CHAPTER 5

NONINERTIAL REFERENCE SYSTEMS

5.1 (a) The non-inertial observer believes that he is in equilibrium and that the net force
acting on him is zero. The scale exerts an upward force, N
G
, whose value is equal to the
scale reading --- the weight, W, of the observer in the accelerated frame. Thus

0
0 N mg mA + =
G G
G

0
A
G
N
G
mg
G
(b) (a)

0
5
0
4 4
g
N mg mA N mg m N mg = = =
5 5
4 4
W N mg W = = =
150 . W lb =

(b) The acceleration is downward, in the same
direction as g
G

0
4
g
N mg m
| |
+ =
|
\ .

3
4 4
W
W = = W W
90 . W l = b
r 5.2 (a) ( )
cent
F m =
G
G G G
G G
G
For r ,
2

cent r
F m r e

=

1 1
500 1000 s s

= =
( )
2
6 2
10 1000 5 5
cent r
F e

= =
G
dynes outward
(b)
( )
2
2
4
1000 5
5.04 10
980
cent
g
F m r
F mg


= = =

5.3 (See Figure 5.1.2) 0 mg T mA + =
D
G G
G


cos sin 0
10
g
mg j T j T i m i
| |
+ + =
|
\ .

cos T mg = , and sin
10
mg
= T

1
tan
10
= , 5.71 =
D
1.005
cos
mg
T m

= = g

5.4 The non-inertial observer thinks that g
G
points downward in the direction of the
hanging plumb bob Thus
1


10
g
g g A g j = =
D
G
G G
i
For small oscillations of a simple pendulum:

1
2
g
=

T

2
2
1.005
10
g
g g
| |
= + =
|
\ .
g

1 1
2 1.995
1.005g g
= = T

5.5 (a) f mg = is the frictional force acting on the
b x, so
G G
o
0
f mA ma =
G
( a
G
is the acceleration of the box relative to the truck. See
Equation 5.1.4b.) Now, f
G
the only real force acting horizontally, so the
acceration relative to the road is
0
A
G
f
G
(b)
3
f mg g
a g
m m

= = = =
(For + in the direction of the moving truck, the indicates that friction opposes
the forward sliding of the box.)
2
g
A =
D
(The truck is decelerating.)
from above,
0
ma mA ma = so
(a)
3 2 6
g g g
a a A = = + =
D


5.6 (a) ( )

cos sin r i x R t jR = + +
D
K
K
t
t
2

sin cos r i R t j R = +
K K

2 2
r r v R = = v R = circular motion of radius R

(b) r r where r =
K K
K K


r ix jy = +
K

( )

sin cos i R t j R t k ix jy

= + +
2

sin cos i R t j R t j x i y

= + +
sin x y R t =
cos y x R t = +

(c) Let here u x iy = + 1 i = !
sin cos u x iy y R t i x i R t = + = +
i u = y = i x +
sin cos Re
i t
u i u R t i R t i

+ = + =

Try a solution of the form
i t i t
u Ae Be

= +
i t i t
u i Ae i Be

= +
i t i t
i u i Ae i Be

= +
( )
i t
u i u i Be

+ = + so
R
B

=
+



Also at t the coordinate systems coincide so 0 =
( ) ( ) 0 0 u A B x iy x R = + = + = +
D

R
A x R B x R

= + = +
+
D D
so,
R
A x

= +
+
D

Thus,
i t i t
R R
u x e e

(
= + +
(
+ +

D


5.7 The x, y frame of reference is attached to the Earth, but the x-axis always points
away from the Sun. Thus, it rotates once every year relative to the fixed stars. The X,Y
frame of reference is fixed inertial frame attached to the Sun.
(a) In the x, y rotating frame of reference
( ) ( ) cos x t R t R

=
( ) ( ) sin y t R t =
where R is the radius of the asteroids orbit
and R
E
is the radius of the Earths orbit.
is the angular frequency of the Earths
revolution about the Sun and is the
angular frequency of the asteroids orbit.

(b) ( ) ( ) ( ) sin 0 x t R t = at 0 t =
( ) ( ) ( ) ( ) cos y t R t R = at 0 t =

(c) 2 a A A r r r

=
K
K K K K K K
K K

K
K

Where is the acceleration of the asteroid in the x, y frame of reference, a
3
, A A

K K
are the accelerations of the asteroid and the Earth in the fixed, inertial frame
of reference.

