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CLASE 3 PRINCIPIO DE HAMILTON Y ECUACIONES DE LAGRANGE .................................... 59

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CLASE 4 FUERZAS CENTRALES ...................................................................................................... 93
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CLASE 5 MECNICA DEL SLIDO RGIDO ................................................................................... 143

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CLASE 6 ECUACIONES DE HAMILTON ........................................................................................... 195

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CLASE 7 TRANSFORMACIONES CANNICAS .............................................................................. 231

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CLASE 8 TEORA DE HAMILTON-JACOBI ..................................................................................... 257

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%

Z?Q2 r (t ) J2V2=B2PQBKB2?2kQ]yICB2R<2=B2
%

Figura 1.1 Elementos que conforman un referencial

11

lL@CID@2 r (t ) 2<dZQ<>B2=B2PQBV<CP?p
QIB2 C?T?2 =?2 TL<>PQB2 =B2 >IkLI<@P<2
yIkLQBF

MECNICA CLSICA

r (t1 )

:B2 R<QIUBRB2 P<TZ?QB=2 R<2 r (t ) 2 ><2

==BTB2velocidad\

V =

r (t2 )

dr
dt 2

r (t )

222222222222222222222222222^OFM`

62 >L2 ><kL@RB2 R<QIUBRB2 ><2 ==BTB2

aceleracin
2222

Figura 1.2. Desplazamiento de un punto material

22222222222222222222222222^OFe`

.>2 L@2 h<Ch?2 <dZ<QIT<@PB=2 iL<2 =B2 U<=?CIRBR2 V2 =B2 Z?>ICID@2 R<P<QTI@B@2 L@[U?CBT<@P<J2 <@2 CLB=iLI<Q2
I@>PB@P<J2=B2Z?>ICID@2lLPLQB2?2><B2<U?=LCID@2R<=2ZL@P?2TBP<QIB=J2V2R<P<QTI@B2>L2BC<=<QBCID@F

;@]=?kBT<@P<2 C?@?CIRB>2 =B>2 lL@CI?@<>2 R<2 =B2 U<=?CIRBR2 V2 =B2 BC<=<QBCID@2 Z?R<T?>2 hB==BQ2 <CLBCI?@<>2
RIl<Q<@CIB=<>2iL<2Z<QTIPB@J2RBRB>2=B>2C?@RICI?@<>2I@ICIB=<>J2R<P<QTI@BQ2=B2Z?>ICID@2R<=2ZL@P?2TBP<QIB=2
<@2CLB=iLI<Q2PI<TZ?F2
27BQB2R<P<QTI@BQ2=B2Z?>ICID@2<@2<=2<>ZBCI?J2R<2L@2ZL@P?2TBP<QIB=2^?Wt<P?`2Q<>Z<CP?2B2L@2CI<P?2Q<l<Q<@CIB=J2
@<C<>IPBT?>2PQ<>2TBk@IPLR<>2I@R<Z<@RI<@P<>2iL<2>?@2@T<Q?>2Q<B=<>2<@2L@2>I>P<TB2R<2C??QR<@BRB>F
Ejemplo 1.1: 3?UITI<@P?2<@2L@2Z=B@?2L>B@R?2C??QR<@BRB>2Z?=BQ<>

.@2L@2>I>P<TB2R<2C??QR<@BRB>2Z?=BQ<>2WIRIT<@>I?@B=2=B2Z?>ICID@2iL<RB2

(x,y)

Figura 1.3. Sistema de

coordenadas polares

<>Z<CIyICBRB2Z?Q2=B>2R?>2UBQIBW=<> (, ' 2\
+?@R<2 ! 2<>2=B2=?@kIPLR2R<=2U<CP?Q2Z?>ICID@2R<2=B2ZBQP[CL=BJ2V2 ' 2<>2<=2]@kL=?2iL<2
l?QTB2RICh?2U<CP?Q2C?@2Q<>Z<CP?2B2=B2h?QIK?@PB=F25BWI<@R?2iL<2<=2ZL@P?2TBP<QIB=2
Z?><<2C??QR<@BRB>2^dJV`J2<>PB>2C??QR<@BRB>2><2ZL<R<@2<dZQ<>BQ2<@2PSQTI@?>2R<2

(, ' R<2=B2>IkLI<@P<2TB@<QB\
2222222222222222222 x = cos

62<=2U<CP?Q2Z?>ICID@2R<=2ZL@P?2><2<>CQIW<2C?T?\

2
12

y = sen (1.4) 2222222222222222222222222222222222222222222222222222^OF_`

r (t ) = x(t ) i + y (t ) j 222222222222222222222222222222222222222222222222222222222222222222^OFc`

NELSON FALCN V.

5I2iL<Q<T?>2R<P<QTI@BQ2=B2U<=?CIRBR2R<2RICh?2ZL@P?2>?=?2R<W<T?>2Q<B=IKBQ2=B2ZQIT<QB2R<QIUBRB2C?@2
Q<>Z<CP?2B=2PI<TZ?2R<2=B2Z?>ICID@2R<2=B2ZBQP[CL=B\

2222222222222222222222222

7?Q2=?2PB@P?\2

dr d
=
cos i + sen j 22
dt
2222222 dt

2222222222222222222222222222222^OFa`

222

222222222222222^OFn`

8>BQ<T?>2<@2BR<=B@P<2=B2@?PBCID@2R<2=B2T<C]@ICB\2=B2ZQIT<QB2R<QIUBRB2C?@2Q<>Z<CP?2B=2PI<TZ?2R<2L@B2
lL@CID@2A2><2<>CQIW<2C?=?CB@R?2L@2ZL@P?2C?T?2<>PB@RBQP<\

df
= f 222
222222222222 dt

222222222222222^OFo`

V = cos sen i + sen + cos j 2 2

2
222222222222222222222222222222222222222222222222

222222222222222^OFm`

.@P?@C<>2=B2<CLBCID@2^OFn`2><2ZL<R<2<>CQIWIQ2B>[

.>CQIWBT?>2=B2<@<Qk[B2CI@SPICB2ZBQB2<>P<2CB>?2ZBQPICL=BQJ2ZBQB2<>P?2ZQIT<Q?2R<P<QTI@BQ<T?>2 V \
2

2
V 2 = cos sen i.i + sen + cos j. j + 2 cos sen sen + cos i. j

22222
22222222^OFON`

/?T?2<=2ZQ?RLCP?2<>CB=BQ2<@PQ<2=?>2R?>2U<CP?Q<>2Z<QZ<@RICL=BQ<>2i2V2jJ2iL<2BZBQ<C<2<@2<=2P<QC<Q2PSQTI@?2
R<2=B2<CLBCID@2B@P<QI?QJ2><2B@L=B2=B2<CLBCID@2^OFON`2><2ZL<R<2<>CQIWIQ2R<2<>PB2TB@<QB\

V 2 = & 2 cos 2 + 2& 2 sen 2 2 & & sen cos + & 2 sen 2 + 2& 2 cos 2 + 2 && sen cos 22222^OFOO`

7?R<T?>2?W><QUBQ2iL<2<=2><kL@R?2V2CLBQP?2PSQTI@?2R<2=B2<CLBCID@2^OFOO`2><2CB@C<=B@2Q<RLCIS@R?><2V2
13

MECNICA CLSICA

Z?R<T?>2BkQLZBQ2=?>2PSQTI@?>\

V 2 = sen 2 + cos 2 & 2 + cos 2 + sen 2 2& 222 2

62R<2=B2IR<@PIRBR2lL@RBT<@PB=J2P<@<T?>\
2

222 V

= & 2 + 2& 2 22

2222222222222^OFOM`

2222222222222222222222222222^OFOe`

iL<2<>2=B2<dZQ<>ID@2R<2=B2U<=?CIRBR2R<2L@2ZL@P?2TBP<QIB=2<@2C??QR<@BRB>2Z?=BQ<>F
;h?QB\
2

2
mV 2 m 2
= + 2 222 2
2
2

2222222222222^OFO_`

-<ZQ<><@PB2 =B2 <@<Qk[B2 CI@SPICB2 R<2 L@B2 ZBQP[CL=BJ2 <dZQ<>BRB2 <@2 C??QR<@BRB>2 Z?=BQ<>F2 ;h?QB2 UBT?>2 B2
hBC<Q2<=2TI>T?2<>PLRI?2Z<Q?2<@2C??QR<@BRB>2CI=[@RQICB>F
Ejemplo 1.2: Movimiento en el espacio usando
coordenadas cilndricas

7?R<T?>2hBC<Q2=B>2>IkLI<@P<>2Q<=BCI?@<>\2
222
22

2222222222222222222222 x = cos y = sen z = z 2 222

2
2
2222
222
+?@R<\2
2

^OFOc`2

2222222222222222222222222222222222222222222 x + y = 22 2
2

^OFOa`2

22

^OFOn`2

y
=2 2
x

2222222222222222222222222222 arctg

Figura 1.4 Coordenadas cilndricas (, ' ,Z

2
wBTWIS@2Z?R<T?>2<>CQIWIQ2L@2U<CP?Q2Z?>ICID@\
2

22222222222222222222222222222222222222222222222222222222222222222222222 r = cos i + sen j + z k 222

22222222222222222222222222222222222222222222^OFOo`2

5I2 iL<Q<T?>2 C?@?C<Q2 =B2 U<=?CIRBR2 R<2 L@2 ZL@P?2 TBP<QIB=2 <@2 C??QR<@BRB>2 CI=[@RQICB>2 >?=?2 R<W<T?>2
14

NELSON FALCN V.

R<QIUBQ2<=2U<CP?Q2Z?>ICID@2C?@2Q<>Z<CP?2B2PI<TZ?\

.@2C?@><CL<@CIB

2222

V =

dr d
=
cos i + sen j + z k 222 2
dt
dt
222

d
d d
d dz
cos i sen
i+
senj + cos
j + k 22
dt
dt
dt
dt
dt

2222222222222^OFOm`

2222222222222^OFMN`

;h?QB2P<@<T?>2=B2U<=?CIRBR2R<2L@2ZL@P?2TBP<QIB=2<@2C??QR<@BRB>2CI=[@RQICB>\

V = cos sen i + sen + cos j + Zk 2

2222222222

2222222222222^OFMO`

7?R<T?>2<>CQIWIQ2<>PB2<dZQ<>ID@2<@2PSQTI@?>2R<2=?>2U<CP?Q<>2L@IPBQI?>2 e^ x , e^ y , e^ z J2UBT?>2B2BkQLZBQ2

P?R?>2=?>2lBCP?Q<>2iL<2R<Z<@RB@2R<2 ( y ( 2 2Q<>Z<CPIUBT<@P<J2?WP<@I<@R?2=?2>IkLI<@P<\

^
^
^
^
^

V = cos e y sen e x + sen e y + cos e x + Z e z 22

2222222222222^OFMM`

7?R<T?>2R<yI@IQ2=?>2U<CP?Q<>2L@IPBQI?>2 e ( , e 2 , e z 2P?TB@R?2<@2CL<@PB2=B>2ZQ<><@P<>2<dZQ<>I?@<>\

2
2

2
2

2
2

^
^
)

e = cos e x + sen e y 22

222222222

2222222222222^OFMe`

^
^

e = cos e y sen e x 22

222222222

2222222222222^OFM_`

;h?QB2UBT?>2B2<>CQIWIQ2=B2U<=?CIRBR2=2<@2PSQTI@?>2R<2=?>2U<CP?Q<>2L@IPBQI?>2iL<2BCBWBT?>2R<yI@IQ\2

15

MECNICA CLSICA

222222222222 V = e + e + ze z 22 2

2222222222222^OFMc`

5BWI<@R?2 iL<2 <=2 U<CP?Q2 BC<=<QBCID@2 <>2 =B2 R<QIUBRB2 R<2 =B2 U<=?CIRBR2 C?@2 Q<>Z<CP?2 B=2 PI<TZ?2 <@P?@C<>2
P<@<T?>

d V

a=
= cos 2 sen cos sen i + sen + 2 cos 2 sen + cos j + Zk
dt

222^OFMa`

Ejemplo 1.3: 3?UITI<@P?2<@2<=2<>ZBCI?2L>B@R?2C??QR<@BRB>2

<>lSQICB>F2

+BR?2L@2U<CP?Q2Q2R<=2<>ZBCI?2PQIRIT<@>I?@B=2V2PQ<>2Z=B@?>2iL<2><2
C?QPB@2<@2<=2ZL@P?2?QIk<@2R<2QJ2><2R<yI@<@2=B>2C??QR<@BRB>2<>lSQICB>2
C?T?2 =B>2 PQ<>2 @T<Q?>2 iL<2 ><2 ?WPI<@<@2 R<>R<2 =B>2 ZQ?V<CCI?@<>2
?QP?k?@B=<>2R<=2U<CP?Q2>?WQ<2=B>2PQ<>2BQI>PB>2R<2I@P<Q><CCID@2R<2=?>2
Z=B@?>2Z<QZ<@RICL=BQ<>J2Z?Q2=B>2Q<=BCI?@<>2>IkLI<@P<>F2

