PH 101: PHYSICS 1 Lecture 04 [1]

Lecture 04

Coordinate systems
Continue…
PH 101: PHYSICS 1 Lecture 04 [2]

Unit vectors Spherical coordinate & Partial derivatives

Unit vectors in spherical 𝑟Ƹ = 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො + cos 𝜃 𝑧Ƹ
polar coordinate are 𝜃መ = 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො − sin 𝜃 𝑧Ƹ
function of 𝜽 and 𝝋 only. 𝜑ො = − 𝑠𝑖𝑛 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜑 𝑦ො
Z
𝝏ො𝒓 𝜕 𝑟Ƹ 𝜕 𝑟Ƹ 𝑟Ƹ
=𝟎 = 𝜃መ = 𝑠𝑖𝑛 𝜃 𝜑ො
𝝏𝒓 𝜕𝜃 𝜕𝜑
𝜃 90 − 𝜃
෡
𝝏𝜽 𝜕𝜃መ 𝜕𝜃መ 𝜃
𝜃መ
=𝟎 = −𝑟Ƹ = 𝑐𝑜𝑠 𝜃 𝜑ො
𝝏𝒓 𝜕𝜃 𝜕𝜑 A line in XY plane at
angle 𝜑 with x-axis

𝝏ෝ
𝝋 𝜕𝜑ො 𝜕𝜑ො
=𝟎
𝜕𝜃
=0 = − 𝑟Ƹ sin 𝜃 + 𝜃መ cos 𝜃
𝝏𝒓 𝜕𝜑
PH 101: PHYSICS 1 Lecture 04 [3]

Velocity in Spherical coordinate

𝑟Ƹ = 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො + cos 𝜃 𝑧Ƹ
𝑑 𝑟Ԧ 𝑑
𝑣Ԧ = = 𝑟𝑟Ƹ 𝜃መ = 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜑 𝑦ො − sin 𝜃 𝑧Ƹ
𝑑𝑡 𝑑𝑡
𝜑ො = − 𝑠𝑖𝑛 𝜑 𝑥ො + 𝑐𝑜𝑠 𝜑 𝑦ො
𝑑𝑟 𝑑 𝑟Ƹ
= 𝑟Ƹ + 𝑟 𝜕𝑟Ƹ 𝜕𝑟Ƹ
𝑑𝑡 𝑑𝑡 = 𝜃መ = 𝑠𝑖𝑛 𝜃 𝜑ො
𝜕𝜃 𝜕𝜑
𝜕𝑟Ƹ 𝑑𝜃 𝜕𝑟Ƹ 𝑑𝜑
= 𝑟ሶ 𝑟Ƹ + 𝑟 + Chain rule
𝜕𝜃 𝑑𝑡 𝜕𝜑 𝑑𝑡

𝑣Ԧ = 𝑟ሶ 𝑟Ƹ + 𝑟 𝜃ሶ 𝜃መ + sin 𝜃𝜑ሶ 𝜑ො

ሶ 𝒓 + 𝒓𝜽ሶ 𝜽
𝒗 = 𝒓ො ෡ + 𝒓 𝐬𝐢𝐧 𝜽𝝋ሶ 𝝋
ෝ
You need to try this out?
Can you obtain Acceleration??
𝑎Ԧ
= 𝑟ሷ − 𝑟𝜃ሶ 2 − 𝑟𝜑ሶ 2 𝑠𝑖𝑛2 𝜃 𝑟Ƹ + (𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ
− 𝑟𝜑ሶ 2 sin 𝜃 cos 𝜃)𝜃መ + 𝑟𝜑ሷ sin 𝜃 + 2𝑟𝜃ሶ 𝜑ሶ cos 𝜃 + 2𝑟ሶ 𝜑ሶ sin 𝜃 𝜑ො
PH 101: PHYSICS 1 Lecture 04 [4]

Velocity in Spherical coordinate

𝑎Ԧ
= 𝑟ሷ − 𝑟𝜃ሶ 2 − 𝑟𝜑ሶ 2 sin2 𝜃 𝑟Ƹ + (𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ
− 𝑟𝜑ሶ 2 sin 𝜃 cos 𝜃)𝜃መ + 𝑟𝜑ሷ sin 𝜃 + 2𝑟𝜃ሶ 𝜑ሶ cos 𝜃 + 2𝑟ሶ 𝜑ሶ sin 𝜃 𝜑ො

𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 − 𝑟sin𝜃𝜑ሶ 2 sin𝜃 Z

𝑟Ƹ
Centripetal part due to angular motion Centripetal part due to angular
in a plane containing Z- axis motion in xy plane
𝜃 90 − 𝜃
𝜃 A line in XY plane
𝑎𝜃 = (𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ − 𝑟sin𝜃𝜑ሶ 2 cos𝜃) መ
𝜃 at angle 𝜑 with x-
axis
Coriolis part due to angular motion Centripetal part due to angular
in a plane containing Z- axis motion in xy plane

ሶ
𝑎 φ = 𝑟𝜑ሷ sin 𝜃 + 2𝑟𝜃𝑐𝑜𝑠θ 𝜑ሶ + 2𝑟𝑠𝑖𝑛θ
ሶ 𝜑ሶ

Coriolis part due to angular

motion in the xy plane
 Lecture 04
PH 101: PHYSICS 1 [5]

Elementary vector element 𝒅𝒓 in spherical polar

𝒁

𝒓 𝐬𝐢𝐧 𝜽 ෝ
𝒓 𝐬𝐢𝐧 𝜽 𝑑𝝋 𝝋
𝒅𝒓ො𝒓 ෡
𝒓𝑑𝜽𝜽
ෝ
𝒓 𝐬𝐢𝐧 𝜽 𝑑𝝋 𝝋 𝒅𝝋
(𝒓, 𝜽, 𝝋)
𝒅𝒓
𝜽 𝒓 𝒓 + 𝒅𝒓
෡
𝒓𝑑𝜽𝜽
𝑑𝜽 𝒀
𝝋

෡ + 𝑟 𝑠𝑖𝑛 𝜃 𝑑𝜑 𝝋
𝒅𝒓 = 𝑑𝑟ො𝒓 + 𝑟𝑑𝜃𝜽 ෝ
PH 101: PHYSICS 1 Lecture 04 [6]

Velocity from expression of element 𝒅𝒓

𝒁

Elementary
displacement ෝ
𝒓 𝐬𝐢𝐧 𝜽 𝒅𝝋 𝝋
in arbitrary 𝒅𝒓ො𝒓
direction 𝒅𝒓 in 𝒅𝒓
dt 𝜽
𝒓 ෡
𝒓𝒅𝜽𝜽
𝒀
𝝋
𝑿

෡ + 𝑟 𝑠𝑖𝑛 𝜃 𝑑𝜑 𝝋
𝒅𝒓 = 𝑑𝑟ො𝒓 + 𝑟𝑑𝜃 𝜽 ෝ
𝑑 𝑟Ԧ 𝑑𝑟 𝑑𝜃 𝑑𝜑
𝑣Ԧ = = 𝑟Ƹ + 𝑟 𝜃෠ + 𝑟 𝑠𝑖𝑛 𝜃 𝜑ො
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
ሶ 𝒓 + 𝒓𝜽ሶ 𝜽
𝒗 = 𝒓ො ෡ + 𝒓 𝐬𝐢𝐧 𝜽𝝋ሶ 𝝋ෝ
PH 101: PHYSICS 1 Lecture 04 [7]

Use of spherical polar coordinates

Particle is constrained to move
on the surface of a sphere
𝒁
➢ If you use Cartesian system (𝑥, 𝑦, 𝑧),
then all the three coordinates will
change, thus you need to consider
three variables to describe the motion
of the particle.

➢ If you use Cylindrical coordinate

𝜽 system (𝑟, 𝜃, 𝑧), all three will change
𝒓
during general motion of particle.
𝒀

➢ If you use (𝑟,𝜃,𝜑) coordinate, then

𝑟 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝑟ሶ = 0.
𝑿
➢ You need to consider the change of
two coordinates (𝜃, 𝜑) to describe the
motion.
PH 101: PHYSICS 1 Lecture 04 [8]

Use of spherical polar coordinates

A particle is moving on the
inner surface of a hollow cone
𝒁
➢ If you use Cartesian system (𝑥, 𝑦, 𝑧),
then all the three coordinates will
change, thus you need to consider
three variables to describe the motion
of the particle.

➢ If you use Cylindrical coordinate

system (𝑟, 𝜃, 𝑧), all three will change
during general motion of particle
𝜽 over this cone.

