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or, multiplying both sides by v dx, For a handy example consider g(x) =
k x. Then the antiderivative [integral] of g(x)
a dx = v dv (1) with respect to x is f (x) = 21 k x2 + f0 [where
f0 is some constant] because the derivative [with
which is a good example of a mathematical iden- respect to x] of x2 is 2x and the derivative of any
tity, in this case involving the dierentials of constant is zero. Since any combination of con-
distance and velocity. Hold that thought. stants is also a constant, it is equally valid to
make the arbitrary constant term of the same
Antiderivatives form as the part which actually varies with x,
viz. f (x) = 12 k x2 + 21 k x20 . Thus f0 is the
same thing as 21 k x20 and it is a matter of taste
Suppose we have a function g(x) which we know which you want to use.
is the derivative [with respect to x] of some other
function f (x), but we don't know which | i.e. Naturally we have a shorthand way of writing
we know g(x) explicitly but we don't know [yet] this. The dierential equation
what f (x) it is the derivative of. We may then df = g(x) dx
ask the question, \What is the function f (x)
whose derivative [with respect to x] is g(x)?" can be turned into the integral equation
Another way of putting this would be to ask, Zx
\What is the antiderivative of g(x)?"1 Another f (x) = g(x) dx (2)
x0
name for the antiderivative is the integral, which
is in fact the \ocial" version, but I like the which reads, \f (x) is the integral of g(x) with
former better because the name suggests how respect to x from x0 to x." We have used the
we go about \solving" one.2 rule that the integral of the dierential of f [or
1
This is a lot like knowing that 6 is some number mul-
any other quantity] is just the quantity itself,3
tiplied by 2 and asking what is. We gure this out by
n
n
in this case f : Z
asking ourselves the question, \What do I have to multiply
by 2 to get 6?" Later on we learn to call this \division" and
df = f (3)
express the question in the form, \What is = 6 2?" but we n =
Our example then reads
might just as well call it \anti-multiplication" because that is Zx Zx
k x dx = k x dx = 21 k x2 21 k x20
how we solve it (unless it is too hard to do in our heads and
we have to resort to some complicated technology like long
division). x0 x0
2
Any introductory Calculus text will explain what an inte- where we have used the feature that any con-
gral \means" in terms of visual pictures that the right hemi-
sphere can handle easily: whereas the derivative of ( ) is f x
stant (like k) can be brought \outside the inte-
Z
the slope of the curve, the integral of ( ) is the area under
g x
gral" | i.e. to the left of the integral sign .
the curve. This helps to visualize the integral as the limit-
ing case of a summation: imagine the area under the curve
of ( ) from 0 to being divided up into rectangular
g x x x N Now let's use these new tools to transform New-
columns of equal width = N1 ( x 0 ) and height ( n ),
x x g x ton's Second Law into something more com-
where n = is thePposition
x n x of the th
column. Ifn N
fortable.
is a small number, then Nn=1 ( n) is a crude approxi-
g x x
mation to the area under the smooth curve; but as gets N Why do I put this nice graphical description in a footnote?
bigger, the columns get skinnier and the approximation be- Because we can understand most of the Physics applications
comes more and more accurate and is eventually (as ! 1) N of integrals by thinking of them as \antiderivatives" and be-
exact! This is the meaning of the integral sign: cause when we go to solve an integral we almost always do it
Z by asking the question, \What function is this the derivative
x N
X of?" which means thinking of integrals as antiderivatives.
( )
g x dx Nlim
!1 ( n)
g x x This is not a complete description of the mathematics, but it
x0 n=1 is sucient for the purposes of this course. [See? We really
do \deemphasize mathematics!"]
where 1(
x
N
x x0 ) and x n = n x: 3
This also holds for the integrals of dierentials of vectors.
