Dr.

Akhlaq Hussain 1
 CLASSICAL MECHANICS
Mechanics is a scheme for studying the motion of all bodies.

OR

Mechanics is the study of time evolution of the state of system.

Mechanics are of three types

Classical Mechanics large object, slow speed

Quantum Mechanics very small particles,

Relativistic Mechanics very small particles, very high speed

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 CLASSICAL MECHANICS

Before the development of Quantum mechanics and relativity, Classical

Mechanics was known as Mechanics only.
Mechanics were having three categories, statics, dynamics, kinematics.
Statics Bodies at rest.
Dynamics bodies in motion under a known force (force is essential part to be
known)
Kinametics Bodies in motion without concerning the force acting on body.
Dynamical system A system of particles is called dynamical system.
Configuration The set of positions of all the particles is known as
configuration of dynamical system.
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 CLASSICAL MECHANICS
Coordinate system

Coordinate system in the way to describe space quantitively or any event in space.

Space is three dimensional, therefore point in space is labeled by three coordinates.

Cartesian coordinate system

Origin is a fixed point and three Axis which are mutually perpendicular are labeled as (𝑥, 𝑦, 𝑧)

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 CARTESIAN COORDINATE SYSTEM
For 1-dimenssional
𝑥റ is the position vector and its time derivative gives velocity.
𝑑𝑥റ 𝑥 𝑡 + ∆𝑡 − 𝑥(𝑡)
𝑣റ = = lim
𝑑𝑡 ∆𝑡→0 ∆𝑡
𝑑
𝑣റ = 𝑥റሶ Dot is used instead of writing 𝑑𝑡 again and again

𝑑𝑣റ 𝑑 𝑥റሶ
𝑎റ = =
𝑑𝑡 𝑑𝑡
Now 𝑣റ = 𝑥റሶ
𝑎 = 𝑥റሷ
For three dimensions

𝑟റ = 𝑥 𝑖Ƹ + 𝑦𝑗Ƹ + 𝑧𝑘෠

𝑣റ = 𝑟ሶ = 𝑥ሶ 𝑖Ƹ + 𝑦ሶ 𝑗Ƹ + 𝑧ሶ 𝑘෠

𝒂 = 𝒓ሷ = 𝑥ሷ 𝑖Ƹ + 𝑦ሷ 𝑗Ƹ + 𝑧ሷ 𝑘෠ 5
 PLANE POLAR COORDINATES

𝑟Ԧ = 𝑟𝑟Ƹ = 𝑟 𝑖Ƹ cos 𝜃 + 𝑗 sin 𝜃

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 PLANE POLAR COORDINATES

⇒ 𝑟Ƹ = 𝑖Ƹ cos 𝜃 + 𝑗𝑠𝑖𝑛𝜃
Ƹ
𝜃መ is a unit vector perpendicular to 𝑟Ƹ in direction of increasing 𝜃
𝜃መ = 𝑖Ƹ 𝑐𝑜𝑠 90 + 𝜃 + 𝑗Ƹ 𝑠𝑖𝑛 90 + 𝜃
𝜃መ = −𝑖Ƹ 𝑠𝑖𝑛 𝜃 + 𝑗Ƹ cos 𝜃
𝑑 𝑟Ƹ 𝑑
Now = 𝑖Ƹ cos 𝜃 + 𝑗Ƹ sin 𝜃
𝑑𝜃 𝑑𝜃

= −𝑖Ƹ sin 𝜃 + 𝑗Ƹ cos 𝜃

𝑑 𝑟Ƹ
= 𝜃መ
𝑑𝜃
෡
𝑑𝜃
Similarly, ⇒ = −𝑟Ƹ
𝑑𝜃

𝑑 𝑟Ƹ 𝑑 𝑟Ƹ 𝑑𝜃 𝑑𝜃 𝑑 𝑟Ƹ ෡
𝑑𝜃
And = = = 𝜃ሶ 𝜃,
መ = −𝜃ሶ 𝑟Ƹ
𝑑𝑡 𝑑𝑡 𝑑𝜃 𝑑𝑡 𝑑𝜃 𝑑𝑡
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 PLANE POLAR COORDINATES
Now 𝑟റ = 𝑟𝑟Ƹ
𝑑 𝑟റ 𝑑
𝑣റ = = 𝑟𝑟Ƹ
𝑑𝑡 𝑑𝑡
𝑑 𝑑 𝑟Ƹ 𝑑𝜃
= 𝑟ሶ 𝑟Ƹ + 𝑟 𝑟Ƹ = 𝑟ሶ 𝑟Ƹ + 𝑟
𝑑𝑡 𝑑𝜃 𝑑𝑡

