PHY508 – Midterm Exam I

Spherical coordinates:

~ ~ ~
 x̂ = sin θ cos φ ~r̂ + cos θ cos φ θ̂ − sin φ φ̂

 x = r sin θ cos φ


~ŷ ~ ~
y = r sin θ sin φ = sin θ sin φ ~r̂ + cos θ sin φ θ̂ + cos φ φ̂
z = r cos θ ~
 
 ~
= cos θ ~r̂ − sin θ θ̂

ẑ

~ sin θ cos φ ~x̂ + sin θ sin φ ~ŷ + cos θ ~ẑ

 p 
 r
 = x2 +y 2 + z 2  r̂
 =
~

cos θ cos φ ~x̂ + cos θ sin φ ~ŷ − sin θ ~ẑ
p
θ = tan−1 x2 + y 2 /z θ̂ =
  ~

φ = tan−1 (y/x) = − sin φ ~x̂ + cos φ ~ŷ

φ̂

~ ~
d~l = dr ~r̂ + r dθ θ̂ + r sin θ dφ φ̂;
dτ = r2 sin θ dr dθ dφ

∂2f
   
∂f ~ 1 ∂f ~ 1 ∂f ~ 2 1 ∂ 2 ∂f 1 ∂ ∂f 1
∇f = r̂ + θ̂ + φ̂ ∇ f= 2 r + 2 sin θ + 2 2
∂r r ∂θ r sin θ ∂φ r ∂r ∂r r sin θ ∂θ ∂θ r sin θ ∂φ2
1 ∂ 2 1 ∂ 1 ∂vφ
∇ · ~v = (r vr ) + (sin θ vθ ) +
r2 ∂r r sin θ ∂θ r sin θ ∂φ
     
1 ∂ ∂vθ ~ 1 1 ∂vr ∂ ~ 1 ∂ ∂vr ~
∇ × ~v = (sin θ vφ ) − r̂ + − (rvφ ) θ̂ + (rvθ ) − φ̂
r sin θ ∂θ ∂φ r sin θ ∂φ ∂r r ∂r ∂θ

Cylindrical coordinates:
~
 
~ ~ ~
 ~x̂ cos φ ~ρ̂ − sin φ φ̂  ρ̂ = cos φ x̂ + sin φ ŷ
  p
 x = ρ cos φ  =  ρ = x2 + y 2 
~ = tan−1 (y/x) ~
y = ρ sin φ ~ŷ = sin φ ~ρ̂ + cos φ φ̂ φ φ̂ = − sin φ ~x̂ + cos φ ~ŷ
z = z z = z  ~
ẑ = ~ẑ
 
 ~  
ẑ = ~ẑ

~
d~l = dρ ~ρ̂ + ρ dφ φ̂ + dz ~ẑ; dτ = ρ dρ dφ dz

1 ∂2f ∂2f
 
∂f ~ 1 ∂f ~ ∂f ~ 2 1 ∂ ∂f
∇f = ρ̂ + φ̂ + ẑ ∇ f= ρ + 2 2+ 2
∂ρ ρ ∂φ ∂z ρ ∂ρ ∂ρ ρ ∂φ ∂z
     
1 ∂ 1 ∂vφ ∂vz 1 ∂vz ∂vφ ~ ∂vρ ∂vz ~ 1 ∂ ∂vρ ~
∇ · ~v = (ρvρ ) + + ∇ × ~v = − ρ̂ + − φ̂ + (ρvφ ) − ẑ
ρ ∂ρ ρ ∂φ ∂z ρ ∂φ ∂z ∂z ∂ρ ρ ∂ρ ∂φ

Vector identities:
~ · (B
A ~ × C)
~ =B
~ · (C
~ × A)
~ =C
~ · (A
~ × B)
~ ~ × (B
A ~ × C)
~ = B(
~ A~ · C)
~ − C(
~ A~ · B)
~

∇(f g) = f (∇g) + g(∇f ) ~ · B)

∇(A ~ =A
~ × (∇ × B)
~ +B
~ × (∇ × A)
~ + (A
~ · ∇)B
~ + (B
~ · ∇)A
~

~ = f (∇ · A)
∇ · (f A) ~ +A
~ · (∇f ) ~ = f (∇ × A)
∇ × (f A) ~ −A
~ × (∇f )

~ × B)
∇ · (A ~ =B
~ · (∇ × A)
~ −A
~ · (∇ × B)
~

~ × B)
∇ × (A ~ = (B
~ · ∇)A
~ − (A
~ · ∇)B
~ + A(∇
~ ~ − B(∇
· B) ~ ~
· A)

~ =0
∇ · (∇ × A)

∇ × (∇f ) = 0

~ = ∇(∇ · A)
∇ × (∇ × A) ~ − ∇2 A
~
ˆ Lagrangian and Hamiltonian dynamics:

d ∂L ∂L ∂L(q, q̇, t)
L(q, q̇, t) = T − V, H(q, p, t) = T + V, − = 0, pj = ,
dt ∂ q̇j ∂qj ∂ q̇j

∂H ∂H
H(q, p, t) = L(L)(q, p) = pq̇(p) − L(q, q(p), t), q̇ = , ṗ = − .
∂p ∂q

ˆ Lagrange undetermined multipliers:

m
d ∂L ∂L X ∂fk
− =− λk = Qj .
dt ∂ q̇j ∂qj ∂qj
k=1

ˆ Momentum and energy conservation: if qj is cyclic, ṗj = ∂L

∂qj = 0, hence pj is conserved. If L is cyclic
in time, E = T + V is conserved.
ˆ Small oscillations:

(V a − ω 2 Tij aj ) = 0,
 P
Pj ij j
i,j Tij ail ajk = δlk .

~ ξk = ck cos(ωk t − φk ), L = 1
X
ˆ Normal coordinates: ~η = Aξ, (ξk2 ξk2 − ωk2 ξk2 )
2
k

ˆ Rate of change of a vector in rotating/stationary coordinate system:

   
d~a d~a
= ~ × ~a,
+ω
dt space dt body

ˆ Newton’s law in rotating frame:

F~ = m~as = m(~ab + 2~
ω × ~vb + ω
~ ×ω
~ × ~r), F~eff = m~ab = F~ −2m~ ω × ~vb −m~ ω×ω ~ × ~r ,
| {z } | {z }
Coriolis force centrifugal force

ˆ Inertia tensor:

y2 + z2
 
Z −xy −xz
I= ρ(x, y, z)dxdydz  −xy x2 + z 2 −yz 
V −xz −yz x + y2
2

ˆ Parallel axis theorem:

2
I = ICM + mR⊥ ,