3
Impulse and Momentum cases the total momentum of the system does
not change. We call this the Law of Conser-
Multiplying a scalar times a vector is easy, it vation of Momentum and use it much the
just changes its dimensions and length | i.e. it same as Descartes and Huygens did in the days
is transformed into a new kind of vector with before Newton.4
new units but which is still in the same direc- Momentum conservation goes beyond Newton's
tion. For instance, when we multiply the vector First Law, though it may appear to be the
velocity ~v by the scalar mass m we get the vec- same idea. Suppose our \system" [trick word,
tor momentum p~ m ~v. Let's play a little game that!] consists not of one object but of several.
with dierentials and the Second Law: Then the \net" [another one!] momentum of
F~ = ddtp~ : the system is the vector sum of the momenta
of its components. This is where the power of
Multiplying both sides by dt and integrating momentum conservation becomes apparent. As
gives long as there are no external forces, there can be
as many forces as we like between the component
Zt Z p~ parts of the system without having the slightest
F~ dt = dp~ ) t0
F~ dt = p~0
dp~ = p~ p~0: eect on their combined momentum. Thus, to
(4) take a macabre but traditional example, if we
The left hand side of the nal equation is the lob a hand grenade through the air, just after it
time integral of the net externally applied force explodes (before any of the fragments hit any-
F~ . This quantity is encountered so often in Me- thing) all its pieces taken together still have the
chanics problems [especially when F~ is known same net momentum as before the explosion.
to be an explicit function of time, F~ (t)] that we The Law of Conservation of Momentum
give it a name: is particularly important in analyzing the colli-
Zt
t0
F~ (t) dt impulse due to applied force F~ sions of elementary particles. Since such colli-
sions are the only means we have for performing
(5) experiments on the forces between such parti-
Our equation can then be read as a sentence: cles, you can bet that every particle physicist is
very happy to have such a powerful (and simple-
\The impulse created by the net external to-use!) tool.
force applied to a system is equal to the mo-
mentum change of the system."
Example: Volkwagen-Cadillac Scattering
Conservation of Momentum Let's do a simple example in one dimension [thus
avoiding the complications of adding and sub-
The Impulse and Momentum law is certainly tracting vectors] based on an apocryphal but
a rather simple transformation of Newton's Sec- possibly true story: A Texas Cadillac dealer
ond Law; in fact one may be tempted to think once ran a TV ad showing a Cadillac run-
of it as a trivial restatement of the same thing. ning head-on into a parked Volkswagen Bug
However, it is much simpler to use in many cir-
cumstances. The most useful application, sur-
4
It should be remembered that Rene Descartes and Chris-
tian Huygens formulated the Law of Conservation of
prisingly enough, is when there is no external Momentum before Newton's work on Mechanics. They
force applied to the system and therefore no im- probably deserve to be remembered as the First Modern
pulse and no change in momentum! In such Conservationists!
4
200m.
In the elastic collision, the nal relative veloc-
ity of the two cars must be the same as before
Figure 11.1 Sketch of a perfectly elastic collision the collision [this is one way of dening such a
between a Cadillac initially moving at 100 km/h collision]. Thus if we assume (as on the draw-
and a parked Volkswagen Bug. For an elastic ing) that both cars move to the right after the
collision, the magnitude of the relative velocity collision, with velocities Vf for the Caddy and
between the two cars is the same before and af- vf for the Bug, then
ter the collision. [The fact that the cars look
\crunched" in the sketch re
ects the fact that vf Vf = 100 or vf = Vf + 100:
no actual collision between cars could ever be Meanwhile the total momentum must be the
perfectly elastic; however, we will use this limit- same as initially:
ing case for purposes of illustration.]
MVf + mvf = 200m or
we assume that the Cadillac has exactly twice 2mVf + m(Vf + 100) = 200m
the mass of the Bug (M = 2m). In both cases or 3mVf = 100m
the net initial momentum of the \Caddy-Bug
system" is MVi = 200m, where I have omit- giving the nal velocities
ted the \km/h" units of Vi, the initial velocity
of the Caddy. Therefore, since all the forces act Vf = 33 31 km/h and vf = 133 13 km/h:
between the components of the system, the total
momentum of the system is conserved and the In the plastic collision, the nal system consists
net momentum after the collision must also be of both cars stuck together and moving to the
5
~x | i.e. F~ (x~ ) | let's try using a dierential Just to establish the connection to the mathe-
change in ~x as our multiplier: matical identity a dx = v dv, we multiply that
equation through by m and get ma dx = mv dv.