1
st
: examine: A A r

K K K K
K

K K K K K

( )
R R R R

=
K K K
K K

K K K K
K K
=
( ) ( )
2 2
R R = note:

k =
K
,

k =
K


Thus:

( )
2 2
2 a R =
K K
K K
v
Therefore:

( ) ( ) ( ) ( )
2 2

cos sin ix jy iR t jR t ( + =



2 2 j x i y +
Thus:

( ) ( )
2 2
cos 2 x R t = + y
x
)


( ) ( )
2 2
sin 2 y R t =
Let ( x y = and ( ) y x =
Then, we have
( ) ( )
( )
2
cos y R t

= +

which reduces to
( ) ( ) cos y R t =

Integrating ( ) sin 0 y R t = at t 0 =
Also,
( ) ( ) ( )
2 2
sin 2 x R t = x
or ( ) ( ) sin 2 x R t = + + x
)

( ) ( sin x R t =
Integrating ( ) cos x R t const = +
( ) cos x R t R R R

= at 0 t =

5.8 Relative to a reference frame fixed to the turntable the cockroach travels at a
constant speed v in a circle. Thus
2

r
v
a e
b

=
G
.
Since the center of the turntable is fixed.
G
0 A =
D
The angular velocity, , of the turntable is
constant, so
4

G
x
y
b

k =
G
, with 0 =
G

G G G
r , so
r
be

= ( )
2

r
r b e

=
G

G G G
v v e

= , so
r
v v e

=
G G G
From eqn 5.2.14, 2 ( ) a a v r = + +
G G G G
and putting in terms from above
2
2
2
r
v
a v
b
b

=
For no slipping
s
F m
G
g , so
s
a g
G


2
2
2
s
v
v b g
b

+ +
v b
2 2 2
2 0
m m s
v b b g + + =

2 2 2 2
m s
v b b b b g = +
Since v was defined positive, the +square root is used.

m s
b v b g = +

(b) v v e

=
G

G G

r
v v e

= +

2
2
2
r
v
b
a v b

= +

2
2
2
s
v
v b g
b

+

m s
b v b g = +

5.9 As in Example 5.2.2,

V
j

=
D
G
and
2

V
A i

=
D
D
G

For the point at the front of the wheel:

2

V
b
=
D
G
G
r j

and v V

k =
D
G


0 =

( )

V V
r k bj
b
i

=
D D
=
G G

( )
2

V V b V b
r k i

= =
D D D
G G G
j

( )

0
V
v k V k

= =
D
D
G G

( )
2 2 2
2

V V V b
r A i j
b


| |
= + + = + +
|
\ .
D D D
D
a r
G
G G G G G

5
5.10 (See Example 5.3.3)
2
m x mx =
( )
t t
x t Ae Be

= +
( )
t t
x t Ae Be



=
Boundary Conditions:
( )
2
0
2
l
x A B = = +
( ) ( ) 0 0 x A B = =

4
l
A =
4
l
B =
(a) ( ) cosh
2
l
x t t = ( ) sinh
2
l
x t t =
(b) ( ) cosh
2 2 2
l l l
x T T = + = when the bead reaches the end of the rod
cosh 2 T = or
1
1 1
cosh 2 T
.317

= =
(c) ( ) sinh
2
l
x T T =
( )
1
sinh cosh 2 1.732 0.866
2 2
l l
l

( = = =


or
1
2
2
cosh 1 3 0.866
2 2
T l
l l
( = =




5.11 mph

400 v j =
G

586.67 j = ft s
1

G

( )
5

7.27 10 cos 41 sin 41 j k

= +
D D
s
1

G G

( )( )( )
5

7.27 10 586.67 sin 41 v i

=
D
ft s
2

G G

2
cor
grav
m v
F
F mg

=

( )( )( )
5
2 7.27 10 586.67 sin 41
32

=
D

0.0017
cor
grav
F
F
=
The Coriolis force is in the v
G G
direction, i.e.,

i + or east.

5.12 (See Figure 5.4.3)

y z
j k

= +
G
G



x y
v v i v j

= +
6


z y z x y x
v v i v j v k

= +
G G
G G

v j

( )

z y z x
horiz
v v i

= +
( ) ( ) ( )
1 1
2 2 2 2 2 2
2 2
z y z x z x y z
horiz
v v v v v

= + = + =
G G
G
G G
v
v

2
cor
F m =
G

( ) ( ) 2
cor z
horiz
horiz
F m v m 2 v = =
G G
, independent of the direction of v .
G


5.13 From Example 5.4.1

1
3
2
1 8
cos
3
h
h
x
g

| |
=
|
\ .
and 0
h
y = .

( )
1
3 3
2
5 1
2
1 8 1250
7.27 10 cos 41
3 32
h
ft
x s
ft s

| |
=
|

\ .
D

0.404
h
x ft = to the east.

