This Week

6/21 Lecture Chapter 3 6/22 Recitation Spelunk

Problems:

3.3, 3.29, 3.31

6/23 Lab Kinematics in 1-D 6/24 Lecture Chapter 4 6/25 Recitation Projectile Motion

Problems:

4.7, 4.18, 4.28, 4.59

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6/21/04

Chapter 3
Vectors

Vectors

Vectors have a magnitude and a direction

In 1 dimension we could specify direction with +/In 2 and 3 dimensions we need more

Columbus to Harrisburg 315 mi and 5o wrt East Columbus to Nashville 315 mi and 235o wrt East
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Notational Convention

How do we know when we are talking about a vector quantity?

Arrow Boldface Underline

A A A
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Representation of Vectors
Graphical Polar Cartesian

Magnitude Direction

x and y components

Use the representation most appropriate to the problem

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Adding Vectors (Graphically)

A+ B = C

Vectors are added Tail to Tip

A
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Trigonometry Review
p hy e us ten o

opposite side

adjacent side

Sin = opp/hyp Cos = adj/hyp Tan = opp/adj Mnemonic: Soh Cah Toa Note: radians = 180o
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Unit Vectors

Carry the direction information

x i y j kz

Unit magnitude
i =1

Dimensionless
velocity vector

v = vxi + v y j
x component of velocity vector unit vector in the x direction

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Converting from Polar to Cartesian

r

Given: Magnitude: r Direction:

rx = rx = r cos ry = ry = r sin

ry rx

x component of the vector y component of the vector

A = A Magnitude of A
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Converting from Cartesian to Polar

Given rx, ry: Pythagorean Theorem

r = rx + ry
2 2

r
r

ry rx

Geometry
ry tan = r x

Caution: Quadrant Ambiguity!

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Example:
Find the magnitude and direction of a vector given by: v = (vx ,vy) = (-5,-3) m/s
v = (5 ) + (3 ) = 5.8
m 2 s m 2 s 1 5 = tan = 59 3

m s

vy=-3m/s

vx=-5m/s

Note that is in the -x,-y quadrant, so

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= 59 +180 =239

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Example:
Given the following velocity, calculate the acceleration v = 5i gt j
dv x d ax = = (5) = 0 dt dt

d ay = = ( gt ) = g dt dt

dv y

a = axi + a y = g j j
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Vector Addition (Quantitative)

Given two vectors

A = Ax i + Ay j B = Bx i + B y j

Add the components to get the vector sum

A + B = ( Ax + Bx )i + ( Ay + B y ) j

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Vector Addition
We can verify this equation graphically
A + B = ( Ax + Bx )i + ( Ay + B y ) j
y

By

B
A

A +B
x

Ay Ax
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Bx
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Example:
Find the vector sum of the following:
A = 12m + 5m i j B = 2m 5m i j
C= A+B

= 12m + 5m + 2m 5m i j i j = (12m + 2m) + (5m 5m) i j = 14m i

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) (

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Scalar multiplication

Can multiply a vector by a scalar: cA = (cAx )i + (cAy ) j Example:

A = (3m)i (5m) j 3 A = (9m)i (15m) j

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Properties of Vectors
a +b = c
Addition Commutative Property Associative Property Distributive Property Distributive Property

a +b =b +a a +b +c = a + b +c

c a + b = ca + cb
(c + d )a = ca + da

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Properties of Vectors
Commutative Property Associative Property

A+ B = B + A
(A + B) + C = A + (B + C)
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Vector Properties
Multiplication by a scalar

If c is positive:
Just

changes the length of the vector

If c is negative:
Length

of vector changes Direction changes by 180

cA
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Dot or Scalar Product

A B = A B cos = Ax Bx + Ay B y + Az Bz

is the angle between the vectors if you put their tails together
B

A
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Recall that cos( ) = cos(- ), so A B = B A

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Dot Product: Physical Meaning

Measures how much one vector lies along another

B

A B = A B cos = A( B cos )
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= 0 A B = AB = 90 A B = 0

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Example:
Find the angle between vectors A and B:
A = (3 m) i + (2 m) j B = (3 m)i + (1 m) j
A B = A B cos A B = cos AB 1 A B = cos AB
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First, solve for :

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Solution:
A = (3m) 2 + (2m) 2 = 13 m B = (3m) 2 + (1m) 2 = 10 m

A B = (3m)(3m) + (2m)(1m) = 7 m 2

Plugging these into our equation for :

1 A B = cos AB 7 m2 = 128 = cos 13m 10 m
1
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Cross or Vector Product

Another way to multiply vectors
A B = ...

i det Ax Bx

j Ay By

k j Az = ( Ay Bz B y Az )i ( Ax Bz Bx Az ) Bz + ( Ax B y Bx Ay )k
A B = AB sin
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Magnitude only
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Example:
Find the cross product of A and B
A = (12 m) i + (23 m) + 0k j B = (31 m)i + (18 m) + 0k j