F~ d~x = m~a d~x Now, in one dimension (no vectors needed) we
d~v know to set ma = F which gives us F dx =
= m dt d~x mv dv or, integrating both sides,
Zx 1 mv2 1 mv2
= md~v dx
~ x
F dx = 2 2 0
dt 0
Example: The Hill not jump o the surface or burrow into it, so the
motion is strictly tangential to the hill at every
Probably the most classic example of how the point.7 Meanwhile, a frictionless surface cannot,
Work and Energy law can be used is the by denition, exert any force parallel to the sur-
case of a ball rolling down a frictionless hill, pic- face; this is why the normal force N~ is called
tured schematically in Fig. 11.3. Now, Galileo a \normal" force | it is always normal [perpen-
dicular] to the surface. So N ~ ? d~x which
means that N~ d~x = 0 and the normal force
does no work ! This is an important general rule.
Only the gravitational force W ~ does any work
on the mass m, and since W ~ = m g y^ is a
constant downward vector [where we dene the
unit vector y^ as \up"], it is only the downward
component of d~x that produces any work at
all. That is, W~ d~x = m g dy, where dy is the
component of d~x directed upward.8 That is, no
matter what angle the hill makes with the ver-
tical at any position, at that position the work
done by gravity in raising the ball a dierential
height dy is given by dW = m g dy [notice
Figure 11.3 Sketch of a ball rolling down a fric- that gravity does negative work going uphill and
tionless hill. In position 1, the ball is at rest. It positive work going downhill] and the net work
is then given an innitesimal nudge and starts done in raising the ball a total distance y is
to roll down the hill, passing position 2 on the given by a rather easy integral:
way. At the bottom of the hill [position 3] it has Z
its maximum speed v3 , which is then dissipated W = m g dy = m g y
in rolling up the other side of the hill to position
4. Assuming that it stops on a slight slope at where y is the height that the ball is raised in
both ends, the ball will keep rolling back and the process. By our Law, this must be equal to
forth forever. the change in the kinetic energy T 12 mv2 so
that
1 mv2 1 mv2 = m g y: (10)
was fond of this example and could have given 2 2 0
us a calculation of the nal speed of the ball for This formula governs both uphill rolls, in which
the case of a straight-line path (i.e. the inclined y is positive and the ball slows down, and
plane); but he would have thrown up his hands downhill rolls in which y is negative and
at the picture shown in Fig. 11.3! Consider one the ball speeds up. For the example shown in
spot on the downward slope, say position 2: the Fig. 11.3 we start at the top with v0 = v1 =
FBD of the ball is drawn in the expanded view, 0 and roll down to position 3, dropping the
showing the two forces N ~ and W~ acting on 7
For now, I specically exclude cases where the ball gets
the mass m of the ball.6 Now, the ball does going so fast that it does get airborne at some places.
8
Alas, another unfortunate juxtaposition of symbols! We
It is unfortunate that the conventional symbol for the are using ~x to describe the dierential vector position
6
weight, W ~ , uses the same letter as the conventional symbol change and
d
force which disappears when the system in ques- the Work and Energy Law to calculate the
tion is in its \equilibrium position" x0 [which speed vmax in the third frame of Fig. 11.4: since
we will dene as the x = 0 position (x0 0) to v0 = 0,
make the calculations easier] but increases as
x moves away from equilibrium, in such a way 1 m v2 = 1 k x2 or vmax 2 = k x2
2 max 2 max m max
that the magnitude of the force F is pro-
portional to the displacement from equilibrium s
or vmax = m k jx j
[F is linear in x] and the direction of F is max
such as to try to restore x to the original po-
sition. The constant of proportionality is called where jxmaxj denotes the absolute value of
the spring constant, always written k. Thus xmax (i.e. its magnitude, always positive). Note
(using vector notation to account for the direc- that this is a relationship between the maximum
tionality) values of v and x, which occur at dierent
F~ = k ~x (11) times during the process.
which is the mathematical expression of the con-
cept of a linear restoring force. This is denitely Love as a Spring
one to remember.