𝑣റ = 𝑟ሶ 𝑟Ƹ + 𝑟𝜃ሶ 𝜃෠
𝑑𝑣 𝑑
Now for acceleration 𝑎റ = = 𝑟ሶ 𝑟Ƹ + 𝑟𝜃ሶ 𝜃෠
𝑑𝑡 𝑑𝑡

𝑑 𝑟Ƹ 𝑑𝜃෡
= 𝑟ሷ 𝑟Ƹ + 𝑟ሶ + 𝑟ሶ 𝜃ሶ 𝜃෠ + 𝑟𝜃ሷ 𝜃෠ + 𝑟𝜃ሶ
𝑑𝑡 𝑑𝑡

= 𝑟ሷ 𝑟Ƹ + 𝑟ሶ 𝜃ሶ 𝜃෠ + 𝑟ሶ 𝜃ሶ 𝜃෠ + 𝑟𝜃ሷ 𝜃෠ − 𝑟𝜃ሶ 𝜃ሶ 𝑟Ƹ
= 𝑟ሷ − 𝑟𝜃ሶ 2 𝑟Ƹ + 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ 𝜃෠
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Radial part Angular part
 CYLINDRICAL COORDINATES (R,𝛗,Z)

Transformation equation 𝑥 = 𝑟 cos 𝜑 𝑦 = 𝑟 sin 𝜑 𝑧=𝑧

𝑟= 𝑥 2 +𝑦 2
𝑦 ቋInverse transformation equation
𝜑=𝑡𝑎𝑛−1 𝑥

𝑅ത = 𝑂𝑃
= 𝑟𝑟Ƹ + 𝑧𝑘෠
𝑑 𝑅ത
Velocity 𝑣റ = = 𝑟ሶ 𝑟Ƹ + 𝑟𝜑ሶ 𝜑ො + 𝑧ሶ 𝑘෠
𝑑𝑡

𝑑𝑣 𝑑
Acceleration 𝑎റ = = 𝑟ሶ 𝑟Ƹ + 𝑟𝜑ሶ 𝜑ො + 𝑧ሶ 𝑘෠
𝑑𝑡 𝑑𝑡

= 𝑟ሷ 𝑟Ƹ + 𝑟ሶ 𝜑ሶ 𝜑ො + 𝑟ሶ 𝜑ሶ 𝜑ො + 𝑟𝜑ሷ 𝜑ො + 𝑟𝜑ሶ −𝜑ሶ 𝑟Ƹ + 𝑧ሷ 𝑘෠

= 𝑟ሷ − 𝑟𝜑ሶ 2 𝑟Ƹ + 𝑟𝜑ሷ + 2𝑟ሶ 𝜑ሶ 𝜑ො + 𝑧ሷ 𝑘෠
1 𝑑 9
= 𝑟ሷ − 𝑟𝜑ሶ 2 𝑟Ƹ + 𝑟 2 𝜑ሶ 𝜑ො + 𝑧ሷ 𝑘෠
𝑟 𝑑𝑡
 SPHERICAL POLAR COORDINATES

𝑟റ = 𝑂𝑃
= 𝑂𝐴 + 𝐴𝑃
Or 𝑟റ = 𝑥 𝑖Ƹ + 𝑦𝑗Ƹ + 𝑧𝑘෠
𝑥 = 𝑟 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑
𝑦 = 𝑟 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑
𝑧 = 𝑟 𝑐𝑜𝑠 𝜃

𝑟റ = 𝑟 sin 𝜃 cos 𝜑𝑖Ƹ + sin 𝜃 sin 𝜑𝑗Ƹ + cos 𝜃 𝑘෠ = 𝑟𝑟Ƹ

Limits
𝑟റ = sin 𝜃 cos 𝜑𝑖Ƹ + sin 𝜃 sin 𝜑𝑗Ƹ + cos 𝜃 𝑘෠
𝟎<𝒓<∞
For simplification we take
𝟎<𝜽<𝝅
𝑥 𝑖Ƹ + 𝑦𝑗Ƹ = 𝜌റ
𝟎 < 𝝋 < 𝟐𝝅
And 𝜌റ = 𝑟 sin 𝜃𝜌ො
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𝜌ො = cos 𝜑𝑖Ƹ + sin 𝜑𝑗Ƹ
 SPHERICAL POLAR COORDINATES
𝜋 𝜋
And 𝜑ො = 𝑖Ƹ cos 𝜑 + + 𝑗Ƹ sin 𝜑 +
2 2

