Theoretical Dynamics November 12, 2010

Homework 9
Instructor: Dr. Thomas Cohen Submitted by: Vivek Saxena

Goldstein 4.22
The colatitude1 , , is defined in the following figure taken from Wikipedia (http://en.wikipedia.
org/wiki/File:Spherical_Coordinates_(Colatitude,_Longitude).svg).

Figure 1: Definition of a point by colatitude, , longitude, , and radius, .

Suppose the projectile is launched horizontally2 , along the e direction, at point P. The angular
velocity of earths rotation is = z, and the projectiles initial velocity is v = v0 e . The Coriolis
acceleration is
acor = 2( v) (1)
= 2v0 z e (2)
o
= 2v0 sin(90 + )e (3)
= 2v0 cos e (4)
Since the acceleration is perpendicular to the initial velocity and points toward the right of the initial
trajectory (in the northern hemisphere), the angular deviation is to the right in the northern hemi-
sphere. In time t, the displacement due to the Coriolis acceleration (in the direction perpendicular
to the initial velocity) is
1
sper = (2v0 cos )(t)2 (5)
2
while the projectile covers a horizontal distance of
shor = v0 t (6)
1
In the Goldstein problem, and are interchanged.
2
On the surface of a sphere, a horizontal direction is one which has no radial component, i.e. it is of the form
c1 e + c2 e .

9-1
So the angular deviation in time t is
sper
= = cos t (7)
shor
So the rate of angular deviation is
cos (8)
which in Goldsteins notation for the colatitude, is cos , as required. This resulti s first order in
because we have dropped the second order term ( r) in computing the deflection.

Goldstein 4.24
Let (r, ) denote the polar coordinates of the bug at time t, where r is measured from the center of
the wheel. The bug slips when the frictional force just equals the radial force acting on it. The radial
force acting on the bug is
Fr = m(r r2 ) = mr2 (the bug crawls at constant speed) (9)
The tangential force on the bug is
F = m(r + 2r) = 2mr (the wheel rotates at constant angular speed) (10)
The static friction force has a maximum value given by
f = N (11)
where is the coefficient of static friction. If the bug crawls on the side of the spoke, the normal force
which enters this expression is equal to the tangential force F for the bug not to fall off the spoke. In
this case, slipping takes place when
(2mr) = mr2 (12)
or equivalently
2r 2 (0.30) (0.5cm/s)
r= = = 0.1 cm (13)
3.0 rad/s
But if the bug crawls on the top of the spoke, there are two normal reactions involved: the one that
balances the gravitational force due to the bugs mass, and the other which equals the tangential force.
In this case, the frictional force is modified to
q
f = m2 g 2 + F2 (14)

so that the condition for slipping becomes

q
2
mr = m g 2 + 4r2 2 (15)
whcih gives
q
p
g 2 + 4r2 2 0.3 (980 cm/s2 )2 + 4(0.5cm/s)2 (3.0 rad/s)2
r= = 32.66 cm (16)
2 (3.0 rad/s)2
This result is intuitively obvious: if the bug crawls along the top of the spoke instead of the side, it
can go much farther out before it starts to slip.

9-2
Goldstein 4.25
The net force on the ball due to the rotation of the carousel is

F = m(r r2 )er + m(r + 2r)e (17)

As the ball is to remain stationary in the radial direction, r = r = 0, so the force acting on the ball
6s after the carousel starts to move is

F = mr2 er + mre (18)

2 2 2
= (3.0 kg)(7.0 m)(0.02 2 rad/s 6s) er + (3.0 kg)(7.0 m)(0.02 2rad/s )e
= 11.938 N er + 2.638 N e (19)

This is the force that the girl must provide to keep the ball moving in the circular path. Thus,

F girl = 11.938 N er + 2.638 N e (20)

So, the girl must exert a force equal to 12.225 N directed at an angle given by
2.638
= tan1 = tan1 (0.2209) = 12.46o (21)
11.938
The direction of the force that the girl must provide is shown in the figure below. It should be directed

Figure 2: Figure for problem 4.25

at an angle of 12.46o measured clockwise from the line joining the ball to the center, or equivalently
at an angle of 167.54o measured counterclockwise from the radius vector of the ball.

9-3
Problem 1
Part (a)


sin cos 0
dRz
= cos sin 0 (22)
d
0 0 0

cos sin 0 0 1 0
= sin cos 0 1 0 0 (23)
0 0 1 0 0 0
| {z }| {z }

Mz
R z ()

= R z ()Mz (24)

= Mz R z (25)
The solution to this equation is


R z () = eMz (26)


where the multiplicative constant is fixed by the requirement that R z (0) = I, the 3 3 identity
matrix.

