Relative motion in space (For particle)

Practically we need to use a relative motion in many cases. Since it is more convenient to

study the motion with respect to a moving coordinate system.

Relative motion + coordinate motion = absolute motion

Translation

Motion Rotation Rigid body or coordinate system

General (translation + rotation)

Translating reference axes

OXYZ – Frame

cxyz – Translating axes

cx // OX

C is the origin of the translating reference axes. Its position is specified by 𝑅⃗ .

A particle P is specified by the position vector 𝑅⃗ /

∴ Absolute position of P is given by

𝑅⃗ = 𝑅⃗ + 𝑅⃗ /

𝑃
𝑅⃗
Y 𝑅⃗ /
𝑧
𝑦
𝑅⃗
𝑐
O 𝑥

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But 𝑅⃗ / = 𝑥𝑖 + 𝑦𝑗 + 𝑧𝑘

𝑥, 𝑦, 𝑧 – coordinate in cxyz

𝑖, 𝑗, 𝑘 – unit vectors in cxyz

𝑅⃗ = 𝑅⃗ + 𝑥𝑖 + 𝑦𝑗 + 𝑧𝑘

⃗ ̇ ̇
𝑉⃗ = velocity of P = = 𝑅⃗ + 𝑅⃗ /

= 𝑉⃗ + 𝑉⃗ /

⃗
Where 𝑉⃗ = = velocity of the origin of cxyz

⃗ /
𝑉⃗ / = velocity of P with respect to c = 𝑥̇ 𝑖 + 𝑦̇ 𝑗 + 𝑧̇ 𝑘

Because the direction of 𝑖, 𝑗, 𝑘 is fixed in space for translation motion.

𝑉⃗ = 𝑉⃗ + 𝑥̇ 𝑖 + 𝑦̇ 𝑗 + 𝑧̇ 𝑘

⃗ ⃗ ⃗ /
Acceleration of P: a⃗ = = + = a⃗ + a⃗ /

a⃗ / = (𝑥̇ 𝑖 + 𝑦̇ 𝑗 + 𝑧̇ 𝑘) = 𝑥̈ 𝑖 + 𝑦̈ 𝑗 + 𝑧̈ 𝑘

a⃗ = a⃗ + 𝑥̈ 𝑖 + 𝑦̈ 𝑗 + 𝑧̈ 𝑘

Note: we can derive similar relations in other coordinate systems.

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Rotating reference axes

Before considering this topic we shall look to the concept of 𝑤⃗ in three dimensional and also

the , , 𝑎𝑛𝑑
𝑧
𝑧
Concept of 𝝎⃗ in three dimensional
𝑑𝜃 𝑦
Define small rotation about the x-axis 𝑑𝜃 .
𝑦
This will make oy and oz rotates by the same angle 𝑑𝜃 𝑑𝜃
𝑜
∴ We may define 𝜔 as: 𝑑𝜃
𝑥
𝜔 = = 𝜃̇

As a vector we can define 𝜔⃗ as 𝜔⃗ = 𝜔 𝑖 = 𝜃̇ 𝑖

We can extend this analysis to oy and oz axes, i.e. 𝑧

𝜔⃗ = 𝜔 𝑗 = 𝜃̇ 𝑗 𝜔⃗ = 𝜔 𝑘 = 𝜃̇ 𝑘 𝑛
𝜔⃗
𝜔𝑘
Hence the angular velocity of the reference frame is: 𝑦
𝜔 𝑗
𝜔⃗ = 𝜔⃗ + 𝜔⃗ + 𝜔⃗ = 𝜔 𝑖 + 𝜔 𝑗 + 𝜔 𝑘 𝑜
𝜔 𝑖
We can treat 𝑤⃗ as any other vector. 𝑥

oxyz rotates like a rigid body about the axes on at this instant of time.

We try to find ?

- Any rotation about the x-axis does not contribute to 𝑑𝑖

𝑧
- Assume a change of 𝑑𝜃 about the oy axis
𝑜 𝑘 𝑘
(𝑑𝚤⃗) = |𝑖| 𝑑𝜃 (−𝑘) 𝑑𝜃 𝑖 𝑑𝜃
𝑑𝜃
(𝑑𝑖)
𝑦
𝑖
(𝑑𝚤⃗) = − 𝑑𝜃 𝑘
𝑜
𝑖
𝑑𝜃
𝑥
𝑖
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 - Consider rotation 𝑑𝜃 about the oz axis
𝑧
𝑑𝜃
(𝑑𝚤⃗) = |𝑖| 𝑑𝜃 𝑗
𝑜 𝑘
(𝑑𝚤⃗) = 𝑑𝜃 𝑗 𝑑𝜃 𝑖 𝑑𝜃 𝑗
𝑖 (𝑑𝑖) 𝑦
The total change in 𝑖 is 𝑜
𝑖
𝑑𝜃
𝑑𝑖 = (𝑑𝑖) + (𝑑𝑖) + (𝑑𝑖) 𝑖 𝑥
= 0 + − 𝑑𝜃 𝑘 + 𝑑𝜃 𝑗

