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Derivative of a Vector:
Consider a vector A (t) which is a function of time. The derivative of A
with respect to time is defined as,
dA
A (t + t) A
A (t)
= lim = lim
dt t0 t t0 t
A vector has magnitude and direction, and it changes whenever either of
them changes. Therefore, the rate of change of a vector will be equal to
the sum of the changes due to magnitude and direction.
Rate of change due to the magnitude change:
When a vector only changes in magnitude from A to A
+dA, the rate of
is clearly parallel to the original vector A
change vector dA .
.A
dA +A
. dA
= 2A
. dA
=0
| = Ad = Adt
= |dA
dA
Hence, the magnitude of the vector derivative is
dA
| | = A
dt
dA
dA
dA
=( ) +( )
dt dt constant direction dt constant magnitude
dA
dA
=( )
+A
dt dt constant direction
Kinematics:
To track the motion of a particle P through space, we need a frame of
reference, consisting of a clock and a Cartesian coordinate system. The
clock keeps track of time t, and the xyz axes of the Cartesian coordinate
system are used to locate the spatial position of the particle. In
nonrelativistic mechanics, a single universal clock serves for all possible
Cartesian coordinate systems. So when we refer to a frame of reference,
we need to think only of the mutually orthogonal axes themselves.
Given a frame of reference, the position of the particle P at a time t is
defined by the position vector (t) extending from the origin O of the frame
out to P itself, as illustrated in Figure 1. The components of r(t) are just
the x, y, and z coordinates,
r = r = x2 + y 2 + z 2
In terms of the vector representations, one can use the definition of the
scalar product to show it can be calculated simply as the sum of the
products of like components.
3
r = xi ei
i=1
Where,
= ; = ; = = ; = ; =
Velocity Vector:
r = r (t + t) r (t)
The average velocity of the particle over this small increment of time is
r r (t + t) r (t)
Vaverage = =
t t
r dr (t)
= lim
V r
t0 t dt
is always tangent to the path.
V
r r (t + t) r (t)
= lim
V = lim
t0 t t0 t
We know that,
3
= V = V
V . V
V = x 12 + x 22 + x 32
Acceleration Vector:
dV
V d2r
a = lim =
t0 t dt dt 2
The acceleration of the particle in space is given as
dV
a= = rate of change of velocity
dt
dV1 (t)
dV dV2 (t) dV3 (t)
a(t) = = e1 + e2 + e3 = V1 e1 + V2 e2 + V3 e3
dt dt dt dt
Cartesian Coordinates:
(t) d
dA
= (A1 (t)e1 + A2 (t)e2 + A3 (t)e3 ) = A1 (t)e1 + A2 (t)e2 + A3 (t)e3
dt dt
That is, the components of the derivative vector are simply the derivatives
of the components. Thus, if we refer the position, velocity, and
acceleration vectors to a fixed Cartesian coordinate system, we have,
r (t) = x1(t)e 1 + x2 (t)e 2 + x3(t)e 3
Polar Coordinates:
= Vr er
V
= Vr er + V e
V
We also know that,
r = rer
dr
= r er + rer
dt
er = |er (t)|.
