Beruflich Dokumente
Kultur Dokumente
Part 1: Kinematics
A. A. Louro
Fall 2001
2
Contents
1 Introduction 1
1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Preliminaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Some functions of interest . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Kinematics in 1 dimension 5
2.1 Motion in a straight line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1.1 Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1.2 Displacement along x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1.3 Average velocity along x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1.4 Instantaneous velocity along x . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.5 Uniform motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.6 Acceleration along x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Uniformly accelerated motion (UAM) . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.1 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.2 Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Calculus concepts 11
3.1 The instantaneous velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2 Calculating the instantaneous velocity – an example . . . . . . . . . . . . . . . . . . 12
3.3 Generalizing the procedure to any time t . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4 Other functions x(t) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.5 The concept of derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.6 The time derivatives of some special functions . . . . . . . . . . . . . . . . . . . . . . 14
3.6.1 Rule 1: The derivative of a sum . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.6.2 Rule 2: The derivative of a function multiplied by a constant . . . . . . . . . 14
3.7 The connection with kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3
4 CONTENTS
4 Oscillators 17
4.1 Oscillators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2 A prototype simple harmonic oscillator . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3 The velocity and acceleration of a simple harmonic oscillator . . . . . . . . . . . . . 19
4.3.1 Time derivatives of trigonometric functions . . . . . . . . . . . . . . . . . . . 19
4.3.2 The velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.3.3 The acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5 Free Fall 23
5.1 Free fall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.2 Motion in 2 dimensions - Projectile motion . . . . . . . . . . . . . . . . . . . . . . . 24
6 Vectors 25
6.1 Vector algebra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.1.1 Representing a 2D vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.2 Operations with vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.1 Vector addition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.2 Multiplication by a scalar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.3 Time derivative of a vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.3 Using vector notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Chapter 1
Introduction
1
2 CHAPTER 1. INTRODUCTION
1.1 Overview
Physics lays claim to a vast territory. Some of the provinces of physics are
• the motion of celestial bodies, from interstellar dust grains to clusters of galaxies;
• machines;
• light;
• heat;
Underlying all these phenomena, there are some simple, general behaviours:
“Things” interact with each other, affecting each other’s state. For example, the Earth
and the Moon are interacting, forcing each other to revolve about a common centre; or
a balloon that has been vigorously rubbed may be attracted to the nearest wall. These
very different types of interaction obey the same basic rules.
Mechanics deals with how interactions affect the way things move. In the first section of this
course, we look at kinematics, a mathematical description of how things move.
Next, we ask why things move the way they do, which comes under the heading of dynamics.
There are several ways of answering this question. One approach is due to Isaac Newton, so it’s
called Newtonian mechanics. It is based on the idea that interacting objects apply forces to
each other.
An alternative approach makes use of less intuitive notions, like “energy” or “momentum”, and
we’ll reserve this to the end.
1.2 Preliminaries
From the HDOP1 :
Classical mechanics The motion of objects that are not too small – atoms are barely OK, if you
can disregard their internal structure –, or too energetic, that is, moving much more slowly
than light. Historically, the classical period in physics research ranges from the early 1600’s
to the early 1900’s.
1
Hitchhiker’s Dictionary of Physics; non-existent, yet useful!
1.3. SOME FUNCTIONS OF INTEREST 3
Particle “Particle” means more that “very small, point-like thing”. Any object that is moving
rigidly, without spinning, can be considered as a particle. This is because all points in the
object move in the same way, so one point can represent the entire object.
In this course, we will deal almost exclusively with particles. At the end, we will
discuss briefly rotational equilibrium of large objects.
Observer The motion of an object can only be described relative to an observer. Relative to
itself2 , of course, the observer is stationary.
Space In classical mechanics, an invisible framework where material objects are located. To keep
track of a moving object, we can imagine a grid extending throughout space, attached to an
observer. This is called the observer’s reference frame.
In classical mechanics, the time interval between two events is measured the same
by all observers.
SI units An ingenious system of units, which we shall build up gradually, called “Système Interna-
tionale”. It became official in 1960, and is preferred over all other systems of units in science.
For the moment, we are only concerned with distances, measured in meters (m), and times,
measured in seconds (s).
Function A relationship between two quantities, for example air temperature and time. All the
functions we will consider here involve quantities that may be measured with real numbers.
If T stands for temperature and t stands for time, the function T (t) is a listing of the values
of T at different times t. This is best visualized with a graph. We develop this mathematical
concept more below.
1. A constant:
T (t) = C (1.3.1)
A graph of this function is a flat straight line. In this case, the temperature simply does not
vary with time.
2. : A linear function:
T (t) = A + Bt (1.3.2)
A graph of this function is also a straight line, but with a slope determined by the constant
B.
3. A quadratic function:
T (t) = A + Bt + Ct2 (1.3.3)
A graph of this function is a curve known as a parabola.
4. A sine or cosine function:
It is well known that these functions are periodic: A graph of a sine or cosine function
looks like a wave, repeating as the angle passes through a full circle. We will encounter such
functions when we study the motion of an oscillator, like a weight suspended from a spring,
as a function of time. What does time have to do with an angle?