Figura 1.5. Sistema de coordenadas esfricas

;=2<l<CPLBQ2=B>2PQB@>l?QTBCI?@<>2R<2=B>2C??QR<@BRB>2
x,y,z B2=B>2C??QR<@BRB>2 r , ' , 2 \
2

z = r cos 222222222222222222222222^OFMn`2
y = rsensen
22222222222 2
222222222222 x = r cos sen
2
2
2
22
+<2=B2k<?T<PQ[B2R<=2>I>P<TB2Z?R<T?>2R<yI@IQ2<=2>IkLI<@P<2U<CP?Q2L@IPBQI?\2
^
^
^

e r = cos sen e x + sensen e y 2

222222222222222222222222222222222222222222222222222222222222

2222222222222^OFMo`

4W><QU<T?>222iL<2<=2U<CP?Q2Z?>ICID@2<>2=B2>LTB2R<2=B>22C??QR<@BRB>22dJ2VJ2K2<@2>L>2Q<>Z<CPIUB>2RIQ<CCI?@<>2
IJtJ~2Z<Q?2<>CQIPB>2<@2lL@CID@2R<2=?>2ZBQ]T<PQ?> r , ' , 2 J2V2>BW<T?>2PBTWIS@2iL<2<=2TDRL=?2R<2=B2Z?>ICID@2
R<=2ZL@P?2TBP<QIB=2C?@2Q<>Z<CP?2B=2C<@PQ?2R<=2Q<l<Q<@CIB=2UI<@<2RBRB2Z?Q2=B2<CLBCID@2R<2L@B2<>l<QBF

22222222222222222222222222222222222222222222222222 r = ( r cos sen )i + ( rsensen ) j + ( r cos )k 2

22
2222222222222222222222222
16

2222222222222222222222222222^OFMm`

r2
r = x 2 + y 2 + z 2 = r 2 cos 2 sen 2 + r 2 sen 2 sen 2 + r 2 cos 2 = r 2 2222222222222^OFeN`

NELSON FALCN V.

+<2<>P<2T?R?2=B2Z?>ICID@2R<=2ZL@P?2TBP<QIB=2<@2<>P<2Q<l<Q<@CIB=2><Q]2<UIR<@CIBRB2<@2PSQTI@?>2R<=2
U<CP?Q2L@IPBQI?2<@2RIQ<CCID@2QBRIB=\
^

22222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

r = r e r 22222

2222222222222^OFeO`

.>2ITZ?QPB@P<2CDT?2h<T?>2h<Ch?2hB>PB2Bh?QB2R<QIUBQ2<=2U<CP?Q2Z?>ICID@2R<=2?Wt<P?2ZBQB2R<P<QTI@BQ2
B>[2>L2U<CP?Q2U<=?CIRBR\
^

^
dr ^
d
d er
V = ( r er ) =
er + r
^OFeM`
dt
dt
dt 22222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222222222222222

7?Q2=B2Q<k=B2R<2=B2CBR<@B2P<@<T?>\2

^
^

^
e r e 22
V = r e r + r
+
t
t

222222222222222222222222222222222222222222222222222222222222222222222

:L<k?\

22222222222222222222222222222222222222222222^OFee`

2222222222222222222222 V = r e r + r (cos cos e x + sen cos e y ) + r sen ( sen e x + cos e y ) 22222222^OFe_`2

2
+<2TB@<QB2T]>2C?TZBCPB2Z?R<T?>2ByIQTBQ2iL<\2
^

^
^
er
e =
= cos cos e x + sen cos e y 222

2222222222222222222222222222222222222222222222222222222222
^

2222222222222^OFec`

222222222222^OFea`

2222222222222^OFen`

^
^
er
e =
= sen e x + cos e y 2

222222222222222222222222222222222222222222222222222222222222222222
^

/?@C=LIT?>\

222222222222222222222222222222222222222222222222222222222222222222222 V = r e r + r e + r sen e 22

17

MECNICA CLSICA

j<T?>2UI>P?2iL<2<=2T?UITI<@P?2V2=B2RI@]TICB2R<2L@2ZL@P?2TBP<QIB=2
%

<>P]2ZQ<>CQIP?2Z?Q2<CLBCI?@<>2RIl<Q<@CIB=<>2R<=2U<CP?Q2Z?>ICID@2 r (t )
%

V2 >L>2 R<QIUBRB>2 ZQIT<QB>2 V2 ><kL@RB\2 V (t ) 2 V2 a (t ) 2 :B>2 TBk@IPLR<>2

iL<2 BZBQ<C<@2 <@2 RIChB>2 <CLBCI?@<>2 R<2 T?UITI<@P?2 ><2 R<@?TI@B@2
/??QR<@BRB>2k<@<QB=IKBRB>2V2<dI>P<@2PQ<>2Z?Q2CBRB2ZL@P?2TBP<QIB=2
V2hBV2e12C??QR<@BRB>2ZBQB212ZBQP[CL=B>F
1DP<><2iL<2PB=<>2C??QR<@BRB>2k<@<QB=IKBRB>2142@<C<>BQIBT<@P<2>?@2
=B>2 C??QR<@BRB>2 L>LB=<>2 R<2 =B>2 TBP<T]PICB>J2 <t<TZ=?2 PQIUIB=2 <>2 <=2
ZS@RL=?2>ITZ=<2R?@R<2=B2C??QR<@BRB2k<@<QB=IKBRB2<>2F2.=2@T<Q?2
R<2 C??QR<@BRB>2 k<@<QB=IKBRB>2 I@R<Z<@RI<@P<2 R<2 L@2 >I>P<TB2 y[>IC?2
ZBQPICL=BQ2><2==BTB2nmero de2grados de libertad del sistemaF2.@2
<=2 ZS@RL=?2 >ITZ=<2 hBV2 L@2 >?=?2 kQBR?2 R<2 =IW<QPBRJ2 ZQ<CI>BT<@P<2 >L2
C??QR<@BRB2k<@<QB=IKBRB2F

Figura 1.6 Pndulo simple

1.2 Mecnica newtoniana y leyes de conservacin

% ext

/?@>IR<Q<T?>2 L@B2 ZBQP[CL=B2 <@2 <=2 ><@PIR?2 R<2 ZL@P?2 TBP<QIB=2 >?T<PIRB>2 B2 lL<QKB>2 <dP<Q@B>2 F i J2 =B2
lL<QKB2@<PB2>?WQ<2<>B2ZBQP[CL=B2><2<dZQ<>B2B>[\
ext

222222222222222222222222222222222222222222222222222222222

int t

ext

int t

F = (F i + F j ) = F i + F j
ij

222222222222222222222222222222222222222222222^OFeo`

7?Q2 BCCID@2 V2 Q<BCCID@2 <=2 =PIT?2 PSQTI@?2 R<2 =B2 <dZQ<>ID@2 ><2 B@L=BJ2 CLB@R?2 hBC<T?>2 T<@CID@2 R<2 =B>2
lL<QKB>2I@P<Q@B>2@?>2Q<l<QIT?>2ZQI@CIZB=T<@P<2B2=B>2lL<QKB>2R<2C?h<>ID@2<dI>P<@P<>2<@PQ<2=B>2T?=SCL=B>2
V2]P?T?>2iL<2C?@l?QTB@2B=2?Wt<P?F27?Q2?PQB2ZBQP<2>BW<T?>2iL<2=B2><kL@RB2=<V2R<21<gP?@2><qB=B2iL<2=B2
lL<QKB2<>2=B2R<QIUBRB2P<TZ?QB=2R<=2T?T<@P?J2<@P?@C<>2P<@<T?>F

ext
dP
= F 222
dt
i
i
22222222222222222222222222222222222222222222222222222222222222222222222222222222222

22222222222222222222222222222222222222222222222222222222222^OFem`

.@2?PQ?>2PSQTI@?>2?W><QUBT?>\

ext
dm
dV
V+m
= F 22222
dt
dt
i
i
2222222222222222222222222222222222222222222222222222222222222222222222222

18

22

22

2222222222222^OF_N`

NELSON FALCN V.

5I2T2<>2C?@>PB@P<2P<@<T?>\2

2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222 F T = m a 2
% ext

7L<R<2?CLQQIQ2iL<2 5 F
i

2222222222222^OF_O`

2222222222222

2222222222222^OF_e`

2N2<@2CLV?2CB>?\

dP
=0
22
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222 dt

=?2iL<2ITZ=ICB2iL<\2

2222222222222222222222222222222222222222222222222222222222222222222222222

P = mi V i = cons tan te 222

i =0

^OF_M`2

.>P<2h<Ch?2<>2R<@?TI@BR?2conservacin del momento lineal o invarianza trasnacional.

EBT?>2B2R<T?>PQBQ2R<2TB@<QB2B@]=?kB2iL<2<=2T?T<@P?2B@kL=BQ2><2C?@><QUB\

dL
=
= r F 22
dt
22222222222222222222222222222222222222222222222222222222222222222222222222222222

7BQB2L@2>I>P<TB2R<2ZBQP[CL=B>2P<@<T?>\

2222222222222222222222222222222222222222222222222222222222222222222222222222222222
1L<UBT<@P<2<UIR<@CIBT?>\2
2222222222222222222222222222222222222222222222222222222222

ext

int t

= ( i +
ij

T = r i F i 222

22222222222222222222222222222222222222222222222222222222222^OF__`

22222222222222222222222222222222222222222222222222222222222^OF_c`

int t

ext

) = i +
i

2222222222222222222222222222222222222222222^OF_a`

62<@2<>P<2CB>?2PBTWIS@2B><U<QBT?>2iL<2<=2><kL@R?2PSQTI@?2><2B@L=B2Z?Q2=B2=<V2R<2BCCID@2V2Q<BCCID@2R<2
=B>2lL<QKB>2R<2I@P<QBCCID@2<@PQ<2=B>2T?=SCL=B>2V2]P?T?>2iL<2l?QTB@2<=2?Wt<P?2y[>IC?2<@2CL<>PID@F2/?T?2
VB2hBW[BT?>2R<C=BQBR?2Z<Q?2Bh?QB2<@2PSQTI@?>2T]>2k<@<QB=<>2?W><QUBT?>\2
19

MECNICA CLSICA

ext

22222222222222222222222222222222222222222222222222222222222222222222222222222222222

dL
=
2222222222222222222222222222222222222222222222222222222222222222222222^OF_n`
dt

