Documente Academic
Documente Profesional
Documente Cultură
• Your experience of differentiation and integration has extended as far as scalar functions of single and multiple
variables
d ∂
f (x) and f (x, y , t)
dx ∂x
• No surprise that we often wish to differentiate vector functions.
• For example, suppose you were driving along a wiggly road with
position r(t) at time t.
• Differentiating r(t) should give velocity v(t).
• Differentiating v(t) should yield acceleration a(t).
r
• Differentiating a(t) should yield the jerk j(t).
o
Differentiation of a vector 3.2
Differentiation of a vector 3.3
• By analogy with the definition for a scalar function, the derivative of a vector function a(p) of a single parameter
p is
da a(p + δp) − a(p)
(p) = lim .
dp δp→0 δp
• If we write a in terms of components relative to a FIXED coordinate system (ı̂,̂, k̂ constant)
a(p) = a1(p)ı̂ + a2(p)̂ + a3(p)k̂
then
da da1 da2 da3
(p) = ı̂ + ̂ + k̂ .
dp dp dp dp
d da db
(a · b) = ·b+a· .
dp dp dp
• NB! (obvious really): da/dp has
– a different direction from a
– a different magnitude from a.
Position, velocity and acceleration 3.5
• Suppose r(t) is the position vector of an object moving w.r.t. the orgin.
r(t) = x(t)ı̂ + y (t)̂ + z (t)k̂
• The position of vehicle is given by r(u) where u is amount of fuel used by time t, so that u = u(t).
• Its velocity must be
dr dr du
=
dt du dt
• Its acceleration is 2
d 2r d 2r du dr d 2u
= +
dt 2 du 2 dt du dt 2
♣ Example: direction of the derivative 3.8
Question
3D vector a has constant magnitude, but is varying over time.
What can you say about the direction of da/dt?
Answer
Using intuition: if only the direction is changing, then the vector must be tracing out points on the surface of a sphere.
So da/dt is orthogonal to a???
To prove this write
d da da da
(a · a) = a · + · a = 2a · .
dt dt dt dt
But (a · a) = a2 = const.
So
d da
(a · a) = 0 ⇒ 2a · = 0 (QED)
dt dt
Integration of a vector function 3.9
• As with scalars, integration of a vector function of a single scalar variable is the reverse of differentiation.
• In other words p2
da(p)
Z
dp = a(p2 ) − a(p1 )
p1 dp
• However, other types of integral are possible, especially when the vector is a function of more than one variable.
• This requires the introduction of the concepts of scalar and vector fields.
See lecture 4!
Geometrical interpretation of derivatives 3.10
δr
• Position vector r(p) traces a space curve.
• Vector δr is a secant to the curve
δr/δp lies in the same direction as δr(p) r (p)
• Take limit as δp → 0
r (p + δ p)
dr/dp is a tangent to the space curve
• Nothing special about the parameter p – may be various ways of parametrizing a particular curve.
• Consider helix aligned with z -axis. Could parametrize by for example:
z , the “height” up the helix, or
s, the “length” along the curve
Geometrical interpretation of derivatives /ctd 3.11
and
dr/ds is a unit tangent to r at s
• For s arc-length and p some other parametrization, we have
dr dr ds
=
dp ds dp
and
dr
= dr ds = ds
dp ds dp dp
Geometrical interpretation of derivatives /ctd 3.12
δr δr
r (s) r (t)
r (s + δ s) r (t + δ t)
dr
ds
1 dr ds
SPEED
dt dt
♣ Example 3.13
s s hs
r = a cos( √ 2 )ı̂ + a sin( √ )̂ + √ k̂
a + h2 a2 + h2 a2 + h2
Show that the tangent dr/ds to the curve has a constant elevation angle w.r.t the xy -plane, and determine its
magnitude.
Answer
dr a a h
= −√ 2 sin ()ı̂ + √ cos ()̂ + √ k̂
ds a + h2 a2 + h2 a2 + h2
z Length
2 2
√ dr h/ a + h
Projection on the xy plane has √ magnitude a/ a2 + h2
Projection in the z direction h/ a2 + h2 ds
So the elevation angle is tan−1 (h/a), a constant.
We are expecting |dr/ds| = 1, and indeed it is!
x y
2 2
Length a/ a + h
Why can’t we say any old parameter is arc length? 3.15
O r (s)
Curves in 3D 3.18
3. The Binormal b̂
The third member of a local r-h set is the binormal, b̂ = t̂ × n̂ .