Keeping in mind that the F~ given above is Few other paradigms in Physics are so easy to
the force exerted by the spring against anyone translate into \normal life" terms as the lin-
or anything trying to stretch or compress it. If ear restoring force. As a whimsical example,
you are that stretcher/compressor, the force you consider an intimate relationship between two
exert is F~ . If you do work on the spring 9 by lovers. In this case x can represent \emotional
stretching or compressing it10 by a dierential distance" | a dicult thing to quantify but an
displacement d~x from equilibrium, the dier- easy one to imagine. There is some equilibrium
ential amount of work done is given by distance x0 where at least one of the lovers
is most comfortable11 | this time, just to show
dW = F~ d~x = k ~x d~x = k x dx how it works, we will not choose x0 to be the
zero position of x but leave it in the equations
which we can integrate from x = 0 (the equi- explicitly. When circumstances (usually work)
librium position) to x (the nal position) to force a greater emotional distance for a while,
get the net work W : the lover experiences a sort of tension that pulls
Zx him or her back closer to the beloved. This is a
W = k x dx = 12 k x2 (12) perfect analogy to the linear restoring force:
0
Once you let go, the spring will do the same F = k (x x0 )
amount of work back against the only thing try- What few people seem to recognize is that this
ing to impede it | namely, the inertia of the \force," like any linear restoring force, is sym-
mass m attached to it. This can be used with metric: it works the same in both directions, too
9
It is important to keep careful track of who is doing work far apart and too close. When circumstances
on whom, especially in this case, because if you are careless permit a return to greater closeness, the lover
the minus signs start jumping around and multiplying like
cockroaches! rushes back to the beloved (guratively | we
10
It doesn't matter which | if you stretch it out you have are talking about emotional distance x here!)
to pull in the same direction as it moves, while if you compress
it you have to push in the direction of motion, so either way 11
Sadly, 0 is not always the same for both partners in the
x
the force and the displacement are in the same direction and relationship; this is a leading cause of tension in such cases.
you do positive work on the spring. [Doesn't this metaphor extend gracefully?]
10
in dWme = Fme dx, where the Wme is the work hill from above, the direction of the gradient
I do in exerting a force Fme \against the sys- r~ Vg is uphill, and the magnitude of the gradi-
tem" through a distance dx. Assuming that all ent is the slope of the hill at the position where
the work I do against the system is conserved the gradient is evaluated. The nice feature is
by the system in the form of its potential energy that r ~ Vg will automatically point \straight
V , then dV = dWme. On the other hand, the up the hill" | i.e. in the steepest direction.
force F exerted by the system [e.g. the force Thus r ~ Vg points \straight downhill" | i.e.
exerted by the spring] is the equal and opposite in the direction a marble will roll if it is released
reaction force to the force I exert: F = Fme. at that spot! There are lots of neat tricks we can
The law for conservative forces in one dimension play with the gradient operator, but for now I'll
is then leave it to digest.
F = dVdx (15)
That is, the force of (e.g.) the spring is minus Friction
the rate of change of the potential energy with
distance. What about not-so-conservative forces? In the
In three dimensions this has a little more com- real world a lot of energy gets dissipated through
plicated form, since V (~x) could in principle what is loosely known as friction. Nowhere will
vary with all three components of ~x: x; y and you nd an entirely satisfactory denition of
z. We can talk about the three components in- precisely what friction is, so I won't feel guilty
dependently, about using the cop-out and saying that it is the
cause of all work that does not \get stored up
Fx = @V @x ; F y = @V and F = @V
@y z @z
as potential energy." That is, when I do work
against frictional forces, it will not reappear as
where the notation @ is used to indicate deriva- kinetic energy when I \let go."
tives with respect to one variable of a function of
several variables [here V (x; y; z)] with the other Where does it go? We have already started get-
variables held xed. We call @V=@x the partial ting used to the notion that energy is conserved,
derivative of V with respect to x. In the same so it is disturbing to nd some work just be-
spirit that moved us to invent vector notation ing lost. Well, relax. The energy dissipated by
in the rst place [i.e. making the notation more work against friction is still around in the form
compact], we use the gradient operator of heat, which is something like disordered po-
tential and kinetic energy.14 We will talk more
r~ x^ @x@ + y^ @y@ + z^ @z@ (16) about heat a few chapters later.