5I2?CLQQ<2iL<2

% ext

5"
i

dL
8 0 2<@2<>P<2CB>?2 0 = dt

2ITZ=ICB2iL< L 8 2C?@>2tan P<2V2<>P?2@?2<>2T]>2iL<2=B2

C?@><QUBCID@2R<=2T?T<@P?2B@kL=BQ2?2I@UBQIB@KB2Q?PBCI?@B=F

:B2P<QC<QB2<2ITZ?QPB@P[>ITB2=<V2R<2C?@><QUBCID@J2<>P]2B>?CIBRB2B2=?>2ZQ?C<>?>2@BPLQB=<>2Q<U<Q>IW=<>2V2><2
C?@?C<2C?T?2<=2teorema de Helmhontz o conservacin de la energa.
%

wDT<><2<@2CL<@PB2<=2PQBWBt?2P?PB=2<l<CPLBR?2Z?Q2L@B2lL<QKB2Q<>L=PB@P<2 F
b

222222222
22222222222222222222222222222222222222222222222222222222222222222222222222
2

dp
T = F .d l =
d l 22222222222222222222222222222222222222222222222222222222222222^OF_o`
dt
a

/?@>IR<Q<T?>2ZL<>2iL<2=B2U<=?CIRBR2R<=2?Wt<P?2<>2 V% 8 d l V2iL<2<=2T?T<@P?2<>2IkLB=2B2=B2TB>B2Z?Q2<=2
dt
U<CP?Q2U<=?CIRBRF
b

222222222222222222222222222222222222222222222222222222222222222222222222

T = V .d p = V .d (m V ) 222
a

22222222222222222222222222222222222222222222^OF_m`

-<>?=UI<@R?2<>PB2><@CI==B2I@P<kQB=2?WP<@<T?>\
b

2222222222222222222222222222222222222222222222222222222

mV 2
T = m V .d (V ) =
2
a

=
a

mV 2 b mV 2 a
22

2
2

2222222222222222222222222222^OFcN`

+?@R<2=B2U<=?CIRBR2iL<2Z?><<2>LW[@RIC<2W2<>2=B2U<=?CIRBR2yI@B=2R<=2ZL@P?2TBP<QIB=F
%

/?@>IR<Q<T?>2Bh?QB2iL<2 F <>2C?@><QUBPIU?2<>P?2<>2CI<QP?2>I2 F 8 ; : U J2=B2lL<QKB2<>2<=2kQBRI<@P<2R<2

L@B2lL@CID@2<>CB=BQ2==BTBRB2<@<Qk[B2Z?P<@CIB=J2Z<Q?2@2P?RB>2=B>2lL<QKB>2C?@><QUBPIUB>2><2<>CQIW<@2R<2
<>PB2l?QTBF
20

NELSON FALCN V.

-<C?QR<T?>2iL<2<=2Q?PBCI?@B=2R<2L@2kQBRI<@P<2<>2IkLB=2B2C<Q?F24W>SQU<><2iL<2h<T?>2LPI=IKBR?2<=2P<?Q<TB2

<

R<25P?C~<>2iL<2><qB=B\2 T = G.d l =
C

<<< : G dv

/?@2=?2CLB=2C?@C=LIT?>2iL<\
%

+<CIQ2 iL<2 L@B2 lL<QKB2 F <>2 C?@><QUBPIUB2 <iLIUB=<2 R<CIQ2 iL<2 =B2 I@P<kQB=2 R<2 F 2 >?WQ<2 L@B2
%

PQBV<CP?QIB2C<QQBRB2<>2@L=BJ2V2<iLIUB=<2B2ByIQTBQ2iL<2 F <>2<=2kQBRI<@P<2@<kBPIU?2^TL=PIZ=ICBR?2
Z?Q2<=2>Ik@?2p2`2R<2L@B2lL@CID@2<>CB=BQ28F

5I2Bh?QB2C?@>IR<QBT?>2>?=?2<=2PQBWBt?2<@PQ<2=?>2><kT<@P?>2I@ICIB=<>2V2yI@B=<>2R<2=B2PQBV<CP?QIBJ2R?@R<2<=2
%

ZL@P?2yI@B=2<>2<>PQICPBT<@P<2RI>PI@P?2B=2ZL@P?2I@ICIB=2V2=B2lL<QKB2 F 2<>2C?@><QUBPIUB2P<@<T?>\
b

T = F .d l =
222222222222222222222222222222222222222222222222222

dU

d l = dU = U b + U a 2

a
dl

2222222222222^OFcO`

2222222222222^OFcM`

/?@>IR<Q<T?>2=B2>L>PQBCCID@2R<2=B>2<CLBCI?@<>2^cN`2V2^cO`2\
22222222222222222222222222222222222222222222222222222222222222222222

o=

mV 2 b mV 2 a

+ U b U a 22
2
2

mV 2 a
mV 2 b
+
U
=
+Ub
a
;kQLZB@R?2PSQTI@?>2C?@2>LW[@RIC<>2IkLB=<>\2
2
2
62<>P?2@?2<>2T]>2iL<2=B2=<V2R<2la conservacin de la energa2o invariancia temporal2iL<2RIC<2iL<\
222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

Ei = E f 22

2222222222222^OFce`

Teorema de Helmhontz: En un sistema cerrado, sin fuerzas disipativas, la energa mecnica

total inicial de un sistema es igual a la energa mecnica total final.

21

MECNICA CLSICA

+<2=B2RI>CL>ID@2ZQ?C<R<@P<2ZBQ<CI<QB2iL<2WB>PB2C?@2<dZ=ICIPBQ2P?RB>2=B>2lL<QKB>2V2BZ=ICBQ2=B>2=<V<>2R<2
1<gP?@2ZBQB2R<>CQIWIQ2=B2RI@]TICB2R<2L@2>I>P<TBF

.>PB2 I=L>ID@2 <@2 k<@<QB=2 @?2 <>2 CI<QPB2 Z?QiL<2 <dI>P<2 BR<T]>J2 <@2 CBRB2 CB>?2 ZBQPICL=BQJ2 <CLBCI?@<>2 R<2
Q<>PQICCI?@<>2?2=IkBRLQB>2@?2<dZ=ICIPBRB>2Z?Q2=B2T<C]@ICB2>I@?2Z?Q2=B>2<CLBCI?@<>2<>Z<C[yICB>F2.>2R<CIQJ2
=B>2ZLQB>2=<V<>2R<2=B2T<C]@ICB2>?@2I@>LyICI<@P<>2ZBQB2<dZ=ICIPBQ2=B2T<C]@ICB2R<2L@2>I>P<TB\2><2Q<iLI<Q<2
C?@?C<Q2=B>2Q<=BCI?@<>2?2C?@RICI?@<>2iL<2=ITIPB@2=B>2C??QR<@BRB>2k<@<QB=IKBRB>J2<>PB>2Q<>PQICCI?@<>2?2
U[@CL=?>2><2>L<=<@2==BTBQ2C?@RICI?@<>2R<2=IkBRLQB2V2>?@2<>Z<CIyICB>2R<2CBRB2ZQ?W=<TBJ2V2Q<R<>CLWI<QPB>2
<@2 CBRB2 CB>?2 Z?Q2 iLI<@2 ZQ<P<@RB2 T?R<=BQ2 =B2 <U?=LCID@2 P<TZ?QB=2 R<=2 >I>P<TBJ2 UB=<2 R<CIQJ2 Z?Q2 iLI<@2
T?R<=<2=B2RI@]TICB2R<=2>I>P<TB2ZBQPICL=BQF
:B2 I@PQ?RLCCID@2 R<2 =IkBRLQB>2 <@2 <=2 >I>P<TB2 T<C]@IC?2 ==<UB2 B=2 C?@C<ZP?2 R<2 lL<QKB2 R<2 U[@CL=?J2 iL<2 <>2
tL>PBT<@P<2=B2iL<2><2<t<QC<2>?WQ<2=B2ZBQP[CL=B2ZBQB2l?QKBQ2<=2CLTZ=ITI<@P?2R<2=B2=IkBRLQBF2.>PB2lL<QKB2
R<2 U[@CL=?2 ><2 RIl<Q<@CIB2 R<2 =B2 R<@?TI@BRB2 lL<QKB2 BZ=ICBRB2 ?2 <dP<Q@B2 iL<2 <>2 BiL<==B2 R<P<QTI@BRB2
I@R<Z<@RI<@P<T<@P<2 R<2 CLB=iLI<Q2 ?PQB2 lL<QKBJ2 RB@R?2 >D=?2 =B>2 Z?>ICI?@<>2 ^V2 B2 U<C<>2 PBTWIS@2 =B>2
U<=?CIRBR<>`2R<2=B>2ZBQP[CL=B>F2;>[J2>I2R?>2ZBQP[CL=B>2<>P]@2=IkBRB>2Z?Q2L@2Q<>?QP<2=B2lL<QKB2iL<2<t<QC<2
<=2Q<>?QP<2>?WQ<2L@B2R<2<==B>2<>2L@B2lL<QKB2BZ=ICBRBJ2iL<2R<Z<@R<2R<2=B2Z?>ICID@2R<2BTWB>2ZBQP[CL=B>2
PBTWIS@2 >?@2 lL<QKB>2 BZ=ICBRB>2 <=2 Z<>?J2 =B2 lL<QKB2 <=SCPQICB2 >?WQ<2 L@B2 ZBQP[CL=B2 CBQkBRBJ2 =B2 lL<QKB2
TBk@SPICB2^iL<2R<Z<@R<2R<2=B2U<=?CIRBR`J2<PCF27?Q2?PQ?2=BR?J2=B2lL<QKB2iL<2<t<QC<2L@2QI<=2iL<2kL[B2<=2
T?UITI<@P?2R<2L@B2ZBQP[CL=B2<>2L@B2lL<QKB2R<2U[@CL=?J2iL<2@?2ZL<R<2><Q2R<P<QTI@BRB2>I@2C?@?C<Q2=B>2
?PQB>2lL<QKB>2iL<2BCPB@F

:B>2Q<>PQICCI?@<>J2U[@CL=?>2?2=IkBRLQB>2>?@2Q<=BCI?@<>2<>Z<C[yICB>2<@PQ<2=B>2TBk@IPLR<>2?2C??QR<@BRB>2
=

k<@<QB=IKBRB>2 qi ?2 q j
22222222222222222222222222222222
22222222222222222222222222222222

ri (qi ,......, q k , q 1 ,......, q k ) = 0 <>PB>2>?@2==BTBRB>2h?=D@?TB>2

2222222222222^OFc_`

ri (qi ,......, q k , q 1 ,......, q k ) 0 <>PB>2>?@2==BTBRB>2@?2h?=D@?TB>22 2222222222222^OFcc`

22

5I2=<2BkQ<kBT?>2L@B2C?TZ?@<@P<2P<TZ?QB=2<=2@?TWQ<2R<2<>PB>2C??QR<@BRB>2k<@<QB=IKBRB>2<>2-<D@?TB>2
V2>I2@?2=<2BkQ<kBT?>2=B2C?TZ?@<@P<2P<TZ?QB=2><2==BTB@2<>C=<QD@?TB>F
7?R<T?>2 T<@CI?@BQ2 iL<2 <=2 @T<Q?2 R<2 kQBR?>2 R<2 =IW<QPBR2 ^k`J2 ZBQB2 L@B2 ZBQP[CL=BJ2 <@2 k<@<QB=2 <>2
<dZQ<>BR?2B>[\
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222 g = 3n r 22

22222222222222222222222222222222222222222222222222222222222^OFca`

+?@R<2n <>2<=2@T<Q?2R<2ZBQP[CL=B>2<@2<=2>I>P<TB2V2r <>2<=2@T<Q?2R<2Q<>PQICCI?@<>F

7BQB2UI>LB=IKBQ2L@2<t<TZ=?2R<2CDT?2<UIR<@CIBQ2=?>2kQBR?>2R<2=IW<QPBR2<@2L@2ZS@RL=?2>ITZ=<2C?T?2<=2R<2
=B2yIkLQB2^a`F2:?2ZQIT<Q?2iL<2@?PBT?>2<>2iL<2=B2UBQIBW=<22Z<QTB@<C<2C?@>PB@P<2V2=B2=?@kIPLR2:2R<2=B2
CL<QRB2iL<2>L>Z<@R<2B2=B2TB>B2PBTWIS@F27BQB2<>P<2CB>?2?W><QUBT?>\
k22^e`OpM22O

22

NELSON FALCN V.