Consider an analog clock. The pointer rotates over time, forming an angle that varies with
time relative respect to some reference direction. If the pointer rotates at a steady rate, the
angle is a linear function of time (see above):
θ = constant × t (1.3.5)
So for example, if the ambient temperature T is a sine function of time (which is not a bad
approximation to the variation of temperature throughout the day), it could be written as
follows:
T (t) = Tav + A sin(constant × t) (1.3.6)
Here, Tav is the average temperature. Some more jargon: The constant A is called the
amplitude of the oscillation. Since the sine function oscillates between +1 and −1, the
temperature T oscillates between the two extreme values of Tav + A and Tav − A.
Exercise 1.3.1 Looking up the local weather report for September 11th. 2001, I find that
the low for the day was 5.5 o C, and the high was 9.3 o C. Assuming that the temperature
as a function of time throughout the day was a simple sine function, what was the average
temperature Tav , and what was the amplitude of the temperature oscillation A?
Chapter 2
Kinematics in 1 dimension
5
6 CHAPTER 2. KINEMATICS IN 1 DIMENSION
2.1.1 Position
The position of an object moving only on a straight line can be measured with an infinitely long
ruler, or coordinate axis. The zero of the ruler coincides with the observer. The position of the
object is represented by the distance to the zero point, or origin, with a + or - sign to indicate on
which side of the origin the object lies. The position on a straight line is usually labelled x. For
example, if the x axis is vertical, with the origin at your eye level, and “positive” means “upwards”,
your feet might be at x = −1.60 m.
If the object is moving, its position will change over an interval of time ∆t from an initial value
x0 at time t0 to a final value x at time t = t0 + ∆t. The object’s displacement along x is
∆x = x − x0 .
Notice that ∆x can be positive or negative. What does the sign of ∆x tell you?
∆x
vav,x = (2.1.1)
∆t
Because the displacement is a signed quantity, so is the average velocity. What does
the sign of the average velocity tell you?
2.1. MOTION IN A STRAIGHT LINE 7
∆x
∆t
t t
In other words, in general the instantaneous velocity along x is also a function of time,
vx (t).
∆x x − x0
vx = = (2.1.2)
∆t t − t0
x = x0 + vx (t − t0 ) (2.1.3)
x = x0 + vx (t − t0 ) (2.1.5)
if we are given the value of the constant vx and the initial condition x0 at time t0 .
2.1. MOTION IN A STRAIGHT LINE 9
vx
∆ vx
∆t
For an object that is moving in a straight line, this implies that slowing down while
travelling in a certain direction is also an acceleration. And changing direction is also
an acceleration.
Acceleration is analogous to velocity, in that acceleration is the rate of change of velocity with time,
just as velocity is the rate of change of position with time. So, similar to the definitions of average
and instantaneous velocity we have
Average acceleration along x If an object’s velocity along x changes by ∆vx over an interval
of time ∆t, its average acceleration along x is
∆vx
aav,x = (2.1.6)
∆t
Graphically, it is found just like the average velocity. See Figure 2.3; it looks identical to
Figure 2.1, but notice this is a graph of velocity as a function of time!
Instantaneous acceleration along x is also found as the slope of a straight line tangent to the
curve representing vx (t). (See Figure 2.4).
From these definitions, we see that the SI unit of acceleration is (m/s)/s. This can also be
expressed as (m/s2 ), although some physics instructors prefer the more intuitive (m/s)/s.
10 CHAPTER 2. KINEMATICS IN 1 DIMENSION
vx
t t
2.2.2 Position
The position as a function of time in UAM is similar to the case of uniform motion (see equation
(2.1.3), with the addition of a new term because of the acceleration. We present the expression for
x(t), and postpone the discussion of the acceleration term until after we have discussed derivatives:
1
x(t) = x0 + v0x t + ax t2 (2.2.3)
2
Chapter 3
Calculus concepts
11
12 CHAPTER 3. CALCULUS CONCEPTS
• At the point on the curve corresponding to the instant t, draw a straight line tangent to the
curve;
• Then the slope of the line gives the instantaneous velocity there.
We can always draw a graph and estimate the velocity at any instant through careful measurement.
But at best we get an estimate, and it’s a tedious procedure to do many times. Instead, we’ll try
to reproduce symbolically this procedure, and arrive at a method for calculating (exactly!) the
instantaneous rate of change of any variable that changes with time.
We begin with a concrete example.
∆t (s) ∆x (m) vx ≈ ∆x
∆t
1.0 5.0 5.0
0.1 0.41 4.1
0.01 0.0401 4.01
0.001 0.004001 4.001
You get the idea. Clearly, as we make the time interval over which we calculate the average velocity
progressively smaller, the approximation to the instantaneous velocity approaches 4 m/s.
v0x + ax t
which is indeed the expression of the instantaneous velocity in UAM. But we can go further. The
acceleration is after all the instantaneous rate of change of the velocity with time, so we should
recover the acceleration if we take the time derivative of the velocity. Again, verify that the time
derivative of v0x + ax t is the acceleration ax .
