Condition Edu

 Tasks


T Condition
In ordinary life, you have probably encountered such physical situations as a collision of a rolling ball with a vertical wall, or a ball falling from the edge of a horizontal table.
S
You also probablySolution
solved problems related to these situations, but you were limited to cases where the ball rolls in a direction perpendicular to the plane of the wall or the
edge of the table.
As part of this Unpointing
M task, you are asked to generalize the results to the case when the speed of the center of the ball is not directed perpendicular to the plane of the wall or the
edge of the table.
 Files
For all points of the problem, consider the following known:

1. The ballX24
in question has a massmradiusris homogeneous.
2. Rolling friction and spinning friction can be ignored within the framework of this problem.
3. The acceleration of free fall is equal tog.

Part A. Collision of a ball with a vertical wall (4.5 points)

This part of the problem is devoted to the study of the collision of a ball with a vertical wall. The ball rolls on a horizontal table without slipping, and its center moves at a
speedvin the direction forming the angleαwith normal to the wall. The ball does not rotate around a vertical axisz.
At some moment the ball elastically collides with the wall. The coefficient of friction between the ball and the wall is equal toμ.

Let's introduce a rectangular coordinate systemxyzwith the beginning at the center of the ball at the moment of impact, as shown in the figure.

We will use the following notation:

1. C - center of the ball;

2. v→ — speed of the center of the ball;
C

3. ω→ — angular velocity of the ball;

4. Ais the point of the ball in contact with the wall (it is variable), andv→ — speed of a given point;
A

5. u→ = v e→ + v e→ Andu
A Ax x → = v e→ + u e→ – components of point velocity vectorsAAndC respectively, parallel to the wall;
Az z C Cx x Cz z

6. r→— radius vector drawn from the center of the ballC exactlyA.

A1 0.40 Express the velocity componentu

→ pointsAthrough the velocity componentu
A → center of the ball, its angular velocityω
C → , as well as the radius vectorr→at a random
moment.
Also get the derivative with respect to timeu
˙ vector
→ → . Express your answer in terms ofu
u A
˙ , ˙ And .
→ ωA→ →
r C

A2 0.60 Determine the friction forceF→ , acting on the ball at the initial moment of contact with the wall. Express your answer in terms ofe→ ,e→ ,α,μand the normal reaction
0 x z

force of the wallN at the initial moment.

0

A3 1.00 Prove that the time derivativeu → related to friction forceF→ratio:

→ velocity componentsu
˙
A A

7F
→
→
˙
uA = .
2m

This fact can be used further, even if you could not prove it.

A4 0.50 Determine the velocity componentu → immediately after the collision, assuming that the ball slides along the wall during the entire time of the collision. Express
Aк

your answer in terms ofv,α,μ,e→ Ande→ . x z

At what maximum value of the friction coefficientμ does slippage continue throughout the entire impact? Express your answer in terms ofα.
max

A5 0.60 Atμ < μ determine the speed of the center of the ballv→ , and also at what angleβit is directed towards the horizon immediately after the collision. Express
max Cк

your answers throughv,α,μ,e→ ,e→ Ande→ . x y z

A6 0.40 Atμ < μ max determine the coordinatesx ,y the center of the ball as it falls on the table. Express your answers throughv,g,μAndα.
C C

A7 1.00 For arbitrary valuesμdetermine the amount of heatQ, released during the collision of the ball with the wall. Express your answer in terms ofm,v,μAndα.

Note: explicit calculation of the work done by the friction force will significantly simplify the solution of the problem.

Further, as part of this task, you are asked to study the dynamics of a homogeneous ball falling from the straight edge of a horizontal table. Before hitting the edge, the
center of the ball moved along the table at a speedvat an angleαto a perpendicular drawn to the edge of the table in its plane. Before hitting the edge of the table, the ball
did not rotate around a vertical axis. When solving the problem further, assume that the ball never slides across the table.
 Condition Edu

T Condition

S Solution

M Unpointing

It is most convenient
 Files to solve the problem in a cylindrical coordinate system(r,φ,z). Axiszmatches the edge of the table.
The figure shows unit vectorse→ ,e→ Ande→ cylindrical coordinate system. Radiusrof a ball is the distance from its center to the axisz, and the angleφis the angle of rotation of
r φ z

the line connecting the center of the ball with the point of its contact with the table and is measured from the position in which this line is vertical.
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An arbitrary vector in a cylindrical coordinate system can be represented in the following form:
→ → →
A = Ar e r + Aφ e φ + Az e z . →

When differentiating a vector specified by components in a cylindrical coordinate system, it is necessary to take into account that the unit vectors of the cylindrical
coordinate system are variable. For their time derivatives we can write:

→
de i
→
= [Ω × e i ], →
dt

→ = φ̇e→ — angular velocity of rotation of the cylindrical coordinate system.