:?>2kQBR?>2R<2=IW<QPBR2ZBQB2<>P<2>I>P<TB2<>2IkLB=2B2O2R<WIR?2B2iL<2<=2T?UITI<@P?2R<=2ZL@P?2TBP<QIB=2
<>PB2C?@yI@BR?2B2L@B2=[@<BF

;h?QB2>LZ?@kBT?>2<=2TI>T?2ZS@RL=?2R<2=B2yIkLQB2^a`2Z<Q?2C?@2=B2UBQIB@P<2R<2iL<2=B2TB>B2R<>CQIW<2L@2
T?UITI<@P?2CIQCL=BQJ2@DP<><2iL<2ZBQB2<>P<2CB>?2=B2UBQIBW=<22VB2@2Z<QTB@<C<2C?@>PB@P<F2.@P?@C<>2ZBQB2
<>P<2CB>?2=?>2kQBR?>2R<2=IW<QPBR2>?@\22k22^e`OpO22M
Ejemplo 1.4: rQBR?>2R<2=IW<QPBR2V2<@<Qk[B2CI@SPICB2R<=27S@RL=?2+?W=<

wBTWIS@2Z?R<T?>2Z=B@P<BQ@?>2<=2ZQ?W=<TB2R<2L@2ZS@RL=?2R?W=<2PB=2V2C?T?2><2
TL<>PQB2<@2=B2yIkLQBnF

.=2ZS@RL=?2R?W=<2C?T?2><2TL<>PQB2<@2=B2yIkLQBJ2<>P]2l?QTBR?2Z?Q2R?>2ZS@RL=?>2
>ITZ=<>2R<2=?@kIPLR<>2=O2V2=MJ2R<2=?>2iL<2CL<=kB@2ZBQP[CL=B>2R<2TB>B>2TO2V2TMF2
.@2L@2I@>PB@P<2R<P<QTI@BR?2PJ2=?>2hI=?>2I@<dP<@>IW=<>2l?QTB@2]@kL=?>2O2V2M2
C?@2=B2U<QPICB=F
:B>2C??QR<@BRB>2R<2CBRB2L@B2R<2=B>2TB>B>\

x1 = l1 sen1 x 2 = x1 + l 2 sen 2

x1 = y1 l 2 cos 2 y1 = l1 cos1 22

222222222222222222222222222222222222222222222222222222222222^OFcn`

Figura 1.7. Pndulo doble

:B2Z?>ICID@2R<2CBRB2TB>B2UI<@<2<>CQIPB2R<2=B2>IkLI<@P<2TB@<QB\

2222222222222222222222222222222222222222222222222 r1 = x1i + y1 j

22

62=B>2U<=?CIRBR<>2>?@2=B2R<QIUBRB2P<TZ?QB=2R<2=B2Z?>ICID@\

2222222222222222222222222222222222222222222222222222222222

r2 = x 2 i + y 2 j 2222222222222222222222222222222222222^OFco`2

r
V2 = x 2 i + y 2 j 2

V1 = x1 i + y 1 j

2222222222222222222222222222^OFcm`

-<<TZ=BKB@R?2=B>2Q<=BCI?@<>2^OFcn`2?WP<@<T?>2=B>2U<=?CIRBR<>2<@2PSQTI@?>2R<=2]@kL=?2V2=B2=?@kIPLR2R<2
=B2CL<QRBJ2L>B@R?2^OFcm`\

2222222222222222222222222222222222222222222222222222222222222222222222 V 1 = l1 cos 1 i + l1 sen j 222

2222222222222222222222222222^OFaN`

2222222222222222222222222222222222222 V 2 = (l1 cos 1 2 + l 2 cos 2 2 )i + (l1 sen1 1 + l 2 sen 2 2 ) j 222222222222222222222222^OFaO`

.>CQIWBT?>2Bh?QB2=B2<@<Qk[B2Z?P<@CIB=2R<=2>I>P<TB28\2

23

MECNICA CLSICA

222222222222222222222222222222222222222222222222222222U=-m1g l1 cos 1- m2 g (l1cos 1 +l2cos 2)

2
/B=CL=<T?>2<=2CLBRQBR?2R<2=B2U<=?CIRBR2R<2CBRB2L@B2R<2=B>2TB>B>\2
2
1

222222222222222222222222222222222222222222222222222222222222222222222222222222222222222 V
V

2
1

= l 1 2222

2222 2222222222222222222222222222^OFaM`

22222222222222222222222222222222222222222222^OFae`
2

7?R<T?>2>ITZ=IyICBQ2B2=B2l?QTB\
22222222222222222222222222222222222222222222

+<2<>PB2l?QTB2^OFac`2UI<@<2RBRB2Z?Q\
22222222222222222222222222222222222222222222222222222222

22222222222222222222222222

m2
2

2222222222222^OFaa`

2222222222222^OFan`

2 2 2 2
m 2
l1 1 + l 2 2 + 2l1l 2 1 2 ( sen 1 sen 2 + cos 1 cos 2 ) + 1 l1 2 1 222222222^OFao`2

=2
== A
D
1B r ; 2r r ?
F 8 B1 ;
?
rB
c2
?
C
@

.@CLS@PQ<><2L@B2<dZQ<>ID@2ZBQB2<=2Z?P<@CIB=2iL<2k<@<QB2L@B2lL<QKB2C?T?2<>BF
=

2222222222222^OFac`

Ejemplo 1.5. 7?P<@CIB=2R<2u<W<Q

2
8@B2ZBQP[CL=B2><2TL<U<2<@2L@2Z=B@?2WBt?2=B2I@y=L<@CIB2R<2L@B2lL<QKB2C<@PQB=2R<2TBk@IPLR\

:=BT<T?>\2 r 8 V r

22^OFa_`

= l1 1 + l 2 2 + 2l1l 2 1 2 cos( 1 2 ) 22

7?R<T?>2<>CQIWIQ2<@P?@C<>2=B2<@<Qk[B2CI@SPICB2R<=2>I>P<TB\

T=

= l1 1 + l 2 2 + 2 l1l 2 1 2 ( sen 1 sen 2 + cos 1 cos 2 )2

8>B@R?\22222222222222222222222222222222222222222cos( 1 2 ) = ( sen 1 sen 2 + cos 1 cos 2 ) 222

24

= l1 cos2 1 1 + l 2 cos 2 2 + 2l1l 2 cos 1 cos 2 1 2 + 2l1l 2 sen 1 sen 2 1 2 + l1 sen21 1 + l 2 sen2 2 2

==

r 8 V r 22

NELSON FALCN V.

2222222222222222222222222222222222222222222222222222222222222222222
:L<k?2P<@<T?>2iL<\22

2222222222222222222222222222222222222222222222222222222222222222222222
+?@R<2

w?T<T?>\

22222222222222222222222222222222222222222222^OFam`
22

2222222222222^OFnN`2

2Z?P<@CIB=2k<@<QB=IKBR?F

2222222222222222222222222222222222222222
2222222222222222222222222222222222222222222222222222222222222

;=2yI@B=\

2222222222222222222222222222222222222222222222222222222222222222222222222

/?TZQ?WBCID@\

2222222222222^OFnM`

2222222222222^OFne`

222222222222222222222222222222222222222222

22222222222222222222222222222222222222222222222222222222222222222222222222222222
22222222222

222222222222222222222222222222222222222222222

AI@B=T<@P<J2Q<<TZ=BKB@R?2@L<>PQB2R<yI@ICID@2I@ICIB=2Q<?WP<@<T?>\
2222222222222222222222222222222222222222222222222222222222222222222

2222222222222^OFnO`

2222222222222^OFn_`

2222222222222^OFnc`

22

2222222222222^OFna`

2222222222222222222222222

2222222222222^OFnn`
25

MECNICA CLSICA

NOTA BIOGRFICA N1. ISAAC NEWTON

Sir Isaac Newton (1643 -1727) fue hijo de dos campesinos
puritanos, realiz sus estudios en la Free Grammar School en
Grantham y a los dieciocho aos ingres en la Universidad de
Cambridge. De 1667 a 1669 emprendi investigaciones sobre
ptica y fue elegido fellow del Trinity College. Fue un fsico,
#lsofo, inventor, alquimista y matemtico ingls, autor de los
Philosophiae naturalis principia mathematica, donde describi la
ley de gravitacin universal y estableci las bases de la Mecnica
Clsica mediante las leyes que llevan su nombre. Entre sus
otros descubrimientos cient#cos destacan los trabajos sobre la
naturaleza de la luz y la ptica, en su obra ptica y el desarrollo
del clculo matemtico. Considerado por muchos como el ms
grande cient#co de todos los tiempos.
Newton y Leibniz protagonizaron una agria polmica sobre
la autora del desarrollo de esta rama de la matemtica. Los
historiadores de la ciencia consideran que ambos desarrollaron el
clculo independientemente. Se considera que Newton demostr
agresividad ante sus contrincantes que fueron principalmente
Hooke y Leibniz. Cuando fue presidente de la Royal Society, fue
descrito como un dictador cruel, vengativo y busca-pleitos.
Fue el primero en demostrar que las leyes naturales que gobiernan
el movimiento en la Tierra y las que gobiernan el movimiento de
los cuerpos celestes son las mismas. Su argumentacin sobre la
posibilidad de que la luz estuviera compuesta por partculas; su
desarrollo de una ley de conveccin trmica, que describe la tasa
de enfriamiento de los objetos expuestos al aire; sus estudios sobre
la velocidad del sonido en el aire; y su propuesta de una teora
sobre el origen de las estrellas.
Tambin contribuy en otras reas de la matemtica, desarrollando
el teorema del binomio.

Si he hecho descubrimientos invaluables ha sido ms por tener paciencia que cualquier otro talento...
Si he logrado ver ms lejos, ha sido porque he subido a hombros de gigantes.
Isaac Newton

26

NELSON FALCN V.