Part (b)

cos sin 0

tr( R z ()) = tr sin cos 0 (27)
0 0 1
= 2 cos + 1 (28)
so
1 1
cos = tr( R z ()) (29)
2 2

Problem 2
Part (a)



R n = R z () R y () (30)

cos sin 0 cos 0 sin
= sin cos 0 0 1 0 (31)
0 0 1 sin 0 cos
| {z }| {z }



R z () R y ()

cos cos sin sin cos
= cos sin cos sin sin (32)
sin 0 cos

9-4
So,

cos cos sin sin cos 0 1 0


R n M z R Tn = cos sin cos sin sin 1 0 0
sin 0 cos 0 0 0
| {z } | {z }



R n Mz

cos cos cos sin sin
sin cos 0 (33)
sin cos sin sin cos
| {z }

T
R n

0 cos sin sin
= cos 0 sin cos (34)
sin sin sin cos 0

Now,

0 cos 0

cos M z = cos 0 0 (35)
0 0 0

0 0 0

sin cos M x = 0 0 sin cos (36)
0 sin cos 0

0 0 sin sin

sin sin M y = 0 0 0 (37)
sin sin 0 0

So, from Eqs. (34-37),

R n M z R Tn = cos M z + sin cos M x sin sin M y (38)


= n M (39)


where n = (sin cos , sin sin , cos )T and M = (Mx , My , Mz ).

Note: The minus sign appearing in equation (38) is simply due to the sign convention adopted


for R z () in equation (31). If we instead took

cos sin 0

R z () = sin cos 0 (40)
0 0 1

which corresponds to a clockwise rotation about the z-axis through an angle in the x y plane, then
we would get



R n M z R Tn = cos M z + sin cos M x + sin sin M y = n M (41)

9-5
with n = (sin cos , sin sin , cos )T . Therefore,

n M = R n M z R Tn (42)

as required to be proved.

Part (b)



As R n is an orthogonal matrix, R n R Tn = 1. Therefore,
!


X ( M z )k
T
R n exp ( M z ) R Tn = R n R n (43)
k!
k=0


X()k T T
= ( R n M z R n ) . . . ( R n M z R n ) (44)
k! | {z }
k=0
k times

X ()k h ik
= n M (using Eqn. (42)) (45)
k!
k=0

X 1 h ik

= n M (46)
k!
k=0


= exp (n M ) (47)

Therefore,

 
R = R n exp ( M z ) R Tn (48)

Part (c)
From the result of problem 1,

cos sin 0

exp ( M z ) = sin cos 0 (49)
0 0 1

and from equation (32) in part (a) of this problem,

cos cos sin sin cos

R n = cos sin cos sin sin (50)
sin 0 cos

9-6
Substituting into equation (48) we get

cos cos sin sin cos cos sin 0

R = cos sin cos sin sin sin cos 0
sin 0 cos 0 0 1
| {z } | {z }


R n exp ( M z )

cos cos cos sin sin
sin cos 0 (51)
sin cos sin sin cos
| {z }

T
R n

That is,
  h i2 !
cos2 cos2 cos + sin2 + cos sin2 sin2 sin[2] sin
2
+ cos sin sin ( cos cos (1 + cos ) + sin sin )

=
h i2  
2
R
sin sin[2] sin 2 cos sin cos cos + cos cos + sin2 sin2
2 2
sin (cos (1 + cos ) sin + cos sin )
sin (cos cos (1 + cos ) + sin sin ) sin (cos (1 + cos ) sin cos sin ) cos2 + cos sin2

Problem 3
Part (a)


Using the explicit form of R derived above, via Mathematica3 , we find that

sin cos sin cos


R sin sin = sin sin (52)
cos cos cos cos
| {z }
n

So, n is an eigenvector4 of R with eigenvalue +1.

Part (b)
Using Mathematica, we find that

tr( R ) = 1 + 2 cos (53)
so that
1 1
cos = tr( R ) (54)
2 2
3
Please refer to the file, problem3.nb, containing calculations for this part.
4
A similar statement holds for the alternate form of n mentioned on page 5, corresponding to the alternate sign
convention for .

9-7
Problem 4


Using the results of the previous parts, R corresponds to a rotation about an angle such that
1 1
cos = tr( R ) (55)
2 2


and the axis of rotation is the eigenvector of R which has an eigenvalue +1.

