Lecture 9: Velocity and acceleration

http://www.math.columbia.edu/~dpt/F10/CalcIII/

October 7, 2010

Announcements

Homework 4 due Tuesday, October 12

Next office hours: Monday, 1011 AM (note change), Math 614

Review the exponential function and Taylor series for Tuesday.

Lecture 9: Velocity and acceleration

I Velocity

Acceleration and force

Parabolic motion

Velocity and speed

Definition
If ~r (t ) gives position of a moving object, the velocity of ~r (t ) at time t0 is
~r (t0 + s ) ~r (t0 )
d~r
~v (t0 ) = lim
=
(t0 ).
s 0
s
dt
The speed of ~r (t ) at time t0 is



 d~r
 (t0 ) .

 dt

Example
Suppose that ~r (t ) = (1, t , t 2 ). Then
(1, t0 + h, (t0 + h)2 ) (1, t0 , t02 )
~v (t0 ) = lim
= (0, 1, 2t0 )
h0
h
q
|~v (t0 )| = 0 + 1 + 4t02 .

Velocity and speed

Definition
If ~r (t ) gives position of a moving object, the velocity of ~r (t ) at time t0 is
~r (t0 + s ) ~r (t0 )
d~r
~v (t0 ) = lim
=
(t0 ).
s 0
s
dt
The speed of ~r (t ) at time t0 is



 d~r
 (t0 ) .

 dt

Example
Suppose that ~r (t ) = (1, t , t 2 ). Then
(1, t0 + h, (t0 + h)2 ) (1, t0 , t02 )
~v (t0 ) = lim
= (0, 1, 2t0 )
h 0
h
q
|~v (t0 )| = 0 + 1 + 4t02 .

Velocity and speed

Definition
If ~r (t ) gives position of a moving object, the velocity of ~r (t ) at time t0 is
~r (t0 + s ) ~r (t0 )
d~r
~v (t0 ) = lim
=
(t0 ).
s 0
s
dt
The speed of ~r (t ) at time t0 is



 d~r
 (t0 ) .

 dt

Example
Suppose that ~r (t ) = (1, t , t 2 ). Then
(1, t0 + h, (t0 + h)2 ) (1, t0 , t02 )
~v (t0 ) = lim
= (0, 1, 2t0 )
h 0
h
q
|~v (t0 )| = 0 + 1 + 4t02 .

Velocity and speed

Definition
If ~r (t ) gives position of a moving object, the velocity of ~r (t ) at time t0 is
~r (t0 + s ) ~r (t0 )
d~r
~v (t0 ) = lim
=
(t0 ).
s 0
s
dt
The speed of ~r (t ) at time t0 is



 d~r
 (t0 ) .

 dt

Example
Suppose that ~r (t ) = (1, t , t 2 ). Then
(1, t0 + h, (t0 + h)2 ) (1, t0 , t02 )
~v (t0 ) = lim
= (0, 1, 2t0 )
h 0
h
q
|~v (t0 )| = 0 + 1 + 4t02 .

Differentiating vector functions

Theorem
Suppose ~r (t ) = (x (t ), y (t ), z (t )). Then
d~r
(t0 ) = (x 0 (t0 ), y 0 (t0 ), z 0 (t0 )).
dt

Theorem
If ~r (t ), ~s (t ) are differentiable vector functions,
d (a~r (t ))
d (~r (t ) + ~s (t ))
= a~r 0 (t )
= ~r 0 (t ) + ~s 0 (t )
dt
dt
d (a(t )~r (t ))
d (~r (t ) ~s (t ))
= a0 (t )~r (t ) + a(t )~r 0 (t )
= ~r 0 (t ) ~s (t ) + ~r (t ) ~s 0 (t )
dt
dt
..
..
.
.

More velocity and speed

Example
What is the speed at time t = 1 of

~r (t ) = (sin( t ), 2 cos( t ), t 3 )?

Answer

Mantra
Velocity is a vector. Speed is a number.

Mantra
The velocity vector points in the direction of the tangent line.

More velocity and speed

Example
What is the speed at time t = 1 of

~r (t ) = (sin( t ), 2 cos( t ), t 3 )?