= − sin 𝜑𝑖Ƹ + cos 𝜑𝑗Ƹ

𝑑ෝ
𝜌
And = 𝜑ሶ 𝜑ො 𝑑 𝑟Ƹ 𝑑ෝ
𝜌
𝑑𝑡
ሶ ෠
= 𝜃(− sin 𝜃𝑘 + cos 𝜃 𝜌)
ො + sin 𝜃
ෝ
𝑑𝜑 𝑑𝑡 𝑑𝑡
And = −𝜑ሶ 𝜌ො
𝑑𝑡

Now 𝑟റ = 𝑟 cos 𝜃𝑘෠ + sin 𝜃𝜌ො

𝑑 𝑟Ƹ
𝑟Ƹ = cos 𝜃𝑘෠ + sin 𝜃𝜌ො ⇒ = 𝜃ሶ 𝜃መ + 𝜑ሶ sin 𝜃 𝜑ො
𝑑𝑡
෡
𝑑𝜃
And 𝜃መ = − sin 𝜃𝑘෠ + cos 𝜃𝜌ො ⇒ = −𝜃ሶ 𝑟Ƹ + 𝜑ሶ cos 𝜃 𝜑ො
𝑑𝑡

Note 𝑟Ƹ sin 𝜃 = sin 𝜃 cos 𝜃 𝑘෠ + 𝑠𝑖𝑛2 𝜃𝜌ො

መ
𝜃cos 𝜃 = − sin 𝜃 cos 𝜃 𝑘 + 𝑐𝑜𝑠 2 𝜃𝜌ො
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⇒𝜌ො = sin 𝜃𝑟Ƹ + cos 𝜃𝜃መ
 SPHERICAL POLAR COORDINATES
𝑟റ = 𝑟𝑟Ƹ

𝑑𝑟𝑟Ƹ
𝑟റሶ = 𝑣റ = = 𝑟ሶ 𝑟Ƹ + 𝑟 𝜃ሶ 𝜃መ + 𝜑ሶ sin 𝜃 𝜑ො
𝑑𝑡

𝑑𝑣ො ෡
𝑑𝜃 𝑑
𝑎റ = = 𝑟ሷ 𝑟Ƹ + 𝑟ሶ 𝜃ሶ 𝜃መ + 𝜑ሶ sin 𝜃 𝜑ො + 𝑟ሶ 𝜃ሶ 𝜃መ + 𝜑ሶ sin 𝜃 𝜑ො + 𝑟 𝜃ሷ 𝜃መ + 𝜃ሶ 𝑑𝑡 + 𝜑ሷ sin 𝜃 𝜑ො + 𝜑ሶ 𝜃ሶ cos 𝜃 𝜑ො + 𝜑ሶ sin 𝜃 𝑑𝑡 𝜑ො
𝑑𝑡

= 𝑟ሷ 𝑟Ƹ + 𝑟ሶ 𝜃ሶ 𝜃መ + 𝑟ሶ 𝜑ሶ sin 𝜃𝜑ො + 𝑟ሶ 𝜃ሶ 𝜃መ + 𝑟ሶ 𝜑ሶ sin 𝜃 𝜑ො + 𝑟𝜃ሷ 𝜃መ + 𝑟𝜃ሶ −𝜃ሶ 𝑟Ƹ + 𝜑ሶ cos 𝜃 𝜑ො + 𝑟𝜑ሷ sin 𝜃መ 𝜑ො + 𝑟𝜑ሶ 𝜃ሶ cos 𝜃 𝜑ො − 𝑟𝜑ሶ 2 sin 𝜃 𝜌ො

𝑎Ԧ = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑟Ƹ + 2𝑟ሶ 𝜃ሶ + 𝑟𝜃ሷ 𝜃መ + 𝑟𝜑ሷ sin 𝜃 + 2𝑟ሶ 𝜑ሶ sin 𝜃 + 2𝑟𝜃ሶ 𝜑ሶ cos 𝜃 𝜑ො − 𝑟𝜑 2ሶ sin 𝜃 sin 𝜃𝑟Ƹ − cos 𝜃𝜃መ

= 𝑟ሷ − 𝑟𝜃ሶ 2 − 𝑟𝜑 2ሶ 𝑠𝑖𝑛2 𝜃 𝑟Ƹ + 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ − 𝑟 sin 𝜃 cos 𝜃𝜑2ሶ 𝜃መ + 𝑟𝜑ሷ sin 𝜃 + 2𝑟ሶ 𝜑ሶ sin 𝜃 + 2𝑟𝜑ሶ 𝜃ሶ cos 𝜃 𝜑ො

If 𝜑 is constant in above equation is reduced to

𝑎෬ = 𝑟ሷ − 𝑟𝜃 2ሶ 𝑟Ƹ + 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ 𝜃መ
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