16 CHAPTER 3. CALCULUS CONCEPTS
Chapter 4
Oscillators
17
18 CHAPTER 4. OSCILLATORS
4.1 Oscillators
Many physical systems may be described by a quantity that varies periodically with time, from the
pendulum, where the variable is the angle between the string and the vertical direction, to chemical
oscillators where the variable is the concentration of a chemical substance. If the variation follows
the simple form of a sine or a cosine function of time, the system is called a simple harmonic
oscillator. In this course, we shall concentrate on simple harmonic oscillators, partly because of
their simplicity, and also because of their wide applicability.
For a concrete example with which to develop the theory consider a mass oscillating on the end of
a spring. If the mass is pulled out and released from rest, its position x as a function of of time
might look something like Figure 4.1. The origin of x is chosen as the equilibrium point, where the
mass rests if it is not oscillating. Notice that when it is oscillating, x(t) fluctuates symmetrically
about x = 0. The position of the mass is a cosine function of time, of the form
The argument of a cosine function is expressed in radians, and the cosine function is periodic
with period 2π. By writing the argument of this function of time as 2πt/P , the function has the
periodicity of a cosine function, with a time period P .
The quantity 2π/P is usually written as ω, the Greek letter “omega”, and called the angular
frequency of the oscillator. Then we can rewrite equation 4.2.1 more simply as
x = A cos(ωt) (4.2.2)
The significance of the constant A is this: As the cosine function oscillates between +1 and −1, the
position of our oscillator varies between +A and −A. A is called the amplitude of the oscillation.
using the same units as in Figure 4.2. Once again, draw tangent lines to the curve at t = 0, 0.5, ...3,
estimate their slopes, and tabulate the values. Your values should be consistent with
dx
= ω cos(ωt) (4.3.3)
dt
20 CHAPTER 4. OSCILLATORS
0.5
x in units of A
-0.5
-1
0.5
x in units of A
-0.5
-1
4.4 Summary
Let us summarize what we have learned about the simple harmonic oscillator. If the position as a
function of time is given by
x(t) = A cos(ωt) (4.4.1)
the velocity along x is
vx (t) = −ωA sin(ωt) (4.4.2)
and the acceleration along x is
ax (t) = −ω 2 A cos(ωt) (4.4.3)
One final remark: Notice that the acceleration, like the position itself, is a cosine function of time.
In fact,
ax (t) = −ω 2 x (4.4.4)
This will gain significance later when we study the forces driving the simple harmonic oscillator.
Chapter 5
Free Fall
23
24 CHAPTER 5. FREE FALL
Notice that it becomes important now to distinguish between motion along x and along
y, so the subscripts are important! We must keep separate, for instance, vx from vy .
1
g varies slightly with latitude, from about 9.79 (m/s)/s at the equator to 9.81 (m/s)/s at the poles.
Chapter 6
Vectors
25
26 CHAPTER 6. VECTORS
~v = (vx , vy ) (6.1.1)
Notice the arrow on top, indicating that this is a vector quantity. Here, x and y are two perpen-
dicular directions. The numbers vx and vy are called the x and y components of ~v .
Polar representation
One can also specify a vector by giving its size, or magnitude, and its direction. (The magnitude
of a velocity is the speed). The direction may be given as an angle between the direction of the
vector and some reference axis. Conventionally, a positive angle means that the direction of the
vector is counterclockwise from the reference axis.
The magnitude of a vector ~v is written |~v |.
|v|
θ
v_y
x
v_x
q
|~v | = vx2 + vy2
vy
θ = arctan
vx
A word of caution about calculators: An equation of the type φ = arctan(z) has two possible
solutions (like a quadratic equation has two possible solutions). If you use a calculator to find
the direction of a vector, you will get one of the two possible values, but you have to check
the signs of the components vx and vy to see if your calculator gave you the right answer; you
might have to add 180o .
2. Given the magnitude and direction, what are the components vx and vy ? Again, refer to
Figure 6.1. The x and y components are given by
vx = |~v | cos θ
vy = |~v | sin θ
28 CHAPTER 6. VECTORS
~a + ~b = (ax + bx , ay + by )
Graphically, two vectors may be added by the parallelogram method illustrated in Figure
6.2, or by the tip-to-tail method illustrated in Figure 6.3.
a+b
b_y
a_y a
b_x a_x x
Scalar multiplication involves multiplying each component of a vector by the same scalar:
This operation is equivalent to stretching the vector, and if C is negative, flipping it.
If the components of a vector change over time, it is legitimate to find the time derivative of
the vector, by taking the time derivatives of each component. Thus for example, the velocity
6.3. USING VECTOR NOTATION 29
a+b
b
a
x = x0 + v0x t
1
y = y0 + v0y t − gt2
2
(As usual, x is horizontal, and y is vertical, positive upwards). We can convey the same
information with a single vector equation:
1
~r = ~r0 + ~v0 t + ~at2
2
30 CHAPTER 6. VECTORS
where ~r is the position vector at a time t, ~r0 is the initial position vector, and ~a = (0, − g)
is the acceleration vector.
It is comforting to see that the time derivative d~r/dt does indeed give the velocity vector
~v0 − ~g t. (Verify this!)