WhereΩ z

Thus, the projections of the time derivative of the vectorA→are written as follows:

→
˙
(A)
˙
= Ar − φ̇Aφ
˙
(A)
→ ˙
= Aφ + φ̇Ar
→
˙
(A)
˙
= Az
r φ z

These relationships may be useful in the process of further solving the problem.

Part B. Equations of kinematic relations (0.9 points)

This part is devoted to obtaining the basic kinematic equations that describe the motion of the ball.

B1 0.20 Determine the components of the velocity vector of the center of the ballv Andv in a cylindrical coordinate system. Express your answers throughr,φ̇Andż .
φ z

B2 0.30 Determine the components of the acceleration vector of the center of the balla ,a Anda in a cylindrical coordinate system. Express your answers throughr,v ,v̇
r φ z φ φ

Andv̇ .
z

B3 0.40 From the condition of no slipping, determine the components of the angular velocity of the ballω Andω in a cylindrical coordinate system. Express your answers
φ z

throughr,v Andv .
φ z

Part C. Movement in a plane perpendicular to the edge of the table (2.0 points)

In a plane perpendicular to the edge of the table, the ball moves in a circle, which greatly simplifies the analysis of this part of its movement.

C1 0.80 Determine the friction force for the componentF φ (φ) , acting on the ball, as well as the acceleration componenta φ (φ) its center. Express your answers in terms of
the mass of the ballm,gAndφ.

C2 0.50 Get addictedv φ (φ) . Express your answer in terms ofv,g,r,αAndφ.

C3 0.20 Under what condition does the ball not come off the table at the moment when the lowest point of the ball reaches its edge? Write this condition in terms ofv,g,r
Andα. In all subsequent paragraphs, assume that this condition is met.

C4 0.50 Define Angleφ at the moment the ball leaves the table. Express your answer in terms ofv,g,rAndα.
1

Part D. Motion of the ball along the z axis (3.6 points)

In this part of the problem you are asked to analyze the dependences on the angleφvelocity components of the ball centerv , as well as its angular rotation speedω .
z r

D1 0.50 Express the kinetic energy of the ballE throughm,v ,v ,ω Andr.

k φ z r

D2 0.60 Write down the law of conservation of mechanical energy for the ball. Combining it with the result of the itemC2, show that the quantitiesω Andv are related byr z

the relation:
 2 2
ωr vz

Condition Edu 1 =
2
+
2
,
A B

WhereA, BT > Condition

0— constant coefficients.

DefineAAndB. Express your answers throughv,rAndα.

S Solution
The solution to this problem is complicated by the fact that the angular velocity componentω cannot be obtained solely from the kinematic relation equation, however, an
r

expressionMfor its time derivative can be obtainedω̇ .

Unpointing r

D3 0.50 Angular acceleration vectorε→ball can be represented as:

 Files
→ → →
ε = εr e r + εφ e φ + εz e z . →

 X24
Using the equation for the dynamics of rotational motion relative to the center of the ball, show thatε r
= 0 . Using the resulting equality, expressω̇ throughφ̇,v Andr.
r z

D4 1.20 Combining the results of the pointsD2AndD3, get dependenciesω r (φ) Andv z (φ) . Express your answers throughv,α,rAndφ.

D5 0.80 Let us consider the passage to the limit when the angleα → π/2, that is, the movement of the ball until it contacts the edge of the table occurs almost parallel to
it.
Define velocity projectionv the center of the ball, as well as the projection of its angular velocityω per axisy, directed vertically downward, at the moment the ball comes off
z y

the table. Express your answers throughvAndr. All numerical coefficients in the answer must be analytical, not approximate!

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