Using Mathematica5 , we find

3 3
18 8
3
4
3

R = 83 58 4
3
(56)
3
4 43 1
2

So, tr(R) = 1/4. The eigenvalues are

1 
1 = 5 + i 39 (57)
8
1 
2 = 5 i 39 (58)
8
3 = 1 (59)

The matrix of eigenvectors is

32
2
3 2
3
V = i 213 i 13
2 0 (60)
1 1 1
The normalized eigenvector corresponding to the eigenvalue +1 corresponds to the axis of rotation, n,
and is given by
2/ 13
n = 0

(61)
3/ 13
The angle of rotation is given by the solution to
5
cos = (62)
8
which is about 129o .

5
Please refer to the file, problem4.nb.

9-8
In[146]:= Clear@"Global`*"D;

In[147]:= Mz = 880, - 1, 0<, 81, 0, 0<, 80, 0, 0<<;

In[148]:= Rz@x_D = 88Cos@xD, Sin@xD, 0<, 8- Sin@xD, Cos@xD, 0<, 80, 0, 1<<;

In[149]:= Ry@x_D = 88Cos@xD, 0, Sin@xD<, 80, 1, 0<, 8- Sin@xD, 0, Cos@xD<<;

In[150]:= Rn = Rz@D.Ry@D;

In[151]:= Rn MatrixForm FullSimplify

Out[151]//MatrixForm=
Cos@D Cos@D Sin@D Cos@D Sin@D
- Cos@D Sin@D Cos@D - Sin@D Sin@D
- Sin@D 0 Cos@D

In[152]:= R = Rn.MatrixExp@- F * MzD.Transpose@RnD;

In[153]:= R MatrixForm FullSimplify

Out[153]//MatrixForm=
2
Cos@D2 ICos@D2 Cos@FD + Sin@D2 M + Cos@FD Sin@D2 - Sin@D2 Sin@2 D SinA E + Cos@D Sin
F
2
2
- Sin@D2 Sin@2 D SinA E - Cos@D Sin@FD Cos@D2 Cos@FD + ICos@D2 Cos@FD + Sin@D2
F
2
- Sin@D HCos@D Cos@D H- 1 + Cos@FDL + Sin@D Sin@FDL Sin@D HCos@D H- 1 + Cos@FDL Sin@D - Cos@

In[154]:= n = 88Sin@D Cos@D<, 8- Sin@D Sin@D<, 8Cos@D<<

Out[154]= 88Cos@D Sin@D<, 8- Sin@D Sin@D<, 8Cos@D<<

In[155]:= R.n MatrixForm Simplify

Out[155]//MatrixForm=
Cos@D Sin@D
- Sin@D Sin@D
Cos@D

In[156]:= %n

Out[156]= True

In[157]:= Tr@RD FullSimplify

Out[157]= 1 + 2 Cos@FD
In[123]:= Clear@"Global`*"D;

In[124]:= Rx@x_D = 881, 0, 0<, 80, Cos@xD, Sin@xD<, 80, - Sin@xD, Cos@xD<<;

In[125]:= Rz@x_D = 88Cos@xD, Sin@xD, 0<, 8- Sin@xD, Cos@xD, 0<, 80, 0, 1<<;

In[126]:= Rx@D MatrixForm

Out[126]//MatrixForm=
1 0 0
0 Cos@D Sin@D
0 - Sin@D Cos@D

In[127]:= Rz@D MatrixForm

Out[127]//MatrixForm=
Cos@D Sin@D 0
- Sin@D Cos@D 0
0 0 1

In[128]:= R = Rz@ 3D.Rx@ 3D.Rz@ 3D;

In[129]:= R MatrixForm
Out[129]//MatrixForm=

1 3 3 3
-
8 8 4

3 3 5 3
- -
8 8 4

3 3 1
-
4 4 2

In[130]:= Tr@RD

1
Out[130]= -
4

In[136]:= sol = Solve@2 * Cos@D + 1 Tr@RD, D

Solve::ifun :
Inverse functions are being used by Solve, so some solutions may not be
found; use Reduce for complete solution information.
5 5
Out[136]= :: - ArcCosB- F>, : ArcCosB- F>>
8 8

In[145]:= N@sol@@2DD@@1DD@@2DD, 3D * 180

Out[145]= 129.

In[133]:= Eigenvalues@RD

1 1
Out[133]= : J- 5 + 39 N, J- 5 - 39 N, 1>
8 8

In[134]:= Eigenvectors@RD ColumnForm

13 3 +3 13
:- , -
3
Out[134]= , 1>
2
2 -3 + 39

-13 3 +3 13
:- , -
3
, 1>
2
2 3 + 39

: , 0, 1>
2
3
2 problem4.nb

In[135]:= Transpose@Eigenvectors@RDD MatrixForm FullSimplify

Out[135]//MatrixForm=
3 3 2
- -
2 2 3

13 13
- 0
2 2
1 1 1