|er (t)| = 1
So
er = er =
Now,
er
=
t t
er
er = lim = lim e = e
t0 t t0 t
dr
= r er + re
dt
dr
= r er + re = Vr er + V e
=V
dt
d dr
dV
a = = ( ) = r er + r er + r e + re + re
dt dt dt
e = er
er = e
dV
a = = r er + r er + r e + re r2 er
dt
dV
= r er + r e + r e + re r2 er
dt
Example 1:
Velocity:
dr
= (3 + 8t)e1 + (1 + 6t2 )e2 + 28t3 . e3
dt
Putting t = 4 sec
dr
= (3 + 32)e1 + (1 + 96)e2 + (28 64)e3
dt
dr
= 35e1 + 97e2 + (28 64)e3
dt
dr
| | = V = 352 + 972 + (2864)2 = 111.47 m/s
dt
Acceleration:
d2 r
2
= 8e1 + 12te2 + 84t2 e3 = 8e1 + 48e2 + (8416)e3
dt
Example 2:
r = (2 + 3t)e1 + t e2 + 3t. e3
On differentiating r 2 , we get
dr
2r. = 2(2 + 3t)3 + 2t + 18t
dt
dr (2 + 3t)3 + 2t + 18t
Vr = = r =
dt r
Putting t = 1
15 + 1 + 9 25
Vr = r = =
35 35
We know that,
V = r
2
25
V = V 2 Vr2 = 35 ( ) = 111.389 m/s
35
Example 3:
dr
=
V = (16t + 7)e1 + 15t2 e2 + (1.2t3 + 4t)e3
dt
2
V = (16t + 7)2 + (15t2 )2 + ((1.2t3 + 4t))
dr
2r. = 256t3 + 98t + 150t5 + 7.2t7 + 16t3
dt
dr 256t3 + 98t + 150t5 + 7.2t7 + 16t3
=
dt 2(64t4 + 49t2 + 36 + 25t6 + 16 + 0.9t8 + 4t4 + 1)
dr 87272980
= = 4057.06 m/s
dt 2(10755.69)
=1
dr r r s
= lim = lim
dt t0 t t0 s t
et is the unit vector along V
Vr er + V e Vr
V V r r
et = = = er + e = er + e
V V V V V V
Acceleration:
d dr
dV
a = = ( )
dt dt dt
d ds d2 s ds de
a = ( et ) = 2 et +
dt dt dt dt dt
To evaluate ()
dr det det ds
et = = .
ds dt ds dt
det det
= V.
dt ds
det et
= lim
ds s0 s
|et| = |et | =
det det et
= V. = V. lim = V. lim en
dt ds s0 s s0 s
d2 s 1 ds 2
a = ( 2 ) et + ( ) en
dt dt
Tangential Normal
Acceleration Acceleration
Vr er + V e Vr
V V r r
et = = = er + e = er + e
V V V V V V
a = at et + an en
d2 s 1 ds 2
a = ( 2 ) et + ( ) en
dt R dt
So,
d2 s
at = ( 2 ) = s
dt
1 ds 2 V 2
an = ( ) =
R dt R
a = V
V aeb
= = =
Example 4:
The unit tangent vector et is found at once from the velocity vector,
e1 e2 e3
|90 125 70|
a
V
eb = = 16 125 30
V a V a
e1 e2 e3
en = |0.88409 0.0010104 0.46731|
0.39233 0.5449 0.74106
V2 V2
= =
an a . en
an = a . en = 86.287 ms 2
V2 V2 (229.4)2
= = = = 609.89 m
an a . en 86.287
r C = r + e n
.
Consider a point P on a rigid body with position vector A
= A1 e1 + A2 e2 + A3 e3
A
Where A1, A2 and A3 are the components of the position vector along
e1, e2 and e3 in the body reference frame e1e2e3. If the point P is
fixed then A1, A2 and A3 are fixed quantities. A1, A2 and A3 are scalar
quantities, which does not depend on frame of reference.
dA
dA
| = | +
A
dt E dt e
1 E2 E3 1 e2 e3
dA
| =0
dt e
1 e2 e3
dA
| =
A
dt E
1 E2 E3
dA
| = (1 e1 + 2 e2 + 3 e3 ) (A1 e1 + A2 e2 + A3 e3 )
dt E
1 E2 E3
e1 e2 e3
= |1
A 2 3 |
A1 A2 A3
= e1 (2 A3 3 A2 ) + e2 (3 A1 1 A3 ) + e3 (1 A2 2 A1 )