/%.# #0#)1#-* ) (: (*&()22&$#'"H2&#2)")%&(2%"&**(p#H(

:B>2TBQ<B>2><2R<W<@2B2=B>2fuerzas gravitacionales diferenciales2iL<2<t<QC<@2<=25?=2V2=B2:L@B2>?WQ<2=B2wI<QQBF2

:B>2fuerzas de mareaJ2@?2>?@2T]>2iL<2=B>2RIl<Q<@CIB>2<@PQ<2=B>2lL<QKB>2^BC<=<QBCI?@<>`2kQBUIPBP?QIB>2iL<2
<t<QC<2L@2CL<QZ?2>?WQ<2=?>2ZL@P?>2R<2?PQ?2CL<QZ?2>IPLBR?>2B2RIl<Q<@P<>2RI>PB@CIB>2R<2S=F2;ZBQ<C<Q]@2
>I<TZQ<2 iL<2 L@2 CL<QZ?2 R<2dimensiones -initas2 ^iL<2 @?2 ><B2 L@2 ZL@P?2 TB>B`2 ><2 U<B2 Bl<CPBR?2 Z?Q2 L@B2
lL<QKB2 iL<2 R<Z<@R<2 R<2 =B2 RI>PB@CIBF2 7?Q2 =?2 k<@<QB=2 @?2 >?@2 TLV2 kQB@R<>J2 Z<Q?2 CLB@R?2 L@2 CL<QZ?2 <>2
<dPQ<TBRBT<@P<2 TB>IU?J2 >L2 CBTZ?2 kQBUIPBCI?@B=2 ZL<R<2 ><Q2 PB@2 kQB@R<2 iL<2 =B>2 lL<QKB>2 R<2 TBQ<B2
k<@<QBRB>2Z?Q2S=2ZL<R<@2==<kBQ2B2><Q2TBV?Q<>2iL<2=B>2lL<QKB>2R<2C?h<>ID@2R<=2TBP<QIB=J2lQBkT<@P]@R?=?F2
:B2 wI<QQBJ2 <UIR<@P<T<@P<J2 @?2 <>2 L@2 ZL@P?2 TB>BF2 .@2 C?@><CL<@CIBJ2 <=2 CBTZ?2 kQBUIPBP?QI?2 R<2 =B2 :L@B2
k<@<QBJ2<@2<==BJ2lL<QKB>2R<2TBQ<B2iL<2PQBPB@2R<2<>PIQBQ=B2Q<>Z<CP?2B2>L2C<@PQ?2R<2TB>BF

Figura 1.82+IBkQBTB2R<2=B>2AL<QKB>2R<23BQ<B

5LZ?@kBT?>2iL<2=B2wI<QQB2<>2<>lSQICBF2:B2BC<=<QBCID@2<@2<=2ZL@P?2;2R<2>L2>LZ<QyICI<2R<WIRB2B2=B2TB>B2m2

<@2L2^<@2<>P<2CB>?2=B2:L@B`2PI<@<@2L@B2C?TZ?@<@P<2QBRIB=2 g AE 2^=B2RIQ<CCID@2QBRIB=2<>2=B2RIQ<CCID@24;`2

V2L@B2C?TZ?@<@P<2 g A# 2<@2=B2RIQ<CCID@2J2Z<QZ<@RICL=BQ2B2=B2RIQ<CCID@2QBRIB=2^yIkLQB2M`F25I2==BTBT?>2-x2
2

B2=B2RI>PB@CIB2;:J2=B2BC<=<QBCID@2 g A J2ZQ?RLCIRB2Z?Q2T2<@2;J2<>2 g A = Gm R ' 2V2<>P]2RIQIkIRB2B2=?2=BQk?2

R<2-xF2+<2=B2yIkLQB2U<T?>2iL<2>L>2C?TZ?@<@P<>2Q2V22>?@
222222222222222222222222222222222222222222222222222

g Ar =

Gm
cos '
R' 2

g A =

Gm
sin ' 2 22222222222222222222222222222222^,FO`
R'2

R?@R<2<=2>Ik@?2@<kBPIU?2R<2 g A# 2><2R<W<2B2iL<2UB2<@2RIQ<CCID@2?ZL<>PB2B2=B2RIQ<CCID@2<@2iL<2CQ<C<2 E F2

;@]=?kBT<@P<J2=B>2C?TZ?@<@P<>2Q2V2E 2R<2=B2BC<=<QBCID@2ZQ?RLCIRB2Z?Q2=B2:L@B2>?WQ<2<=2C<@PQ?2R<2TB>B2
R<2=B2wI<QQB2>?@\
27

MECNICA CLSICA

2222222222222222222222222222222222222222222222222

g Or =

Gm
sin
R2

g O =

Gm
^,FM`
sin
R2
222222222222222222222222222222222222222

Z?Q2=?2PB@P?J2=B>2C?TZ?@<@P<>2R<2=B2BC<=<QBCID@2R<2;2Q<>Z<CP?2B=2C<@PQ?2R<2TB>B2R<=B2wI<QQB2>?@\
2222222222222222222222222222222222222222222222222222222222222222

g Ar = g Ar g Or =

V222222222222222222222222222222222222222222222222222222222222 g

Gm R 2

cos ' cos 2 22

R 2 R' 2

= g A g O =

2^,Fe`

Gm
R2
sin 2 sin ' 2 22222222222222222222222222222222222222222222222^,F_`
2
R
R'

Z?Q2=B2=<V2R<2=?>2><@?>J2<@2<=2PQIB@kL=?24;:J
22222222222222222222222222222222222222222222222222222222222222222222

sin ( ') sin sin '

=
=
J2
R
R'
R

2222222222222222222222222222222222222222222222222222222222222222222222222222222 R sin = R ' sin ' 2

2222222222222222^,Fc`

22222222222222222222222222222222^,Fa`

iL<2>D=?2@?>2I@RICB2<=2h<Ch?2k<?TSPQICBT<@P<2?WUI?2R<2iL<2=B>2ZQ?V<CCI?@<>2R<2-2V2-x2
Z<QZ<@RICL=BQ<>2B2=B2RIQ<CCID@2QBRIB=2>?@2IkLB=<>F27Q?V<CPB@R?2>?WQ<2=B2RIQ<CCID@2QBRIB=\
222222222222222222222222222222222222222222222222222222222222222222222222222 R cos = R ' cos '+ a 2 2

22

22222222222222222222222222222222^,Fn`

2222222222222222^,Fo`

cos ' R cos a

=
,
R' 2
R'3

sin ' R sin

=
;
R' 2
R'3 2

2222222222222222^,Fm`

BR<T]>J2=B2=<V2R<2C?><@?>2<@2<=2PQI]@kL=?24;:2C?@==<UB2B
2

22222222222222222222222222222222222222222222222222222222222222222222222 R ' = R + a 2aR cos 2

R<2=B>2<CLBCI?@<>2B@P<QI?Q<>2?WP<@<T?>\

2
R' 3 = R 2 + a 2 2aR cos
2222222222222222222222222222222222222222222222222222222222222

Z<Q?2 a I R J2B>[2iL<J2R<>BQQ?==B@R?2<@2><QI<2R<2wBV=?Q2<=2ZBQS@P<>I>J2B2ZQIT<Q2?QR<@2<@2 a r J
28

NELSON FALCN V.

R' 3 = R 3 1 + 3 cos F2
R

22222222222222222222222222222222222222222222222222222222222222222222222

AI@B=T<@P<

222222222222222222222222222222222222222222

g ar =

Gma
3 cos 2 1 ,
3
R

g A =

22

22222222222222^,FON`

3Gma
sin 2
2R 3
222222222222222222222222222^,FOO`

.>PB>2>?@2=B>2C?TZ?@<@P<>2QBRIB=2V2B2=?2=BQk?2R<22R<2=B>2
lL<QKB>2R<2TBQ<B2<@2CBRB2ZL@P?2R<2=B2wI<QQBF21DP<><2iL<2
>?@2>ITSPQICB>2Q<>Z<CP?2B=2?QIk<@F2;>[J2<@2N2V2<@22
UB=<@2=?2TI>T?F2

5I2 kQByICBT?>2 <>P?>2 U<CP?Q<>2 ?WP<@<T?>2 B=k?2 C?T?2 =?2

iL<2 ><2 U<2 <@2 =B2 yIkLQB2 OFmF2 .@2 ZBQPICL=BQJ2 <>P]2 C=BQ?2 iL<2
CLB@R?2C?>MOe2^?2><BJ2CLB@R?2c_Fn`2>?=?2hBV2L@B2
C?TZ?@<@P<2F
/LB@R?2<>PB>2lL<QKB>2BCPB@2>?WQ<2<=2BkLB2R<2=?>2?CSB@?>2
=B2 ?W=IkB@2 B2 T?U<Q><2 <@2 =B>2 RIQ<CCI?@<>2 I@RICBRB>2 Z?Q2
=B>2 y=<ChB>J2 CQ<]@R?><2 B>[2 =?>2 C<=<WQ<>2 ChIZ?P<>2 R<2 =B>2
TBQ<B>F2 5I@2 <TWBQk?J2 hBV2 iL<2 @?PBQ2 iL<2 =B>2 lL<QKB>2 R<2
TBQ<B2@?2BCPB@2>?=BT<@P<2>?WQ<2<=2BkLBJ2>I@?2PBTWIS@2
>?WQ<2=B2wI<QQB2>D=IRBJ2R<l?QT]@R?=BF

Figura 1.9 Centro de masa

y sistema gravitacional Tierra - Luna

+<2h<Ch?J2>I2<=2@IU<=2R<=2TBQ2<>P]2>LWI<@R?2OTJ2Z?Q2<t<TZ=?J2<@2L@B2TBQ<BJ2<@2Q<B=IRBR2<=2TBQ2<>P]2
>LWI<@R?2amCT2=B2wI<QQB2eOCT2^?><B2iL<2=B>2TBQ<B>2R<2=B2wI<QQB2>?@2B=Q<R<R?Q2R<2eN2R<=2P?PB=`F2.>PB2
Z?QCID@2Q<=BPIUB2R<=2eN2R<2=B>2TBQ<B>2R<2=B2wI<QQB2Q<>Z<CP?2B2=B>2R<2TBQ2lL<2T<RIRB2Z?Q2;=W<QP2;F2
3ICh<=>?@2L>B@R?2<>P<2Q<>L=PBR?J2:?QR2z<=UI@2R<RLt?2iL<2=B2QIkIR<K2R<2=B2wI<QQB2<>2CB>I2IkLB=2B2=B2R<=2
BC<Q?F
LS2 PB@2 kQB@R<>2 >?@2 =B>2 lL<QKB>2 R<2 TBQ<B2 :B2 BC<=<QBCID@2 R<2 =B2 kQBU<RBR2 <@2 <=2 <CLBR?Q2 <>J2
2

BZQ?dITBRBT<@P<J2 g = GM J a 2 ^ M J 2 <>2 =B2 TB>B2 R<2 =B2 wI<QQB2 V2 a2 >L2 QBRI?2 <CLBP?QIB=`J2 V2 =B>2
3

BC<=<QBCI?@<>J2 PBTWIS@2 <@2 <=2 <CLBR?QJ2 R<WIRB>2 B2 =B>2 lL<QKB>2 R<2 TBQ<BJ2 >?@2 Kg r 8 2Gma R V2

Kg A# 8 0 F27?Q2=?2PB@P?J

g
m a
7
=2
10 22
g
M
R

222222222222222222222222222222222222222222222222222222222222222222222222

22222222222222222222222222222^,FOM`
29

MECNICA CLSICA

5LZ?@I<@R?2 BI>=BR?2 <=2 >I>P<TB2 wI<QQBp:L@BJ2 5I<@R?2 -2 =B2 RI>PB@CIB2 <@PQ<2 S>PB>2 ^-eFo_dONONCT`2 V2
<>PITB@R?2=B2TB>B2R<2=B2wI<QQB2^3cFmndONMnk`2V2=B2TB>B2R<2=B2:L@B2^TnFecdONMck`2V2<@P<@RI<@R?2
Z?Q2>ITZ=ICIRBR2iL<2BTWB>2kIQB@2B=Q<R<R?Q2R<2>L2C<@PQ?2R<2TB>B2C?T@2^/32<@2=B2yIkF2OFm`J2<=2CLB=2><2
<@CL<@PQB2 LWICBR?2 R<@PQ?2 R<2 =B2 wI<QQBJ2 ZL<>2 +- J F2 ;h?QBJ2 R<yI@IQ<T?>2 >L>2 RI>PB@CIB>2 B=2 /<@PQ?2 R<2
3B>B2C?T?\

Dtierra =
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

mR
m+M

d Luna =

MR
m+M

222222222222222222222222222222222222222222222222222222222222222222222222222222222

