THE SIMPLE HARMONIC OSCILLATOR AND THE SIMPLE PENDULUM ee ‘The simple harmonic oscillator. Amplitude, period and frequency of simple harmonic motion. Energy of a simple harmonic oscillator. The damped har- monic oscillator, Over-damped, critically damped and under-damped motion, Foreed vibrations, Resonance. The simple pendulum. The two and three dimensional harmonic oscillator. Chapter I Chapter 2 Chapter 3 Chapter 4 Chapter 5 CENTRAL FORCES AND PLANETARY MOTION ven Central forces. Some important properties of central force fields. Equations of motion for a particle in a central field. Important equations deduced from the equations of mot energy of a particle in a central field. Con- servation of energy, Determination of the orbit from the central force. Deter- mination of the central force from the orbit, Conic sections, ellipse, parabola and hyperbola. Some definitions in astronomy. Kepler's Jaws of planetary motion, Newton's universal law of gravitation. Attraction of spheres and other objects. Motion in an inverse square field. 16Chapter 6 CONTENTS MOVING COORDINATE SYSTEMS : ceveeee Non-inertial coordinate systems, Rotating coordinate systems, Derivative operators, Velocity ina moving system. Acceleration in a moving system. Coriolis and centripetal acceleration. Motion of a particle relative to the earth. Coriolis and centripetal force. Moving coordinate systems in general, The Foucault pendulum. Poge Mt Chapter 7 SYSTEMS OF PARTICLES esenonmpnse ge ELSE Diserete and continuous systems. Density. Rigid and elastic bodies. Degrees of freedom. Center of mass. Center of gravity. Momentum of a system of particles. Motion of the center of mass. Conservation of momentum. Angular momentum of a system of particles. Total external torque acting on a system. Relation between angular momentum and total external torque. Conservation of angular momentum, Kinetic energy of a system of particles, Work, Po- tential energy. Conservation of energy. Motion relative to the center of mass, Impulse. Constraints. Holonomie atd non-holonomig constraints. Virtual dis- placements. Statics of a system of particles. Principle of virtual work. Equi- librium in conservative fields. Stability of equilibrium. D'Alembert's principle, 165, Chapter 8 APPLICATIONS TO VIBRATING SYSTEMS, ROCKETS AND COLLISIONS . parramugmnssos Vibrating systems af particles, Problems invalving changing mass. Rockets, Collisions of particles. Continuous systems of particles. The vibrating string. Boundary-value problems. Fourier series. Odd and even functions. Con- vergence of Fourier series, 194 Chapter 9 PLANE MOTION OF RIGID BODIES .. * Rigid bodies, Translations and rotations. Euler's theorem, Instantaneous axis of rotation. Degrees of freedom. General motion of a rigid body. Chasle's theorem. Plane motion of a rigid body. Moment of inertia, Radius of gyra- tion, Theorems on moments of inertia. Parallel axis theorem. Perpendicular axes theorem. Special moments of inertia. Couples. Kinetic energy and angalar momentum about a fixed axis. Motion of a rigid body about a fixed axis. Principle of angular momentum. Principle of conservation of energy. Work and power. Impulse, Conservation of angular momentum, The com- pound pendulum. General plane motion of a rigid body. Instantancous center. Space and body centrodes. Statics of a rigid body. Principle of virtual work and D’Aiembert’s principle. Principle of minimum potential energy. Stability. 224 Chapter 10 SPACE MOTION OF RIGID BODIES ro General motion of rigid bodies in space. Degrees of freedom. Pure rotation of rigid bodies. Velocity and angular velocity of a rigid body with one point fixed. Angular momentum, Moments of inertia. Products of inertia, Moment of inertia matrix or tensor. Kinetic energy of rotation, Principal axes of inertia, Angular momentum and kinetic energy about the principal axes. The ellipsoid of inertia. Euler's equations of motion. Force free motion, The in- variable line and plane. Poiisot’s construction, Polhode. Hespothode. Space and body cones. Symmetric rigid bodies. Rotation of the earth. The Euler angles. Angular velocity and kinetic energy in terms of Euler angles. Motion of s spinning top. Gyroscopes. 253