Solution (#1736) (i) Let e = (cos θ, sin θ) and f = (− sin θ, cos θ) where θ is a function of time t.

By the chain rule

ė = (− sin θ θ̇, cos θθ̇) = θ̇f , ḟ = (− cos θ θ̇, − sin θθ̇) = −θ̇e.
(ii) Let r = re. Then by the product rule
ṙ = ṙe + rė = ṙe + rθ̇f ,
and
r̈ = r̈e + ṙė + ṙθ̇f + rθ̈f + rθ̇ḟ
= r̈e + ṙ(θ̇f ) + ṙθ̇f + rθ̈f + rθ̇(−θ̇e)
2
= r̈ − rθ̇ e + 2ṙθ̇ + rθ̈ f
2 1 d
= r̈ − rθ̇ e+ r2 θ̇ f .
r dt