^,FOe`

:B2lL<QKB2kQBUIPBP?QIB2<>2=B2CBL>B@P<2R<2hBC<Q2CB<Q2=B2:L@B2hBCIB2=B2wI<QQBJ2>I@2<TWBQk?J2<>?2@?2<>2R<=2
P?R?2Z?>IW=<2kQBCIB>2B2=B2BC<=<QBCID@2C<@PQ[Z<PBF2.>2R<CIQ\
2222222222222222222222222222222222222222222222222

m 2

MR
mM
=G 2
m+M
R

2 R 3 = G (m + M ) 2 2

22222222222222^,FO_`

+?@R<2 $ 2<>2=B2U<=?CIRBR2B@kL=BQ2R<2=B2:L@B2B=Q<R<R?Q2R<=2C<@PQ?2R<2TB>B2^eQB2:<V2R<2z<Z=<Q`F25I2R<2BiL[2
R<>Z<tBT?>2R3\
222222222222222222222222222222222222222222222222222222222222222222222222222222222

R3 =

G (m + M )
2
2

22222222222222^,FOc`

22222222222222^,FOa`

22222222222222^,FOn`

5I2R<QIUBT?>2Bh?QB2Q<>Z<CP?2B=2PI<TZ?\
2

22222222222222222222222222222222222222 3R R& =
2

2G ( M + m)&
2G (m + M )&
=
2
4

5I2R<>Z<tBT?>2 R! 2V2L>BT?>2=B2eQB2=<V2R<2z<Z=<Q2B@P<>2hB==BRB\

2 2 R 3&
2R
R& =
=
& 2
3 2
3 R
3
22222222222222222222222222222222222222222222222222222222222222222222

.=2 UB=?Q2 ZBQB2 =B2 eQB2 =<V2 R<2 z<Z=<Q2 R<2 $ R MFandONpa2 QBR>2 V2 <=2 UB=?Q2 T<RIR?2 R<2 R $ RP2 iL<2 <>2 $! 8 p
OFNmdONpee2QBR>F25L>PIPLV<@R?2BTW?>2<@2^IFOn`2><2<@CL<@PQB2iL<2=B2wI<QQB2V2=B2:L@B2><2<>P]@2B=<tB@R?2

2eFeCTBq?2^><2Q<B=IKB2<>PB2R<RLCCID@2VB2iL<2RRRP22 R! 2N`J2BL@iL<2B2Z<>BQ2R<2<>P?2@?2Z?R<T?>2
C?@2<dBCPIPLR2R<P<QTI@BQ2=B2RI>PB@CIB2<@2<=2ZB>BR?2V2lLPLQ?2R<2=?>2CL<QZ?>2R<2@L<>PQ?2>I>P<TBJ2ZL<>2@?2
P<@RQ[B2><@PIR?J2R<WIR?2B2iL<2=B>2lL<QKB>2R<2TBQ<B>2R<Z<@R<@2lL<QP<T<@P<2R<2=B2RI>PB@CIB2Z?Q2=?2CLB=2
<>PB2ZQ?Z?QCID@2R<2B=<tBTI<@P?2@?2><2TB@P<@RQ]2C?@>PB@P<F
30

NELSON FALCN V.

7BQB2CB=CL=BQ2=B2UBQIBCID@2R<2=B2U<=?CIRBR2B@kL=BQ2R<2Q?PBCID@2P<QQ<>PQ<2 SJ 2C?@>IR<QBQ<T?>2<=2T?T<@P?2
B@kL=BQ2P?PB=2R<=2>I>P<TB2wI<QQBp:L@BF2^.=2T?T<@P?2B@kL=BQ2P?PB=2R<2=B2:L@B2<>2>L2T?T<@P?2B@kL=BQ2R<2
Q?PBCID@2>?WQ<2>L2<t<22>L2T?T<@P?2B@kL=BQ2?QWIPB=2B=Q<R<R?Q2R<2=B2wI<QQB`J2Z?Q2PB@P?\
2

MR
LL = I L + m

m + M 2222222222222222222222222222222222222222222222222222222222^,FOo`
22222222222222222222222222222222222222222222222222222222222222222222222
+?@R<2 I <>2 <=2 T?T<@P?2 R<2 I@<QCIB2 R<2 =B2 :L@B2 V2 $ L 2 >L2 U<=?CIRBR2 B@kL=BQ2 R<2 Q?PBCID@2 >?WQ<2 >L2 <t<F2
;@]=?kBT<@P<2ZBQB2=B2wI<QQB\
2

MR
L = C + m
^,FOm`

m + M 2222222222222222222222222222222222222222222222222222222222
2222222222222222222222222222222222222222222222222222222222222222222222

5I<@R?2C2oFN_edON__kFCTM2<=2T?T<@P?2R<2I@<QCIB2R<2=B2wI<QQB2Q<>Z<CP?2B2>L2<t<2R<2Q?PBCID@F2/?T?2I2V2

S L 2>?@2TLV2Z<iL<q?>2Q<>Z<CPIUBT<@P<2<@2Q<=BCID@2B=2T?T<@P?2R<2I@<QCIB2V2=B2U<=?CIRBR2B@kL=BQ2R<2=B2

wI<QQBJ2<@P?@C<>J S L R S J2C?@2=?2iL<2Z?R<T?>2R<>ZQ<CIBQ2<=2T?T<@P?2B@kL=BQ2R<2Q?PBCID@2R<2=B2:L@BJ2
Q<>Z<CP?2B2>L2T?T<@P?2B@kL=BQ2R<2PQB>=BCID@J2Z?Q2PB=2T?PIU?2=B2:L@B2@?>2RB2>I<TZQ<2=B2TI>TB2CBQBF
2
;>LTI<@R?2<>P?J2<=2T?T<@P?2B@kL=BQ2P?PB=2R<=2>I>P<TB2LT2@?>2iL<RB\
22222222222222222222222222222222222222222222222222222222222

LT = LL + L = C +

mM
R 2 = ctte 2
m+M

22222222222222^,FMN`

.>P?2R<WIR?2B2iL<2><2hB2C?@>IR<QBR?2L@2>I>P<TB2BI>=BR?J2Z?Q2=?2iL<2@?2ZL<R<@2<dI>PIQ2lL<QKB>2<dP<QI?Q<>2
BCPLB@R?2>?WQ<2S=F2+<QIUB@R?2Q<>Z<CP?2B=2PI<TZ?2V2R<>Z<tB@R?2C?@><kLIT?>\
22222222222222222222222222222222222222222222222222222222222222

& =

mM
( R 2& + 2 RR& ) 2
C (m + M )

22222222222222^,FMO`

22222222222222^,FMM`

L<2WI<@2ZL<R<2><Q2<>CQIP?2>L>PIPLV<@R?2<=2UB=?Q2R<2 R! J2C?@2=?2CLB=\

22222222222222222222222222222222222222222222222222222

& =

mMR 2
& = 4.85 x10 22 rad / s 2 2
3C (m + M )

31

MECNICA CLSICA

/?T?2 BCPLB=T<@P<2 C?@?C<T?>2 iL<2 <@2 <>CB=B2 hLTB@B2 $J OUL<=PBR[B2 2 nFMndONpcQBR>J2 >I2 lL<><2
Z?>IW=<2iL<2P?R?2Z<QTB@<CI<><2R<2IkLB=2TB@<QBJ2=B2wI<QQB2><2lQ<@BQ[B2Z?Q2C?TZ=<P?2<@2L@?>2_FcNN2
TI==?@<>2R<2Bq?>2^<>P<2<>2<@2Q<B=IRBR2<=2PI<TZ?2ZBQB2<=2CLB=2<=2CBTWI?2<@2=B2Q?PBCID@2P<QQ<>PQ<2><Q[B2
BZQ<CIBW=<`F

7BQB2 C?TZQ?WBQ2 <>P?J2 C?T?2 TB@<QB2 CLQI?>B2 ><Q[B2 I@P<Q<>B@P<2 CB=CL=BQ=?2 Z?Q2 T<RI?2 R<2 =B2 <@<Qk[B2
RI>IZBRB2Z?Q2<=2>I>P<TB2RLQB@P<2<=2ZQ?C<>?J2R<>ZQ<CIB@R?2@L<UBT<@P<J2C=BQ?2<>P]J2=B2Q?PBCID@2:L@BQF2:B2
<@<Qk[B2P?PB=2R<=2>I>P<TB2<>\

ET = E L + E E potrencial
= 12 C 2 + 12 M 2 D 2 + 12 m 2 d 2 G

mM
R

mM
mM 1
mM
2R2 G
= 2 C 2 + 12 M 2 D 2 + 12 m 2 d 2 G
m+M
R
R
mM
= 12 C 2 G
2R
222222222222222^,FMe`2

ET = 12 C 2 + 12

R?@R<2><2hB2LPI=IKBR?2=B2eQB2=<V2R<2z<Z=<Q2ZBQB2>L>PIPLIQ2 $ F2:L<k?2R<QIUB@R?2Q<>Z<CP?2B=2PI<TZ?\222

mM &
E&T = C& + G
R2
2R2
2222222222222222222222222222222222222222222222222222222222222222222222222

22222222222222^,FM_`

iL<2 ZL<R<2 <>CQIWIQ><2 Z?Q2 >L>PIPLCID@2 R<2 =?>2 UB=?Q<>2 R<2 R! 2 V2 $! 2 hB==BR?>2 C?@2 B@P<QI?QIRBRJ2 R<2 <>PB2
TB@<QB2Q<>L=PB\
2222222222222222222222222222222222222222222222222222222222222222222222222222222

E&T = C& ( ) 22222222222222222222222222222222222222222222222222222222222222222^,FMc`

/?@2=?2iL<2y[>ICBT<@P<2Z?R<T?>2@?PBQ2iL<2R<tBQ]2R<2RI>IZBQ><2<@<Qk[B2ZBQB2<=2T?T<@P?2<@2iL<2SJ = S 2
ZL<>J2CLB@R?2<>P?2?CLQQBJ2@?2hBWQ]2T?UITI<@P?2Q<=BPIU?2<@PQ<2<=2ChIZ?P<2V2=B2wI<QQB2>D=IRBF2/LB@R?2
<>P?2?CLQQBJ2=B2wI<QQB2RBQ]2>I<TZQ<2=B2TI>TB2CBQB2B2=B2:L@BJ2<@P<@RI<@R?2R<2l?QTB2T]>2C=BQB2Z?Q2iLS2=B2
:L@B2RB2>I<TZQ<2=B2TI>TB2CBQB2B2=B2wI<QQB\2C?T?2>L2I@<QCIB2<>2T<@?Q2iL<2=B2R<2=B2wI<QQBJ2=B>2lL<QKB>2R<2
TBQ<B2R<2=B2wI<QQB2VB2=B2lQ<@BQ?@J2V2>L2ChIZ?P<2BZL@PB2>I<TZQ<2hBCIB2<=2k=?W?2P<QQ]iL<?F

2
6B2C?@?CIR?>2<>P?>2UB=?Q<>2@LTSQIC?>J2Z?R<T?>2>L>PIPLIQ2V2<@C?@PQBT?>2iL<2=B2<@<Qk[B2iL<2><2
<>P]2RI>IZB@R?2Z?Q2=B>2TBQ<B>2<>2B=Q<R<R?Q2R<2^pMFndONpOm<Q>>`2V2C?T?2=B2<@<Qk[B <>P]2BZQ?dITBRB2B2
=?>2MdONMa2=B2<>CB=B2R<2PI<TZ?2R<=2ZQ?C<>?2^ E / dE / dt `2Z?RQ[B2<>PITBQ><2<@2BZQ?dITBRBT<@P<2edONm2
Bq?>F
32

NELSON FALCN V.