to express the three equations above in one com-
pact form: Torque and Angular Momentum
F~ = r~ V (17)
The gradient is easy to visualize in two dimen- Finally we come to the formally trickiest trans-
sions: suppose you are standing on a real hill. formation of the Second Law, the one involv-
Since your height h z is actually propor- ing the vector product (or \cross product") of
tional to your gravitational potential energy Vg ,
it is perfectly consistent to view the actual hill
F~ with the distance ~r away from some ori-
as a graph of the function Vg (x; y) of East- 14
[Not quite, but you can visualize lots of little atoms wig-
gling and jiggling seemingly at random | that's heat, sort
West coordinate x and North-South coordi- of.]
nate y. In this picture, looking down on the
12
gin15 \O." Here goes: So what? Well, if we choose the origin cleverly
" # this \new" Law gives us some very nice gen-
~r d dtp~ = F~ gives ~r ddtp~ = ~r F~ eralizations. Consider for instance an example
which occurs very often in physics: the central
Now, the distributive law for derivatives applies force.
to cross products, so
d [~r p~] = d~r p~ + ~r dp~ Central Forces
dt dt dt
but Many [maybe even most] forces in nature are di-
d~r ~v and p~ m ~v rected toward [or away from] some \source" of
dt the force. An obvious example is Newton's Uni-
so d~r p~ = m (~v ~v) = 0 versal Law of Gravitation, but there are many
dt others evident, especially in elementary parti-
because the cross product of any vector with it- cle physics.17 We call these forces \central" be-
self is zero.16 Therefore cause if we regard the point toward [or away
from] which the force points as the centre (or
d [~r p~] = ~r F~ : origin O) of our coordinate system, from which
dt the position vector ~r is drawn, the cross prod-
If we dene two new entities, uct between ~r and F~ (which is along r^) is
always zero. That is,
~r p~ L~ O; (18)
the Angular Momentum about O \A central force produces no torque
about the centre; therefore the an-
and gular momentum about the centre
~r F~ ~ O ; (19) remains constant under a central
the Torque generated by F~ about O ; force."
then we can write the above result in the form
This is the famous Law of Conservation of
~O ~
dL Angular Momentum. Note the limitation on
dt = O (20)
its applicability.
This equation looks remarkably similar to the
Second Law. In fact, it is the rotational ana-
logue of the Second Law. It says that The Figure Skater
\The rate of change of the angular Again, so what? Well, there are numerous exam-
momentum of a body about the ori- ples of central forces in which angular momen-
gin O is equal to the torque gener- tum conservation is used to make sense of other-
ated by forces acting about O." wise counterintuitive phenomena. For instance,
consider the classic image of the gure skater do-
15
Note that everything we discuss in this case will be with ing a pirouette: she starts spinning with hands
reference to the chosen origin , which may be chosen arbi-
O
Kepler Again
A more formal example of the importance of
the Law of Conservation of Angular Momen-
tum under Central Forces is in its application
to Celestial Mechanics, where the gravitational
Figure 11.5 A contrived central-force problem. attraction of the Sun is certainly a classic cen-
The ball swings around (without friction, of tral force. If we always use the Sun as our origin
course) on the end of a string xed at the ori- O, neglecting the in
uence of other planets and
gin O. The central force in the string cannot moons, the orbits of the planets must obey Con-
generate any torque about O, so the angular servation of Angular Momentum about the Sun.
momentum LO = mvr about O must re- Suppose we draw a radius r from the Sun to
main constant. As the string is pulled in slowly, the planet in question, as in Fig. 11.6. The rate
the radius r gets shorter so the momentum
p = mv = mr! has to increase to compensate.
Rigid Bodies stu I will never use again in this course. I be-
lieve I will stop here and leave the ner points of
Despite the fact that all Earthly matter is com- Rotational Mechanics for later Physics courses!
posed mostly of empty space sprinkled lightly
with tiny bits of mass called atomic nuclei and
even tinier bits called electrons, the forces be- Rotational Analogies
tween these bits are often so enormous that they
hold the bits rigidly locked in a regular array It is, however, worth remembering that all the
called a solid. Within certain limits these arrays now-familiar [?] paradigms and equations of Me-
behave as if they were inseperable and perfectly chanics come in \rotational analogues:"
rigid. It is therefore of some practical impor-
tance to develop a body of understanding of the
behaviour of such rigid bodies under the in
u-
ence of external forces. This is where the equa- Linear Angular
tions governing rotation come in. Version Version Name