Classical Mechanics P601

Homework 1

1. Show that any improper orthogonal transformation is a product of a proper or-

thogonal transformation and a matrix K for improper orthogonal transformation such
that K 2 = I. Also, show that cross product of two polar vectors or two pseudo-vectors
is a pseudo-vector while cross product of a pseudo-vector and a polar vector is a polar
vector.
2. Show that distance between two points is not invariant under general Galilean
transformation.
3. Starting with expression, L~ = P ~rA × p~A for angular momentum, derive moment
A
of inertia tensor for a system of particles (Here sum over A corresponds to sum over
various particles in the system). Similarly, using expression for Kinetic energy of a rigid
body as sum over particles, write Kinetic energy in terms of angular velocity and inertia
tensor.
3. Show that for rotation operator R(t), operator W defined as dR(t) dt
RT is antisym-
metric and write it in terms of dual vector (angular velocity). Show that angular velocity
transforms
 as a pseudo-vector.
 The rotation matrix R(t) for a rotation about z-axis is
cos ωt sin ωt 0
 − sin ωt cos ωt 0  . Find W (t) and hence angular velocity.
0 0 1
4. Consider two coordinate systems, one inertial and one rotating at a constant rate
about the inertial z axis. If yj are coordinates in rotating frame and xi are coordinates
in inertial frame then they are related by xi = Rij (t)yj where Rij are matrix elements of
matrix R(t) mentioned in previous problem. If the particle is a free particle in inertial
frame, find the acceleration in rotating frame. Compare with centrifugal and coriolis
forces discussed in class.
5. Consider Lorentz force law for a particle in a combined electric and magnetic
field. Transform to a rotating frame. Show that one can eliminate magnetic force by
choosing a suitable angular velocity for the rotating frame. One only has electric force
and centrifugal force (which can usually be neglected for most particles).
6. Consider a person moving on a rotating turntable (with constant angular velocity
ω). Find the centrifugal and coriolis forces for (a) Radial motion with constant veloc-
ity(with respect to the table) (b) Tangential velocity (at a fixed r ). Describe the motion
in each case with respect to an inertial frame also.
7. A Cartesian tensor Tij has components T11 = 1; T12 = 2; T22 = T33 = 3 and all
other components zero. Find it’s components after 30 degree rotation about y-axis.
8. Show that angular velocity is a pseudovector (starting from the fact that Wij is an
antisymmetric tensor of rank 2.