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=?2 iL<2 ZB>BJ2 C?@>IR<QBQ<T?>2 C?T?2 hB>PB2 Bh?QB2 >?=BT<@P<2 <=2 >I>P<TB2 wI<QQBp:L@B2 ^>I>P<TB2 BI>=BR?`J2
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ZQ?W=<TB2R<2PQ<>2?2T]>2CL<QZ?>2ZBQB2<=2CLB=J2RIy[CI=T<@P<J2Z?RQ[B2><Q2hB==BRB2L@B2>?=LCID@2B@B=[PICBF

7?Q2iLS2lQ<@B@2=B>2TBQ<B>\2.=2T<CB@I>T?2W]>IC?2<>2iL<2=B2:L@B2kIQB2B=Q<R<R?Q2R<2=B2wI<QQB2<@2L@?>2
Mn2R[B>2V2=B2wI<QQB2Q?PB2>?WQ<2>L2ZQ?ZI?2<t<2<@2>?=BT<@P<2L@2R[BF27?Q2=?2PB@P?J2<=2ChIZ?P<2R<2=B2TBQ<BJ2
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:L@B2?CLQQ<2>ITZ=<T<@P<2Z?QiL<2><2C?@><QUB2<=2T?T<@P?2B@kL=BQF

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<t<J2hBCI<@R?2>L2U<=?CIRBR2B@kL=BQ2R<2Q?PBCID@2R<>ZQ<CIBW=<2<@2C?TZBQBCID@2C?@2>L2U<=?CIRBR2B@kL=BQ2
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=B2TI>TB2CBQB2R<2=B2:L@B2BZL@PB@R?2B2=B2wI<QQBF

33

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B2=B2U<=?CIRBR2R<2=B2=LK`J2=?2iL<2UBQ[B2<>2<=2ZQ?C<RITI<@P?2ZBQB2==<kBQ2B=2Q<>L=PBR?J2TI<@PQB>2iL<2C?@2
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TB@<tB@2TBk@IPLR<>2B>?CIBRB>2B=2CL<QZ?2^<@<Qk[B>`F
2.1 Principio de los trabajos virtuales o de DAlembert

/?@>IR<Q<T?>22L@2>I>P<TB2CLVB2RI@]TICB2ZL<R<2><Q2R<>CQIPB2Z?Q2=B>2<CLBCI?@<>\2

r dpr d
r
F=
= (mv )
dt dt
2
222222222222222222222222222222222222222222222222222222222222222222222222222222

iL<2ZL<R<2<>CQIWIQ><2C?T?\2

r dpr
F
=0
dt
2
22222222222222222222222222222222222222222222222222222222222222222222222222222222222222

22222

222222222222222^MFO`22

2222

^MFM`22

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V2lL<QKB>2yICPICIB>2I@U<QPIRB>F

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=[@<B2C?@PI@LBF
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r
dp i r r
Fi ri = 0

Figura 2.1 +<>Z=BKBTI<@P?2UIQPLB=2

dt
2 2
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
<@2<=2<>ZBCI?2R<2lB><>
35

^MFe`

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22
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n
r
r
r
Fi = Fliext + f ljlig
j

)
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r
n
r ext r n r lig r
dpli r

F
i dt i i lj ri i f lj ri = 0
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n

22222222222222222222222222222222222222222222222
2
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k<@<QB=IRBRJ2?TIPIQ<T?>2<><2[@RIC<J2ZBQB2<>CQIWIQ\22222
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r
n
r
dp i r
r
i dt ri i F jext ri = 0
n

2222222222222222222222222222222222222222222222222

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r(q1,q2,qn, t)\
k
r
r
q j + t
j =1 q j
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k

ri =
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PSQTI@?\2

ri
qj
j =1 q j
k

ri =

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22222222222222222222222222222222222222222222222222222222222222222222222222222
2
2
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2
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r
r

k r ext k rri
d (mi vi ) k ri
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q j = 0
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j =1 q j
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222222222222222222222222222222222222222222
n

36

NELSON FALCN V.

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r ext rri
d (mi vri ) rri
j dt q Fi q q j = 0

j
j

222222222 2222222222222222222222222222^MFON`

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Z?P<@CIB=2Q<>Z<CP?2B2=B2C??QR<@BRB2iIF

r
d r rri
r d ri

m
v

m
v

j dt i i q i i dt q

j
j

U i
r
r
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r
d r rri / t
d
r
r

U
j dt mi vi q / t mi vi q dit q i

j
j
j

222222222222222222222222222222222

r
ri

q j = 0
q j
222222222222222222^MFOO`

r
d m vr vi
j dt i i

qj

222222222222222222222222222222222222222222

r vi U i
mi vi q q

j
j

q j = 0

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qj = 0

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n

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d mi vi
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q j

q
j

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q j = 0

q j

222222222222222222222222^MFO_`

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k

222222222222222222222222222

2
n
mi v i
d

q
dt
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i
j

q j

n mi v i 2 n

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37

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2
+<yI@IT?>2Bh?QB2=B2lL@CID@2L= T - U22C?T?2=B22funcin de Lagrange2?2><T]@PICBT<@P<2<=2LagrangianoF2
4W><QU<T?>2iL<2<@2k<@<QB=\

L L(q1 , q 2 ,..., q n , q 1 , q 2 ,..., q n , t ) 2 2

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k

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d L L q = 0
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j
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2
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2
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d L

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j
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2 2

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38

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ZQI@CIZI?2><2BZ=ICB2>D=?2B2=B>2lL<QKB>2R<2U[@CL=?
Ejemplo 2.1: AL@CID@2R<2:BkQB@k<2R<2L@B2ZBQP[CL=B2=IWQ<F

+<CIQ2iL<2L@B2ZBQP[CL=B2<>P]2=IWQ<2@?>2Q<l<QIT?>2B2iL<2@?2<>P]2Bl<CPBRB2Z?Q2lL<QKB>2<dP<Q@B>J2<>2R<CIQJ2
iL<2<=2Z?P<@CIB=2R<2=B2ZBQP[CL=B2<>2C?@>PB@P<2^<@2=B2TBV?Q[B2R<2=?>2CB>?>2<>B2C?@>PB@P<2<>2C<Q?`2\22 2
2
2
222222222222222222222222222222222222222222222222222222222222222222222222222222222228/?@>PB@P<N2
2
2
2222222222222222222222222222^MFMO`

.@P?@C<>2=B2:BkQB@kIB@B2UI<@<2<dZQ<>BRB2R<2=B2<@<Qk[B2CI@SPICB2R<2=B2ZBQP[CL=B\
22222222222222222222222222222222222222222222222222222222222222222222222222222222222

L =T =

m 2
q
2 2

22222222222222222222222222222222222222222222222222222222222^MFMM`2
39

MECNICA CLSICA

7?Q2=?2PB@P?J2BZ=ICB@R?2=B2<CLBCID@2R<2.L=<Qp:BkQB@k<2><2?WPI<@<\

22222222222222222222222222222

L
=0
q

d L
=0
dt q

= const . C

= mq = C

222222222222222222222^MFMe`

"

:L<k?2 /2 <>2 L@B2 C?@>PB@P<2 iL<2 R<@?TI@BQ<T?>2 T?T<@PLT2 =I@<B=2 p F2 .@P?@C<>2 =B2 <CLBCID@2 R<2
T?UITI<@P?2<>\
2222222222222222222222222222222222222222222222222222222

r
r
r p
p
q = t+A= t
m
m 2
2222222222222222

2222222222222^MFM_`

+?@R<2h<T?>2ZL<>P?2iL<2=B2C?@>PB@P<2I@ICIB=2<>2;NF27L<>2<@22PN2=B2ZBQP[CL=B2@?2><2hB2R<>Z=BKBR?F
Ejemplo 2.2:2.=2?>CI=BR?Q2BQTD@IC?2>ITZ=<2

/?@>IRSQ<><2L@2>I>P<TB2C?TZL<>P?2Z?Q2L@B2TB>B2T2L@IRB2B2L@2Q<>?QP<2IR<B=2R<2
C?@>PB@P<2zJ2<>2l]CI=2U<Q2iL<2<=2T?UITI<@P?2R<Z<@R<2>?=?2R<2=B2C??QR<@BRB2dJ2V2
>L>2<@<Qk[B>2CI@SPICB2V2Z?P<@CIB=2><2<>CQIW<@2C?T?\
Figura 2.2 24>CI=BR?Q2
BQTD@IC?2>ITZ=<

22222222222222222222222222222222222222222222222

T =

m 2
k
x ; U = x2
2
2 22222

2222222222222222222222222222^MFMc`

22.@P?@C<>2<=2:BkQB@kIB@?2<>\

m 2 k 2
L= x x
2
2 22222222222222222222222222222222222222222222222222222222222222222222^MFMa`
2222222222222222222222222222222222222222222222222222222222222222222222222222222222
/LB@R?2><2BZ=ICB2=B2<CLBCID@2R<2.L=<Qp:BkQB@k<2><2?WPI<@<\

22
2
2
2

k
2222222222222222222222222222222222222222222222222222222222222222222 x + 2 x = 0 ; 2
m 22222222222222222222222222222222222222222222222222222222222^MFMn`
2222222222222222222222222222222222222222222222222222222222222222222222
+?@R<22<>2=B2ZL=>BCID@2R<=2>I>P<TB2TB>BpQ<>?QP<F2.@P?@C<>2=B2>?=LCID@2R<2=B2<CLBCID@2R<2T?UITI<@P?2
<>\

2222222222222222222222222222222222222222222222222222222222222222222222222

x+ 2 x = 0 ; 2

k
m 22

2222222222222^MFMo`

5I2R<yI@IT?>2;OTJ22O>2V2 & \ % / 2 2><2?WPI<@<2<=2kQ]yIC?2R<2=B2Z?>ICID@2U>2<=2PI<TZ?2V2=B2U<=?CIRBR2

U>2<=2PI<TZ?2R<=2>I>P<TB2TB>BpQ<>?QP<J2C?T?2<@2=B2yIkLQB22MFeF\

40

NELSON FALCN V.

Figura 2.3 rQ]yICB>2Z?>ICID@2V2U<=?CIRBR2U<Q>L>2PI<TZ?2ZBQB2L@2?>CI=BR?Q2BQTD@IC?