A
Alternate way:
dA d
| = (A e + A2 e2 + A3 e3 )
dt E dt 1 1
1 E2 E3
dA dA1 dA2 dA3 de1 de2 de3
| =( e1 + e2 + e3 ) + (A1 + A2 + A3 )
dt E dt dt dt dt dt dt
1 E2 E3
dA de1 de2 de3
| = (A1 + A2 + A3 )
dt E dt dt dt
1 E2 E3
e1 de1
lim = = lim = =
t0 t dt t0 t
de1
A1 = A1 (3 e2 2 e3 )
dt
de2
A2 = A2 (3 e1 + 1 e3 )
dt
de2
A3 = A3 (1 e2 + 2 e1 )
dt
dA
| = A1 (3 e2 2 e3 ) + A2 (3 e1 + 1 e3) + A3 (1 e2 + 2 e1 )
dt E
1 E2 E3
dA
| = e1 (2 A3 3 A2 ) + e2 (3 A1 1 A3 )
dt E
1 E2 E3
+ e3 (1 A2 2 A1 )
Relative Motion:
+
r = R
= 1 e1 + 2 e2 + 3 e3
of P is dr dt, we have
The absolute velocity V
dr
dR d d
|E = Vo |E + |
| = | + | V
dt E dt E dt E dt E
E + E = V
r E = R o + E
We can write,
| = | + +
=
| = + +
So
E + [e +
r E = R ]|E
d
E + [e +
r E = R ]|E
dt
d d
E + [e ]|E + [
r E = R ]|E
dt dt
]| = [
[ + + ]|
[ ]| =
+
| |
d d d d d
d
E + [ 1 e1 + 2 e2 + 3 e3 ]| +
r E = R | +
|
dt dt dt dt E dt E dt E
d d1 d2 d3
[ e1 + e2 + e ]|
dt dt dt dt 3 E
de1 de2 de3
= (1 e1 + 2 e2 + 3 e3 )|Ee + (1 + 2 + 3 )|
dt dt dt E
d
d
E + ae +
r E = R + | +
|
dt E dt E
Again,
| = | + +
=
So,
E + ae +
r E = R +
+
(e +
)
E + ae +
r E = R e +
V +
(e +
)
+
(
) = +
= +
( )
E + ae +
r E = R e +
V
+ (
Ve + )
E + ae + 2(
r E = R e ) +
V +
(
)
Where,
E and ae = Absolute and Relative Acceleration
R
2( e ) = Corioli s Acceleration
V
= Angular Acceleration
(
) = Centripetal Acceleration
Centripetal Acceleration:
(
Centripetal Acceleration = )
Therefore,
(
) = (
. ) 2 =
2
Take
= e3 and = e1
Example 5:
1 + 200E
r o = 100E 2 + 300E
3 ; V
o = 50E
1 + 30E
2 10E
3 ;
1 + 40E
ao = 15E 2 + 25E
3
1 0.4E
= 1.0E 2 + 0.6E
3 ; 1 + 0.3E
= 1.0E 2 0.4E
3
1 + 0.7428E
e1 = 0.5571E 2 + 0.3714E
3
1 + 0.4839E
e2 = 0.06331E 2 0.8728E
3
1 + 0.4627E
e3 = 0.8280E 2 + 0.3166E
3
1 100E
r = 300E 2 + 150E
3 ; V
= 70E
1 + 25E
2 20E
3 ;
1 8.5E
a = 7.5E 2 + 6.0E
3
1, E
Let us first solve for E 2 and E
3 in terms of e1, e2 and e3
]
[e] = [E][E
] = [E]T [e]
[E
1
E 0.5571 0.06331 0.8280 e1
2 ] = [0.7428
[E 0.4839 0.4627 ] [e2 ]
3
E 0.3714 0.8728 0.3166 e3
r = r r o
= R
1 100E
= (300E 2 + 150E
3 ) (100E
1 + 200E
2 + 300E
3 )
E + [e +
r E = R ]|E
E
e = r E R
1 + 25E
e = (70E 2 20E
3 ) (50E
1 + 30E
2 10E
3 )
1
E 2
E 3
E
= | 1.0 0.4
1 + 270E
0.6 | = 240E 2 220E
3
200 300 150
= +
To obtain the components of the relative velocity along the axes of the
moving frame,
E 2(
ae = r E R e )
V
(
)
1 8.5E
r E = 7.5E 2 + 6.0E
3
E = 15E
R 1 + 40E
2 + 25E
3
1
E 2
E 3
E
2( e ) = 2 | 1.0
V 1 564E
0.4 0.6 | = 162E 2 646E
3
120 275 210
1
E 2
E 3
E
= |1.0
0.3 1 230E
0.4 | = 165E 2 + 240E
3
200 300 150
(
1 + 364E
) = 74E 2 + 366E
3
1 + 381.5E
ae = 99.5E 2 + 21E
3