Deriving the Frénet-Serret relationships 3.20
d b̂ d t̂ d b̂
· t̂ + b̂ · = · t̂ + b̂ · κn̂ = 0
ds ds ds
from which
d b̂
· t̂ = 0.
ds
• This means that d b̂/ds is along the direction of n̂:
d b̂
= −τ (s)n̂(s)
ds
where τ is the space curve’s torsion.
Deriving the Frénet-Serret relationships 3.21
• Differentiating n̂ · t̂ = 0:
(d n̂/ds) · t̂ + n̂ · (d t̂/ds) = 0
(d n̂/ds) · t̂ + n̂ · κn̂ = 0
(d n̂/ds) · t̂ = −κ
• HENCE
d n̂
= −κ(s)t̂(s) + τ (s)b̂(s).
ds
Summary of the Frénet-Serret relationships 3.22
• They describe by how much the intrinsic coordinate system changes orientation as we move along a space curve.
♣ Example 3.23
• Hence
2 2
κn̂ = d t̂/ds = − a/β C, − a/β S, 0
• The curvature must be positive, so
2
κ = a/β n̂ = [−C, − S, 0] .
• Recall
t̂ = [− (a/β) S, (a/β) C, (h/β)] n̂ = [−C, − S, 0] .
• So the binormal is
ı̂ ̂ k̂
h h a
b̂ = t̂ × n̂ = (−a/β)S (a/β)C (h/β) = S, − C,
β β β
−C −S 0
• Hence
d b̂/ds = h/β 2 C, h/β 2 S, 0 = −h/β 2 n̂
• So the torsion
τ = h/β 2
again a constant.
Derivative (eg velocity) components in plane polars 3.25
• Note that
dêr dθ dêθ d dθ
= êθ = (− sin θı̂ + cos θ̂) = − êr
dt dt dt dt dt
Acceleration components in plane polars 3.28
• Recap ...
dr dθ dêr dθ dêθ dθ
ṙ = êr + r êθ ; = êθ ; = − êr
dt dt dt dt dt dt
• Differentiating ṙ gives the accel. of P
d 2r dr dθ dr dθ d 2θ dθ dθ
r̈ = êr + êθ + êθ + r êθ − r êr
dt 2 dt dt dt dt dt 2 dt dt
" 2 #
2
d 2θ
d r dθ dr dθ
= −r êr + 2 + r 2 êθ
dt 2 dt dt dt dt
Acceleration components in plane polars 3.29
ω
• Body rotates with constant ω about axis passing
through the body origin.
Assume the body origin is fixed. ρ
We observe from a fixed coord system Oxy z .
• If ρ is a vector of constant mag and constant direction in the rotating system, then in the fixed system it must be
a function of t.
dr
r(t) = R(t)ρ ⇒ = Ṙρ = ṘR⊤r
dt
* dr/dt will have fixed magnitude;
* dr/dt will always be perpendicular to the axis of rotation;
* dr/dt will vary in direction within those constraints;
* r(t) will move in a plane in the fixed system.
Rotating systems 3.32
• Now ρ is the position vector of a point P in the rotating body, but which is moving too, with respect to the rotating
system
r(t) = R(t)ρ(t)
P at t+ δ t
• Differentiating with respect to time: δρ δr
dr ω
= Ṙρ + Rρ̇ = ṘR⊤ r + Rρ̇ P at t
dt
• The instantaneous velocity of P in the fixed frame (ω r) δ t
is
dr
= Rρ̇ + ω × r r= ρ at t
dt
Q Find the instantaneous acceleration as observed in a fixed frame of a projectile fired along a line of longitude (with
angular velocity of γ constant relative to the sphere) if the sphere is rotating with angular velocity ω.
A In the rotating frame γt ω = ω m̂
ρ̇ = γ × ρ r
ρ̈ = γ × ρ̇ m̂
= γ × (γ × ρ)
In fixed frame, instantaneous acceleration: ℓ̂
r̈ = γ × (γ × r) + 2ω × (γ × r) + ω × (ω × r) n̂ γ = γ ℓ̂
In rotating frm + Coriolis + Centripetal
♣ Example /ctd 3.37
Repeated: r̈ = γ × (γ × r) + 2ω × (γ × r) + ω × (ω × r)
γt ω = ω m̂
Recap:
γt ω = ω m̂
• Accel in rotating frame −γ 2r
• Centripetal due to sphere rotating −ω 2R sin(γt)n̂
• Coriolis acceleration: 2ωγR cos(γt)l̂
r
m̂
2
−ω R sin(γt)n̂
ℓ̂
2ωγR cos(γt)l̂ n̂ γ = γ ℓ̂
−γ 2 r
r
♣ Example /ctd 3.39
• Because of the rotation of the earth, the Coriolis acceleration is of great importance in meteorology
♣ Coriolis acceleration 3.41
Summary 3.42