𝒀 A cone about 𝑧 = axis with 𝜽 =

Constant. Two variables ( 𝑟, 𝜑 ) are
enough to describe the motion of the
particle at any instant.
𝑿
PH 101: PHYSICS 1 Lecture 04 [9]

Use of cylindrical coordinates

A particle is moving on the ➢ If you use Cartesian system (𝑥, 𝑦, 𝑧),
helix then all the three coordinates will
change, thus you need to consider
three variables to describe the motion
Helix of the particle.

➢ If you use spherical coordinate

system (𝑟, 𝜃,𝜑), all three will change
during general motion of particle
over this cone.

A helix along 𝑧 = axis with 𝒓 =

Constant. Two variables ( 𝜃, 𝑧 ) are
enough to describe the motion of the
particle at any instant.
PH 101: PHYSICS 1 Lecture 04 [10]

DONE

Well, We are done with the

necessary mathematical concepts!

Ok, Now in to Physics!

PH 101: PHYSICS 1 Lecture 04 [11]

WORK
Elementary work done when a particle
moves in 1D from 𝑥 to 𝑥 + 𝑑𝑥

𝒅𝑾 = 𝑭𝒙 𝒅𝒙

Geometrically it is the shaded area as 𝐹𝑥

shown.

Total work done by the force when a 𝒙𝟏 𝒙 𝒙 + 𝒅𝒙 𝒙𝟐

particle moves from x1 to x2.
𝒙𝟐
𝑾 = න 𝑭𝒙 𝒅𝒙
𝒙𝟏

Geometrically it is the area between the curve and the 𝑥 axis.

PH 101: PHYSICS 1 Lecture 04 [12]

WORK and POTENTIAL ENERGY

𝒅𝑼 → Change in potential energy of a particle due to displacement 𝑑𝑥 under the
force 𝐹𝑥

 𝑭𝒙 𝒅𝒙 → Work done on the particle by external force 𝑭𝒙 .

 Thus, work done by the particle = −𝑭𝒙 𝒅𝒙

Work done by the particle = Change in its potential energy

(if no energy is lost by dissipation like heat, sound, etc.)
−𝑭𝒙 𝒅𝒙 = 𝒅𝑼

Rule of partial differential

𝑑𝑈
𝑑𝑈 = 𝑑𝑥
𝑑𝑥
Conversely if force is derivable from scalar
Thus potential (known as conservative force) then
𝒅𝑼 Work by the particle = Change in its
𝑭𝒙 = − potential energy
𝒅𝒙
PH 101: PHYSICS 1 Lecture 04 [13]

WORK and POTENTIAL ENERGY

An example: Harmonic potential energy
𝑈(𝑥)
Harmonic potential energy:
1
Have the form U 𝑥 = 𝑘𝑥 2
2

Why this particular potential energy?

1
Harmonic potential is very important in 𝑈 𝑥 = 2 𝑘𝑥 2
physics, i.e., in the analysis of molecular
vibrations, thermal properties of solids.
𝑥

Spring model for

Carbon dioxide
Atoms within crystal
PH 101: PHYSICS 1 Lecture 04 [14]

WORK and POTENTIAL ENERGY

More on harmonic potential energy
Force corresponding to harmonic potential U 𝑥

𝒅 𝟏
𝑭𝒙 = − 𝒌𝒙𝟐 = −𝒌𝒙 ➔ Hook’s law
𝒅𝒙 𝟐
𝑘 is spring constant 1
𝑈 𝑥 = 2 𝑘𝑥 2
Equation of motion of a particle under harmonic
potential
𝑚𝑥ሷ = −𝑘𝑥 𝑥
𝑘
𝑥ሷ + 𝑥 = 0
𝑚
Solution is harmonic.
𝑘
𝑥ሷ + 𝜔2 𝑥 =0 ⟹ 𝜔=
𝑚
 - frequency of oscillation.
PH 101: PHYSICS 1 Lecture 04 [15]

Harmonic approximation of potential energy

𝑈(𝑥)
Spring model for Carbon dioxide
𝑈(𝑥)

1
𝑈(𝑥) = 𝑘𝑥 2 𝒙
2

Pure harmonic potential Harmonic approximation of the potential

 Potential energy for atom and many other practical systems are close to harmonic
around equilibrium point but deviates at larger distance from equilibrium

 Exact potential is hard to (re)solve.