5.14 From Example 5.4.2:

2
sin
H
v

D
is the deflection of the baseball towards the south since it
was struck due East at Yankee Stadium at latitude (problem 5.13). v 41 N =
D
0
is the
initial speed of the baseball whose range is H. From eqn 4.3.18b, without air resistance
in an inertial reference frame, the horizontal range is

2
sin 2 v
H
g

=
D

Solving for v
0

1
2
sin 2
gH
v

| |
=
|
\ .
D


1
2
2
1
32 200
113
sin30
ft s ft

v ft s

| |
= =
|
\ .
D D



( )( )
5 1 2 2
1
7.27 10 200
sin 41 0.0169 0.2
113
s ft
ft i
ft s

n = =

D

A deflection of 0.2 inches should not cause the outfielder any difficulty.

5.15 Equation 5.2.10 gives the relationship between the time derivative of any vector
in a fixed and rotating frame of reference. Thus
fixed rot
da da
r a
dt dt

| | | |
= = +
| |
\ . \ .
G G
G G

G

G G G G G G G
( ) 2 a r r r r = + + +
G G


7
2 2
rot
da
r r r r
dt

| |
= + + + +
|
\ .
G
G G G G G G G G

r
G

( ) ( ) ( )
r r r + +
G G G G G G G G G

+

( ) ( ) ( ) 2 a r r r r = + + + (

G G G G G G G G G G G G G G

G G

G G
Now ( ) is to r and r . Let this define a direction : n
G G G G
r r =
G G
n
Since n , is in the plane defined by ( r
G
)
G
and r
G
and
G G G G
( ) r n r = =
G G G G
G G G G
. r
Since ( ) r
G G G G
( )
2
r r = (

G G
G G G G

And is in the direction ( r

)(

n
G G G G
Thus ( ) ( )
2
r r = (

G G

G G G G G G G

( ) ( ) ( )
2
2 a r r r = + +
G G G G


G G G G G G G G G G G
r
( ) 3 3 r r r r r r = + + + +


G G G G G G G G

( ) ( ) ( )
2
2 3 r r + +

r

5.16 With x y , and 0 z x y = = = = =
D D D D D
z v =
D

D
Equations 5.4.15a 5.4.15c become:
( )
3 2
1
cos cos
3
x t gt t v =
D

( ) 0 y t =
( )
2
1
2
z t gt v t = +
D

When the bullet hits the ground ( ) 0 z t = , so

2v
t
g

=
D


3 2
3 2
8 4 1
cos cos
3
v v
x g v
g g

| | | |
=
| |
\ . \ .
D D
D


3
2
4
cos
3
v
x
g

=
D

x is negative and therefore is the distance the bullet lands to the west.

5.17 With x y and 0 z = = =
D D D
cos x v =
D D
0 y =
D
sin z v =
D D

we can solve equation 5.4.15c to find the time it takes the projectile
to strike the ground
8
( )
2 2
1
sin cos cos 0
2
z t gt v t v t = + + =
D D

or
2 sin 2 sin
2 cos cos
v v
t
g v g



=

D D
D

We have ignored the second term in the denominatorsince v
D
would have to be
impossibly large for the value of that term to approach the magnitude g
For example, for 41 45
o o
and = = 2 cos cos g v g v
D D

or 144
g k
s

D
m
v !

Substituting t into equation 5.4.15b to find the lateral deflection gives
( ) | |
3
2 2
2
4
cos sin sin sin cos
v
y t v t
g

= =
D
D


5.18 Let a
D
G
= acceleration of object relative to Earth
G

D
=

k
D
A
D
= its angular speed
R
G
0
R
G
r
G
y
x

G
= acceleration of satellite

k =
G
= its angular speed

( ) 2 a a v r A = + + +
D D
G
G G G G G G G
(Equation 5.2.14)
G
G G G G G G G
2 a a A v r =
D D


As in prob em 5.7 Evaluate the term
G G G G
l
( )
a A r R R R R = =
D D D D D D
G G
G G G G G G G G G G
( )
2 2
a
R =
D D
G G

a

given the condition that

2 3 2 3
R R =
D D


3
2
3
1
a
R
R
R

| |
=
|
\ .
D
D
G G

G G G G
but
( ) ( )
2 2
2 cos R R R r R r R r rR = + + = + +
D D
G G

Letting x cos =
2 2 2
2
2 1
x
R R R r Rx R
R
|
= + + +

\ .
D D
G G
|
|
for small r
and
3
2
3 3
2
1
x
R R
R
|
+

\ .
D
|
|
or
3
3
2
3
2
1
R x
R R

| |
= +
|
\ .
D


3
2
2 2
2

1 1 3 3
a
R x
2
R x
R R

(
| |
(
= +
|
(
\ .