Answer
~r 0 (t ) = ( cos( t ), 2 sin( t ), 3t 2 )

Mantra
Velocity is a vector. Speed is a number.

Mantra
The velocity vector points in the direction of the tangent line.

More velocity and speed

Example
What is the speed at time t = 1 of

~r (t ) = (sin( t ), 2 cos( t ), t 3 )?

Answer
~r 0 (t ) = ( cos( t ), 2 sin( t ), 3t 2 )
~r 0 (1) = (, 0, 3)

Mantra
Velocity is a vector. Speed is a number.

Mantra
The velocity vector points in the direction of the tangent line.

More velocity and speed

Example
What is the speed at time t = 1 of

~r (t ) = (sin( t ), 2 cos( t ), t 3 )?

Answer
~r 0 (t ) = ( cos( t ), 2 sin( t ), 3t 2 )
~r 0 (1) = (, 0, 3)
p
|~r 0 (1)| = 2 + 9.

Mantra
Velocity is a vector. Speed is a number.

Mantra
The velocity vector points in the direction of the tangent line.

Circular motion
An important special case: An object moving in a circle.

~r (t ) = (cos(t ), sin(t ))
~r 0 (t ) = ( sin(t ), cos(t ))
|~r 0 (t )| = 1
In extended version, R is the radius, Rk is the speed.

Practical question
If Im swinging a ball around my head and let go when string points to my left, where
do you not want to be standing?

Circular motion
An important special case: An object moving in a circle.

~r (t ) = (cos(t ), sin(t ))
~r 0 (t ) = ( sin(t ), cos(t ))
|~r 0 (t )| = 1
In extended version, R is the radius, Rk is the speed.

Practical question
If Im swinging a ball around my head and let go when string points to my left, where
do you not want to be standing?

Circular motion
An important special case: An object moving in a circle.

~r (t ) = (R cos(kt ), R sin(kt ))
~r 0 (t ) = (Rk sin(kt ), Rk cos(kt ))
|~r 0 (t )| = Rk
In extended version, R is the radius, Rk is the speed.

Practical question
If Im swinging a ball around my head and let go when string points to my left, where
do you not want to be standing?

Circular motion
An important special case: An object moving in a circle.

~r (t ) = (R cos(kt ), R sin(kt ))
~r 0 (t ) = (Rk sin(kt ), Rk cos(kt ))
|~r 0 (t )| = Rk
In extended version, R is the radius, Rk is the speed.

Practical question
If Im swinging a ball around my head and let go when string points to my left, where
do you not want to be standing?

Newtons first law

Practical question
If Im swinging a ball around my head and let go when string points to my left, where
do you not want to be standing?

Lex 1
Corpus omne perseverare in statu suo quiescendi vel movendi uniformiter in directum,
nisi quatenus a viribus impressis cogitur statum illum mutare.

Law 1
Every body persists in its state of being at rest or of moving uniformly straight forward,
except insofar as it is compelled to change its state by force impressed.
That is, unless something else happens, the velocity of a moving object is constant.

Newtons first law

Practical question
If Im swinging a ball around my head and let go when string points to my left, where
do you not want to be standing?

Lex 1
Corpus omne perseverare in statu suo quiescendi vel movendi uniformiter in directum,
nisi quatenus a viribus impressis cogitur statum illum mutare.

Law 1
Every body persists in its state of being at rest or of moving uniformly straight forward,
except insofar as it is compelled to change its state by force impressed.
That is, unless something else happens, the velocity of a moving object is constant.

Newtons first law

Practical question
If Im swinging a ball around my head and let go when string points to my left, where
do you not want to be standing?

Lex 1
Corpus omne perseverare in statu suo quiescendi vel movendi uniformiter in directum,
nisi quatenus a viribus impressis cogitur statum illum mutare.

Law 1
Every body persists in its state of being at rest or of moving uniformly straight forward,
except insofar as it is compelled to change its state by force impressed.
That is, unless something else happens, the velocity of a moving object is constant.

Lecture 9: Velocity and acceleration

Velocity

I Acceleration and force

Parabolic motion

Acceleration
Definition
If ~r (t ) gives position of a moving object, the velocity of ~r (t ) at time t is

~v (t ) = ~r 0 (t ).
The acceleration is

~a(t ) = ~v 0 (t ) = ~r 00 (t ).