∴ =− 𝑘+ 𝑗 = −𝜔 𝑘 + 𝜔 𝑗

But 𝜔⃗ × 𝑖 = −𝜔 𝑘 + 𝜔 𝑗

∴ = 𝜔⃗ × 𝑖, = 𝜔⃗ × 𝑗, = 𝜔⃗ × 𝑘

Where 𝜔⃗ is the angular velocity of the coordinate system.

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The derivative of any vector in a moving coordinate system

Vector P⃗ is measured in the moving coordinate system

⃗
Let ( ) – with respect to a fixed system

⃗
Let ( ) – with respect to moving system

Z 𝑧
𝑃⃗

𝜔⃗
𝑦

O Y 𝑐
𝒇𝒊𝒙𝒆𝒅
𝑥
X

⃗
( ) = (𝑃 𝑖 + 𝑃 𝑗 + 𝑃 𝑘)

= 𝑖+ 𝑗+ 𝑘+𝑃 +𝑃 +𝑃

⃗
Let 𝑖+ 𝑗+ 𝑘 =( )

The derivative of P⃗ with respect to an observer moving with the coordinate cxyz

⃗ ⃗
( ) = ( ) + 𝑃 𝜔⃗ × 𝑖 + 𝑃 𝜔⃗ × 𝑗 + 𝑃 𝜔⃗ × 𝑘

𝑑𝑃⃗ 𝑑𝑃⃗
( ) = ( ) + 𝜔⃗ × P⃗
𝑑𝑡 𝑑𝑡

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Motion in moving coordinates
𝜔⃗ 𝑧
OXYZ – fixed
Z 𝑃

cxyz – moving with angular velocity 𝜔⃗ 𝑅⃗ 𝑦

𝑅⃗ /

𝑅⃗ = 𝑅⃗ + 𝑅⃗ / 𝑐
𝑅⃗
O
⃗ Y 𝑥
𝑉⃗ = ( ) = (𝑅⃗ + 𝑅⃗ / )
X 𝒇𝒊𝒙𝒆𝒅

⃗ ⃗ / ⃗ /
=( ) +( ) = 𝑉⃗ + ( ) + 𝜔⃗ × 𝑅⃗ /

∴ 𝑉⃗ = 𝑉⃗ + 𝑉⃗ + 𝜔⃗ × 𝑅⃗ / = 𝑉⃗ + 𝑉⃗ /

Where 𝑉⃗ – velocity relative to the moving coordinates

𝑉⃗ / = 𝑉⃗ + 𝜔⃗ × 𝑅⃗ / – velocity of P with respect to c

𝑉⃗ = 𝑥̇ 𝑖 + 𝑦̇ 𝑗 + 𝑧̇ 𝑘

⃗
a⃗ = ( ) = (𝑉⃗ + 𝑉⃗ + 𝜔⃗ × 𝑅⃗ / )

=( ) +( ) + (𝜔⃗ × 𝑅⃗ / )

Let ( ) = a⃗

( ) =( ) + 𝜔⃗ × 𝑉⃗ = a⃗ + 𝜔⃗ × 𝑉⃗

⃗ ⃗ /
(𝜔⃗ × 𝑅⃗ / ) =( ) × 𝑅⃗ / + 𝜔⃗ × ( )

= 𝜔⃗̇ × 𝑅⃗ / + 𝜔⃗ × [𝑉⃗ + 𝜔⃗ × 𝑅⃗ / ]

= 𝜔⃗̇ × 𝑅⃗ / + 𝜔⃗ × 𝑉⃗ + 𝜔⃗ × (𝜔⃗ × 𝑅⃗ / )

Collecting terms leads to:

a⃗ = a⃗ + 𝜔⃗̇ × 𝑅⃗ / + 𝜔⃗ × 𝜔⃗ × 𝑅⃗ / + a⃗ + 2𝜔⃗ × 𝑉⃗

a⃗ = 𝑥̈ 𝑖 + 𝑦̈ 𝑗 + 𝑧̈ 𝑘
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