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    PHYS3032 Lecture1

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    zhuoqunli315

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    PHYS3032 Lecture1

    Uploaded by

    zhuoqunli315
    6 views4 pages

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    6 views4 pages

    PHYS3032 Lecture1

    Uploaded by

    zhuoqunli315

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 4

    PHYS3032 lecture1

    1 Review on Kinematics in Different Coordinate Sys-


    tems.

    In kinematics, we need to define the position, velocity and acceleration of a particle. So,
    there are some kind of coordinates that can help us to define.

    1.1 Cartesian Coordinates

    ⃗r = xî + y ĵ + z k̂
    d⃗r dx dy dz
    ⃗v = = î + ĵ + k̂
    dt dt dt dt
    2 2
    d⃗v dx dy d2 z
    ⃗a = = 2 î + 2 ĵ + 2 k̂
    dt dt dt dt

    1
    1.2 Polar Coordinates (2D)

    ⃗r = r · eˆr
    eˆr = cos θî + sin θĵ
    d⃗r
    ⃗v = = ṙeˆr + reˆ˙r
    dt
    eˆ˙r = θ̇(− sin θî + cos θĵ) = θ̇eˆθ
    ⇒ ⃗v = ṙeˆr + rθ̇eˆθ
    Acceleration in Polar Coordinates

    ⃗v = ṙeˆr + rθ̇eˆθ
    then we can get:
    ⃗a = ⃗v˙ = r̈eˆr + ṙeˆ˙r + ṙθ̇eˆθ + rθ̈eˆθ + rθ̇eˆ˙θ
    Since we can get:

    ê˙ r = θ̇(− sin θı̂ + cos θȷ̂) = +θ̇êθ


    ê˙ θ = θ̇(− cos ı̂ − sin θȷ̂) = −θ̇êr
    Therefore:

     
    ⇒ ⃗a = r̈ − rθ̇2 êr + (2ṙθ̇ + rθ̈)êθ

    Example:Uniform Circular Motion


    From this classical scene, we can get these equation:
    ⃗a = −ac êr , ṙ = 0, θ̇ = ω
    (
    êr : r̈ − rθ̇2 = −ac
    êθ : 2ṙθ̇ + rθ̈ = 0
    Therefore:
    −rθ̇2 = −ac ∵ r̈ = 0
    ∴ ac = rω 2

    2
    1.3 Cylindrical Coordinate

    ⃗r = rêr + zêz
    êr = cos ϕî + sin ϕĵ
    êϕ = − sin ϕî + cos ϕĵ
    ⃗v = ṙêr + rϕ̇êϕ + żêz
     
    2
    ⃗a = r̈ − rϕ̇ êr + (rϕ̈ + 2ṙϕ̇)eϕ + z̈êz

    1.4 Spherical Coordinate

    ⃗r = rêr
    êr = sin θ cos ϕı̂
    + sin θ sin ϕȷ̂
    + cos θ k̂
    êθ = cos θ cos ϕı̂ + cos θ sin ϕȷ̂ − sin θk̂
    êϕ = − sin ϕı̂ + cos ϕȷ̂
    Therefore:
    ⃗v = ṙê
    r + r ϕ̇ sin θêϕ + r θ̇êθ 

    ⃗a = r̈ − rϕ̇2 sm2 θ − rθ̇2 êr


    + (rϕ̈ sin θ + 2ṙϕ̇ sin θ + 2rθ̇ϕ̇ cos θ)êϕ
     
    2
    + rθ̈ + 2ṙθ̇ − rϕ̇ sin θ cos θ êθ

    Example:

    3
    Solution:  
     r=b  ṙ = 0, r̈ = 0
    θ = ω1 t ⇒ θ̇ = ω1 , θ̈ = 0
    ϕ = ω2 t ϕ̇ = ω2 ϕ̈ = 0
     

    Therefore, from previous equation:


    ⃗a = −bω22 sin2 θ − bω12 êr
    

    + 2bω1 ω2 cos θ êϕ


    − bω22 sin θ cos θ êθ
    at highest point, r = b, θ = 0
    ⃗a = −bω12 êr + 2bω1 ω2 êϕ

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