Only in the xy-plane

k i j A B = det 12 23 0 = (23 0 18 0)i 31 18 0 (12 0 (31) 0) j + (12 18 (31) 23)k = (929 m 2 )k

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Perpendicular to the xy-plane

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Right Hand Rule

Point your fingers in the direction of the first vector Curl them in the direction of the second vector Your thumb now points in the direction of the cross product Sanity check your answers!
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Multiplication of Unit Vectors

i i = 0 j i=k i = k j
= 0 j j k = i j j k = i

k k = 0 j k i = i k = j

i j
+

Can multiply by components, but it usually takes longer and is easier to make mistakes

Ax i + B y = Ax B y k j
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Properties of the Cross Product

Cross product normal to the surface of the plane created by A and B Antisymmetric A B = B A

http://physics.syr.edu/courses/java-suite/cross

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Properties of Vector Products

A B = B A (cA) B = c( A B ) = A (cB ) A ( B + C ) = ( A B) + ( A C ) ( A + B) C = ( A C ) + ( B C ) A ( B C ) = ( A B) C A ( B C ) = ( A C ) B ( A B )C
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Antisymmetry Multiplication by a scalar Distributive property Distributive property Triple Product Triple Product

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Vector Multiplication

Dot Product
result

Cross Product
result

is a scalar projection of one vector onto the other

A B = AB cos

is a vector resultant vector is perpendicular to both vectors A B = AB sin

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Where to Shoot?

a) Aim at target b) Aim ahead of target c) Aim behind target

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vc
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Where to Shoot?
If Vc=15 m/s, Va=50 m/s, what is ?
Va Vnet
Vnet = Vc + Va

vc

sin=Vc/Va =15/50=0.3 =17.5

Vnet

What is Vnet? Vnet = Va cos = 50 cos(17.5) = 47.7 m/s If the arena diameter is 60m, how long is arrow flight?

Va

vc

Radius is 30m, time of flight is: Ta=R/Vnet=(30 m)/(47.7 m/s)=0.63s 6/21/04

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Example (Problem 3.11)

A woman walks 250 m in the direction 30 east of north, then 175 m directly east. Find
a) b) c) d)

the magnitude of her final displacement, the angle of her final displacement, and the distance she walks. Which is greater, that distance or the magnitude of her displacement?

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Chapter 4
Motion in 2-D and 3-D

Chapter 4: 2D and 3D Motion

Ideas from 1D kinematics can be carried over into 2D and 3D. Our kinematic variables are now vectors.

r (t ), v (t ), a (t )

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Simplest Quantity: Position r(t)

Position of particle is specified by r(t) which is a vector depending on time Separate into components r(t)=x(t) + y(t)
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Displacement
In 1-D

d = x = x f xi
In 2-D

d = r = rf ri d = ( x f xi )i + ( y f yi ) j

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Velocity
Just like 1-D: Average Velocity
r vavg = t

Instantaneous Velocity r d r v = lim = t 0 t dt

x(t)

Direction is tangent to the path

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y(t)

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Velocity
(4m, 3m)

r v= t rx i + ry j = t rx ry = i+ j t t = vxi + v y j

(5m, 2m)

Example: Say an object moves from point 1 to point 2 in 1 s. Find the average velocity of the object:
(5m 4m) (2m 3m) v= i+ j 1s 1s = (1 m )i (1 m ) s s j
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Two 1-D Problems

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Acceleration
Just like 1-D: Average Acceleration
aavg
a

v = t

vi

vf

Instantaneous Acceleration v a = lim t 0 t

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Treat each dimension separately

In x-direction: x, vx = dx/dt, and ax = dvx/dt In y-direction: y, vy = dy/dt, and ay = dvy/dt In z-direction: z, vz = dz/dt, and az = dvz/dt Like three one-dimensional problems

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a and v Follow From r(t)

r (t ) = x(t )i + y (t ) + z (t )k j dr dx dy dz v= = i+ j+ k dt dt dt dt = vxi + v y + vz k j dv dv x dv y dv z a= = i+ j+ k dt dt dt dt = axi + a y + az k j
r a v

Note: r, a, and v dont have to point in the same direction!

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6/21/04

Example: (Problem 4.2)

The position vector for an electron is ^ ^ ^ r = (5.0 m)i (3.0 m)j (2.0 m)k
a) b)

Find the magnitude of r Sketch the vector on a right handed coord system

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Example: (Problem 4.9)

A particle moves so that its position (in meters) as a function of time (in seconds) is r = i + 4 t2 j + t k. Write expressions for
a) b)

its velocity as a function of time and its acceleration as a function of time.

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