D
D
xi
G
G G
for small r

9
Hence:
( )
2

2 3 2
a
xi k ix = = +

jy a v
G
G G G

G
a i
2

3 2 2 x jy xi yi x

j = + = +
So x y
2
2 3 x = 0
2 0 y x + =

5.19
( )
mr qE q v B = +
G G
G G

Equation 5.2.14 ( ) 2 r v r r r = + + +
G G G G G G G G G

G G G G
Equation 5.2.13 v v r = +

2
q
B
m
=
G
G
so 0 =
G

( ) ( ) ( )
2
q
mr q B v B r qE q v r B ( = + +

G G G
G G G G G G G

G


( ) ( ) ( ) ( )
2
q
mr q v B r B qE q v B q r B + + = + +
G G G G
G G G G G G G

G

( )
2
q
mr qE r B = +
G G
G G G

( ) ( )( )( )
2
sin
2 2 2
q q qB
r B r B B
m

| |
=
|
\ .
G
G G

G
G
Neglecting terms in
2
B , mr qE =

5.20 For cos sin x x t y t = +
t sin cos y x t y = +
cos sin sin cos x x t x t y t y t = + +
t sin cos cos sin y x t x t y t y = +
cos sin x x t y t y = + +
x

sin cos y x t y t = +
cos sin sin cos x x t x t y t y t y = + + +


x sin cos cos sin y x t x t y t y t = +
2

cos sin 2 x x t y t y x = + + +
2

y sin cos 2 y x t y t x = + +

Substituting into Eqns 5.6.3:

2
cos sin 2 x t y t y x + + +
cos sin 2
g g
x t y t
l l
y = +
2
sin cos 2 x t y t x y + +
sin cos 2
g g
x t y t
l l
x = +
10

Collecting terms and neglecting terms in
2
:
cos sin 0
g g
x x t y y t
l l

| | | |
+ + +
| |
\ . \ .
=
sin cos 0
g g
x x t y y t
l l

| | | |
+ +
| |
\ . \ .
=

5.21
24
sin
T

= hours

24
73.7
sin19
T = =
D
hours

5.22 Choose a coordinate system with the origin at the center of the wheel, the x and
axes pointing toward fixed points on the rim of the wheel, and the axis
pointing toward the center of curvature of the track. Take the initial position of
the
y z
x axis to be horizontal in the V
D
G
direction, so the initial position of the y
axis is vertical.
The bicycle wheel is rotating with angular velocity
V
about its axis, so
b
D

l
V
k
b
=
D
G

A unit vector in the vertical direction is:


sin cos
V t V t
n i j
b b
= +
D D

At the instant a point on the rim of the wheel reaches its highest point:


sin cos
V t V t
r bn b i j
b b
| |
= = +
|
\ .
D D
G

Since the coordinate system is moving with the wheel, every point on the rim is
fixed in that coordinate system.
and 0 r =
G

0 r =
G

The x y z coordinate system also rotates as the bicycle wheel completes a circle
around the track:

2

sin cos
V V V t V t
n i j
b b

| |
= = +
|
\ .
D D D D
G

The total rotation of the coordinate axes is represented by:

1 2

sin cos
V V t V t
i j
b b

| | V
k
b
= + = + +
|
\ .
D D D
G G G
D


2

cos sin
V V t V
i j
b b

| |
=
|
\ .
D D
G

t
b
D


2 2
2 2

cos sin
V V t V t V
r k k
b b

k

| |
= + =
|
\ .
D D D
G G

D

11
0 r =
G G

sin cos sin cos sin cos
V b V t V t V t V t V t V t
r k k V j i
b b b b b b

| | |
= +
|
\ . \
D D D D D D
D
G G |
|
.
D

( )
2 2
2 2

sin cos sin cos
V V t V t V V t V t
r k k i j
b b b b

| | |
= + +
|
\ . \
D D D D D
G G G
b
|
|
.
D

( )
2 2

V V
r k n
b

=
D D
G G G

Since the origin of the coordinate system is traveling in a circle of radius :

2

V
A k

=
D
D
G

G G G
( ) 2 r r r r r A = + + + + +
D
G
G G G G G G



2 2 2

V V V V
r k k n k
b
2

= + +
D D D
G
D


2 2

3
V V
r k
b
=
D D
G

n

With appropriate change in coordinate notation, this is the same result as obtained
in Example 5.2.2.
--------------------------------------------------------------------------------------------------

12