Example
What is the acceleration of

~r (t ) = (sin( t ), 2 cos( t ), t 3 )?

Answer
~r 0 (t ) = ( cos( t ), 2 sin( t ), 3t 2 )
~r 00 (t ) = ( 2 sin( t ), 2 2 cos( t ), 6t ).

Circular motion, reprise

Whats the acceleration of an object moving in a circle?

~r (t ) = (R cos(kt ), R sin(kt ))
~v (t ) = ~r 0 (t ) = (Rk sin(kt ), Rk cos(kt ))
|~v (t )| = Rk
~a(t ) = ~r 00 (t ) = (Rk 2 cos(kt ), Rk 2 sin(kt ))
2

|~r 00 (t )| = Rk 2 = |~v (t )| /R .
The acceleration always points to the center of the circle.

Newtons second law

Lex 2
Mutationem motus proportionalem esse vi motrici impressae, et fieri secundum lineam
rectam qua vis illa imprimitur.

Law 2
The change of momentum of a body is proportional to the impulse impressed on the
body, and happens along the straight line on which that impulse is impressed.

~ is the force,
That is, if ~a is the acceleration and F
~ = m~a
F
for some constant m (the mass).
For instance, when swinging a ball in a circle, the force is happening along the string
(pointing to the center), with magnitude
2

m|~v |
.
R

Newtons second law

Lex 2
Mutationem motus proportionalem esse vi motrici impressae, et fieri secundum lineam
rectam qua vis illa imprimitur.

Law 2
The change of momentum of a body is proportional to the impulse impressed on the
body, and happens along the straight line on which that impulse is impressed.

~ is the force,
That is, if ~a is the acceleration and F
~ = m~a
F
for some constant m (the mass).
For instance, when swinging a ball in a circle, the force is happening along the string
(pointing to the center), with magnitude
2

m|~v |
.
R

Newtons second law

Lex 2
Mutationem motus proportionalem esse vi motrici impressae, et fieri secundum lineam
rectam qua vis illa imprimitur.

Law 2
The change of momentum of a body is proportional to the impulse impressed on the
body, and happens along the straight line on which that impulse is impressed.

~ is the force,
That is, if ~a is the acceleration and F
~ = m~a
F
for some constant m (the mass).
For instance, when swinging a ball in a circle, the force is happening along the string
(pointing to the center), with magnitude
2

m|~v |
.
R

Newtons second law

Lex 2
Mutationem motus proportionalem esse vi motrici impressae, et fieri secundum lineam
rectam qua vis illa imprimitur.

Law 2
The change of momentum of a body is proportional to the impulse impressed on the
body, and happens along the straight line on which that impulse is impressed.

~ is the force,
That is, if ~a is the acceleration and F
~ = m~a
F
for some constant m (the mass).
For instance, when swinging a ball in a circle, the force is happening along the string
(pointing to the center), with magnitude
2

m|~v |
.
R

Normal and tangential acceleration

We can break up the acceleration into components parallel and perpendicular to the
velocity.

Exercise
If the speed of a particle is constant, the acceleration is perpendicular to velocity.
(HW 13.4.22)
Component of acceleration perpendicular to velocity changes direction, leaving speed
unchanged.
Component of acceleration parallel to velocity changes speed, leaving direction
unchanged.

Question
How do I speed up the ball on a string?

Lecture 9: Velocity and acceleration

Velocity

Acceleration and force

I Parabolic motion

Motion in gravity
On the Earths surface, gravity pulls downwards at a force of gm, where g = 9.8 sm2 .
We can find the velocity and position at later times by integration.

Example
Suppose I throw a ball upwards and eastwards from the ground with initial velocity
(5 ms , 0, 5 ms ). When and where does it hit the ground again?

Answer
Set up coordinates so the origin is the initial point of the ball. Let ~r (t ) be its path. We
know:

~r (0) = (0, 0, 0)
~r 0 (0) = (5, 0, 5)
~r 00 (t ) (0, 0, 10).
Now integrate:
~r (t ) = (5t , 0, 5t 5t 2 )
~r 0 (t ) = (5, 0, 5 10t )
The z coordinate of ~r (t ) is 0 again when t = 1, so the ball lands 1 second later,
5 meters east.
(We are ignoring air resistance.)

