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    CH 1 Lecture 1

    Uploaded by

    Yahya Khan, BS Student Dept. of Physics, UoP
    The document discusses different coordinate systems used in classical mechanics: 1. Cartesian coordinates use three perpendicular axes (x, y, z) to describe points in three-dimensional space. 2. Polar coordinates use radial distance (r) and angle (θ) to describe points in a plane. 3. Cylindrical coordinates use radial distance (r), angle (φ), and height (z) to describe points in three-dimensional space. 4. Spherical polar coordinates use radial distance (r), inclination angle (θ), and azimuth angle (φ) to describe points in three-dimensional space. Expressions for velocity and acceleration are derived in each coordinate system.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    CH 1 Lecture 1

    Uploaded by

    Yahya Khan, BS Student Dept. of Physics, UoP
    14 views12 pages
    The document discusses different coordinate systems used in classical mechanics: 1. Cartesian coordinates use three perpendicular axes (x, y, z) to describe points in three-dimensional space. 2. Polar coordinates use radial distance (r) and angle (θ) to describe points in a plane. 3. Cylindrical coordinates use radial distance (r), angle (φ), and height (z) to describe points in three-dimensional space. 4. Spherical polar coordinates use radial distance (r), inclination angle (θ), and azimuth angle (φ) to describe points in three-dimensional space. Expressions for velocity and acceleration are derived in each coordinate system.

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    Ch 1 Lecture 1

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    The document discusses different coordinate systems used in classical mechanics: 1. Cartesian coordinates use three perpendicular axes (x, y, z) to describe points in three-dimensional space. 2. Polar coordinates use radial distance (r) and angle (θ) to describe points in a plane. 3. Cylindrical coordinates use radial distance (r), angle (φ), and height (z) to describe points in three-dimensional space. 4. Spherical polar coordinates use radial distance (r), inclination angle (θ), and azimuth angle (φ) to describe points in three-dimensional space. Expressions for velocity and acceleration are derived in each coordinate system.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    14 views12 pages

    CH 1 Lecture 1

    Uploaded by

    Yahya Khan, BS Student Dept. of Physics, UoP
    The document discusses different coordinate systems used in classical mechanics: 1. Cartesian coordinates use three perpendicular axes (x, y, z) to describe points in three-dimensional space. 2. Polar coordinates use radial distance (r) and angle (θ) to describe points in a plane. 3. Cylindrical coordinates use radial distance (r), angle (φ), and height (z) to describe points in three-dimensional space. 4. Spherical polar coordinates use radial distance (r), inclination angle (θ), and azimuth angle (φ) to describe points in three-dimensional space. Expressions for velocity and acceleration are derived in each coordinate system.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 12

    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


    2
    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.
    3
    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)

    4
    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


    6
    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
    7
    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෠
    8
    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
    10
    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
    11
    ⇒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
    12

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