Motion in gravity
On the Earths surface, gravity pulls downwards at a force of gm, where g = 9.8 sm2 .
We can find the velocity and position at later times by integration.

Example
Suppose I throw a ball upwards and eastwards from the ground with initial velocity
(5 ms , 0, 5 ms ). When and where does it hit the ground again?

Answer
Set up coordinates so the origin is the initial point of the ball. Let ~r (t ) be its path. We
know:

~r (0) = (0, 0, 0)
~r 0 (0) = (5, 0, 5)
~r 00 (t ) (0, 0, 10).
Now integrate:
~r (t ) = (5t , 0, 5t 5t 2 )
~r 0 (t ) = (5, 0, 5 10t )
The z coordinate of ~r (t ) is 0 again when t = 1, so the ball lands 1 second later,
5 meters east.
(We are ignoring air resistance.)

Motion in gravity
On the Earths surface, gravity pulls downwards at a force of gm, where g = 9.8 sm2 .
We can find the velocity and position at later times by integration.

Example
Suppose I throw a ball upwards and eastwards from the ground with initial velocity
(5 ms , 0, 5 ms ). When and where does it hit the ground again?

Answer
Set up coordinates so the origin is the initial point of the ball. Let ~r (t ) be its path. We
know:

~r (0) = (0, 0, 0)
~r 0 (0) = (5, 0, 5)
~r 00 (t ) (0, 0, 10).
Now integrate:
~r (t ) = (5t , 0, 5t 5t 2 )
~r 0 (t ) = (5, 0, 5 10t )
The z coordinate of ~r (t ) is 0 again when t = 1, so the ball lands 1 second later,
5 meters east.
(We are ignoring air resistance.)

Motion in gravity
On the Earths surface, gravity pulls downwards at a force of gm, where g = 9.8 sm2 .
We can find the velocity and position at later times by integration.

Example
Suppose I throw a ball upwards and eastwards from the ground with initial velocity
(5 ms , 0, 5 ms ). When and where does it hit the ground again?

Answer
Set up coordinates so the origin is the initial point of the ball. Let ~r (t ) be its path. We
know:

~r (0) = (0, 0, 0)
~r 0 (0) = (5, 0, 5)
~r 00 (t ) (0, 0, 10).
Now integrate:
~r (t ) = (5t , 0, 5t 5t 2 )
~r 0 (t ) = (5, 0, 5 10t )
The z coordinate of ~r (t ) is 0 again when t = 1, so the ball lands 1 second later,
5 meters east.
(We are ignoring air resistance.)

Motion in gravity
On the Earths surface, gravity pulls downwards at a force of gm, where g = 9.8 sm2 .
We can find the velocity and position at later times by integration.

Example
Suppose I throw a ball upwards and eastwards from the ground with initial velocity
(5 ms , 0, 5 ms ). When and where does it hit the ground again?

Answer
Set up coordinates so the origin is the initial point of the ball. Let ~r (t ) be its path. We
know:

~r (0) = (0, 0, 0)
~r 0 (0) = (5, 0, 5)
~r 00 (t ) (0, 0, 10).
Now integrate:
~r (t ) = (5t , 0, 5t 5t 2 )
~r 0 (t ) = (5, 0, 5 10t )
The z coordinate of ~r (t ) is 0 again when t = 1, so the ball lands 1 second later,
5 meters east.
(We are ignoring air resistance.)

War
Question
(Question 13.4.29) A medieval city has the
shape of a square and is protected by walls
with length 500 m and height 15 m. You
can position catapults 100 m from the
walls. Youll set fire to the town by
catapulting heated rocks over the walls with
initial velocity 80 ms . At what angles should
you tell your soldiers to set the catapult?

Question
If you were designing the catapult, how
would you measure that speed of 80 ms ?

http://en.wikipedia.org/wiki/File:Replica_catapult.jpg

Announcements

Homework 4 due Tuesday, October 12

Next office hours: Monday, 1011 AM (note change), Math 614

Review the exponential function and Taylor series for Tuesday.