Ejemplo 2.3: 3]iLI@B2R<2;Pg??R2

8@B2T]iLI@B2R<2;Pg??RJ2?2>I>P<TB2>ITZ=<2R<2Z?=<B>2C?@2lQICCID@2R<>ZQ<CIBW=<J2C?T?2<=2R<2=B2yIkLQB2MF_22
ZL<R<2Q<>?=U<Q><2l]CI=T<@P<2L>B@R?2=B>2<CLBCI?@<>2R<2.L=<Q2:BkQB@k<F

.>2 l]CI=2 C?@U<@C<Q><2 iL<2 <=2 >I>P<TB2 ><2 ZL<R<2 R<>CQIWIQ2 C?@2 M2
C??QR<@BRB>2k<@<QB=IKBRB>2?2B=PLQB>2R<2=B>2TB>B>2Q<>Z<CP?2B=2C<@PQ?2
R<2=B2Z?=<BJ2=L<k?2P<@<T?>2ZBQB2=B>2<@<Qk[B>2Z?P<@CIB=2V2CI@SPICB\

Figura 2.4 223]iLI@B2R<2;Pg??R2>ITZ=<F

:L<k?\2 2

222222222222222222222222222222

T=

22222222222222222222222222222222222 U = m1 gy1 m2 gy 2 2

2222222222222^MFeN`

222222222222222222222222222222222222

2222222222222^MFeO`

T=

m1 2 m2 2
y1 +
y2
2
2
2

1?2?W>PB@P<2<dI>P<2L@B2Q<>PQICCID@2?2U[@CL=?2iL<2TB@PI<@<2L@IR?2=B>2
R?>2TB>B>J2V2Q<RLCIT?>2B2L@B2>?=B2C??QR<@BRB2k<@<QB=IKBRB\
2222222222222222222222222222222

1
2
(m1 + m2 ) y 2
2

l = y1 + y 2

y1 = y 2 2

U = m1 g (l y 2 ) m2 gy 2

62=B2lL@CID@2R<2:BkQB@k<2><2<>CQIW<2C?T?\

L=

m1 + m2 2
y 2 + m1 gl + (m2 m1 ) gy 2
2
2

2222222222222222222222222222222222222222222222222222222222
62=B>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<2iL<RB@2C?T?\
2
2

L
= (m2 m1 ) g
y2

d L
dt y
2

m
m
=
(
+
)
1
2 y2

2222222222222222222222222222^MFeM`
222222222222222222222222222222222^MFee`

2222222222222222222222222222^MFe_`

22222222222222222222222222^MFec`
41

MECNICA CLSICA

(m2 m1 )
g ;
m1 + m2

2222222222222222222222222222222222222222222222222

y2 =

y1 =

(m2 m1 )
g
m1 + m2

222222222222222222222222222222222222^MFea`

+?@R<2><2hB2>L>PIPLIR?2<=2U[@CL=?2<@2=B2=PITB2<dZQ<>ID@2ZBQB2hB==BQ2=B2BC<=<QBCID@2R<2TOF2.UIR<@P<T<@P<2
=B>2BC<=<QBCI?@<>2R<2=B>2TB>B>2@?2<>2=B2TI>TB2R<2=B2kQBU<RBRJ2>I2=B>2TB>B>2lL<QB@2IkLB=<>2=B2BC<=<QBCID@2
><QIB2@L=B2V2<=2>I>P<TB2<>PBQ[B2<@2<iLI=IWQI?F2
Ejemplo 2.4: 5I>P<TB2R<2T?UITI<@P?2CIQCL=BQ2R<2QBRI?2UBQIBW=<

5<2PI<@<2L@2Z=B@?J2<@2<=2C<@PQ?2R<2S=2><2BWQ<2L@2?QIyICI?2<@2=B2CLB=2><2hBC<2ZB>BQ2L@B2CL<QRB2I@<dP<@>IW=<22
R<2=?@kIPLR2=J2<@2<=2<dPQ<T?2>LZ<QI?Q2R<2=B2CL<QRB2><2PI<@<2L@B2ZBQP[CL=B22TOJ2=B2CLB=2><2TL<U<2<@2<>ZIQB=2
<@2<=2Z=B@?J22<@2<=2<dPQ<T?2I@l<QI?Q2<>P]2=IkBRB2L@B2TB>B2TMJ2S>PB2PI<@<2L@B2B=PLQB2V2Z?Q2R<WBt?2R<=2
Z=B@?F2+<>CQIWIQ2=B>2<CLBCI?@<>2R<=2T?UITI<@P?2TI<@PQB>2=B2TB>B2TO2><2TL<U<2>?WQ<2<=2Z=B@?F

/?T?2>?@2R?>2ZBQP[CL=B>2R<W<2hBW<Q2<@2ZQI@CIZI?2a2kQBR?>2R<2=IW<QPBRJ2=B>2=IkBRLQB>2?2Q<>PQICCI?@<>2=?2
=ITIPB@2B2>D=?2M\2
Z1=ctte.

l=ctte. Z2=X2=ctte g=3.2-4=22 2

2222222222222^MFen`

/?@2=?2CLB=2<dI>P<@2R?>2kQBR?>2R<2=IW<QPBR2C?@2=B2UBQIBW=<2V2
?2Q22V2F22222222222222222222222
:B2<CLBCID@2R<2=IkBRLQB2<>\22222 l = r + y 2222222222222222222222222^MFeo`

Figura 2.5 5I>P<TB2R<2T?UITI<@P?2CIQCL=BQ2

R<2QBRI?2UBQIBW=<

:B2<@<Qk[B2CI@SPICB2><2<dZQ<>B2<@2C??QR<@BRB>2Z?=BQ<>2ZBQB2
=B2 TB>B2 TO2 V2 <@2 CBQP<>IB@B>2 ZBQB2 =B2 TB>B2 TMF2 :B2 <@<Qk[B2
Z?P<@CIB=2R<2=B2ZBQP[CL=B2iL<2><2TL<U<2<@2<=2Z=B@?2<>2C<Q?F

m
2

2222222222
T1 = 12 (r + r 22 )

2 T2 =

m1 2
2 y
2

.=2=BkQB@kIB@?2><2<>CQIW<2<@P?@C<>2C?T?\

2 U = m2 2 gy

222^MFem`

m1 2 2 2
m2 2
(r + r ) +
L=
y + m2 gy
2
2
222222222222222222222222222222222222222222222222222222222222222
2222222222222222222222222222222222222222222^MF_N`
2

62=B2<CLBCID@2R<2=B2=IkBRLQB2Z<QTIP<2Q<=BCI?@BQ2=B2UBQIBW=<2Q2C?@22V
222222222222222222222222222222222222222222222222222222222222222222
5L>PIPLV<@R?2<@2^MF_N`J2><2PI<@<\
222222222222222222222222222222222222222222222222
42

L=

l=r+y

y = r

22222222222222222222222222222222222222222222222222222222^MF_O`

m1 + m2 2 m1 2 2
r +
r + m2 g (l r )
2
2

2222222222222222222222222222222222^MF_M`

NELSON FALCN V.

.@2<>P<2CB>?2<dI>P<@2R?>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<\

(m1 + m2 ) r m1 r 2 + m2 g = 0

ZBQB2Q222222222222222222222222222222222222222222222222

22222222222222222222222222222222222222222222222222^MF_e`

ZBQB2\2 2

2
2 m1 r = ctte = b 2

2222222222222^MF__`

22

2222222222222^MF_c`

.>PB2Q<=BCID@2^MF__`2<dZQ<>B2=B2/?@><QUBCID@2R<=2T?T<@PLT2B@kL=BQ2^b`J2V2=B2U<=?CIRBR2B@kL=BQ2UBQ[B2
<@P?@C<>2C?T?\
2
2

222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
5L>PIPLV<@R?2^MF_c`2<@2^MF_e`2?WP<@<T?>\2

b
m1 r 2 2222

b2
(m1 + m2 )r 3 + m2 g = 0
m1 r
22222222222222222222222222222222222222222222222222222^MF_a`
2222222222222222222222222222222222222222222222222222222222222222222

7BQB2I@P<kQBQ2<>PB2<CLBCID@J2><2TL=PIZ=ICB2P?RB2<==B2Z?Q2RQRP2V2><2<>CQIW<2<=2ZQIT<Q2PSQTI@?2C?T?2=B2
R<QIUBRB2R<2R2^QM`RP2^ZQ?C<RITI<@P?2iL<2L>BQ<T?>2Q<IP<QBRBT<@P<2<@2UBQI?>2<t<TZ=?>`F

2222222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222

(m1 + m2 )r r

b2
r + m2 g r = 0
3
m1 r
222222222222222222222222222222222222222222222222^MF_n`

d 1
d b2
+ m2 g r = 0
(m1 + m2 )r
2
dt 2

dt 2m1 r

;kQLZB@R?2=B>2R<QIUBRB>\
2
2

222222222222222222222222222222222222222222222222222222222222

d m1 + m2 2
b2
r

+ m2 gr = 0

2
dt 2
2m1 r

22222222222222222222222222222222222^MF_o`

22222222222222222222222222222222222222222222222^MF_m`

/?T?2 =B2 R<QIUBRB2 <>2 C<Q?J2 <>2 C=BQ?2 =B2 <dZQ<>ID@2 <@PQ<2 C?QCh<P<2 <>2 C?@>PB@P<J2 V2 BR<T]>2 C?T?2 PI<@<2
L@IRBR<>2R<2<@<Qk[B>2Z?R<T?>2R<yI@IQ2<>PB2@L<UB2CB@PIRBR2C?T?\

E=

2222222222222222222222222222222222222222222222222222222222222222

m1 + m2 2
b2
r
+ m2 gr
2
2m1 r 2
22222222222222222222222222222222222222222222222222222^MFcN`

43

MECNICA CLSICA

.CLBCID@2iL<2<dZQ<>B2=B2C?@><QUBCID@2R<2=B2<@<Qk[B2R<=2>I>P<TBF
Ejemplo 2.5: 7S@RL=?2>ITZ=<

7?Q2=?@kIPLR2R<2BQC?2><2PI<@<2L@2>?=?2kQBR?2R<2=IW<QPBR\2
222222222222222222222222222222222222222
2

Figura 2.627S@RL=?2>ITZ=<

T8

m =2
s
2

.@<Qk[B2CI@SPICBF2
22222222222222
2222222222222222222222222222222222222222222222222

; s 8 l' ] s 8 l '

T=

m 2 2
l
2
222222222222222222222222222222222222222222222222222^MFcO`

.@<Qk[B2Z?P<@CIB=22222222222222222222222222222222222222 U = mgy = mgl cos 2222222222222222222222222222222222222222222222222222222222222^MFcM`222

.=2:BkQB@kIB@?2><2<>CQIW<2Bh?QB2C?T?\

m 2 2
L = l + mgl cos
2
2222222222222222222222222222222222222222222222222222222222222222222222222
222222

22222222222222222222222222222222222222222222^MFce`

2
62=B2.CF2R<2.L=<Qp:BkQB@k<2<>\2222222222222222222 ml + mglsen = 0 22 2222222222222222222222

2222222222222222222222222222^MFc_`

L<2<@2<=2CB>?2R<2]@kL=?>2Z<iL<q?>2^><@dd2>I2dO2QBRIB@`22><2BZQ?dITB2B\

2
2
2
2
2
222222222

222222222222222222222222222222222222222222222222222222222222222222222222222222222222 + 2 = 0 222222222222222222222222222222222222222222222222222222222222222222222222^MFcc`
2
.@P?@C<>2=B2>?=LCID@2B2=B2<CLBCID@2R<2T?UITI<@P?2<>\2 2
2
2
22222222222222222222222222222222222222222222222222222222222222222222222222 (t ) = A sen( t + ) 22222222222222222222222222222222222222222222222222222222222222^MFca`
2
Ejemplo 2.6: 7BQP[CL=B2<@2L@2C?@?

8@B2 TB>B2 ^T`2 <>P]2 Q<>PQI@kIRB2 B2 T?U<Q><2 <@2 =B2 >LZ<QyICI<2 I@P<QI?Q2 R<2
L@2C?@?2R<2]@kL=?2F2:B2ZBQP[CL=B2<>P]2>Lt<PB2B2=B2lL<QKB2kQBUIPBCI?@B=F2
:B>2 PQ<>2 RIQ<CCI?@<>2 <>ZBCIB=<>2 R<2 =B2 U<=?CIRBR2 R<2 =B2 ZBQP[CL=B2 R<@PQ?2
R<=2C?@?2ZL<R<@2<dZQ<>BQ><2<@2C??QR<@BRB>2CI=[@RQICB>J2B>[2=B2<@<Qk[B2
CI@SPICB2<>\
2

Figura 2.727BQP[CL=B2R<@PQ?2
R<2L@B2>LZ<QyICI<2CD@ICB

44

m
m
2
2
T
=
(
x
+
y
+
z
)
=
(
r
+
r

+
z
) 2222222222222^MFca`
222222222222222222222
2
2

NELSON FALCN V.

:B2>LZ<QyICI<2CD@ICB2ITZ?@<2L@B2Q<>PQICCID@2?2U[@CL=?2iL<2Q<=BCI?@B2=B2C??QR<@BRB2K2C?@2<=2]@kL=?2R<=2
C?@?\

z = r cot 2

:B>2C??QR<@BRB>2k<@<QB=IKBRB>2>?@2QJ2K2V2F2

222222222222^MFcn`

2
T = (r + r 2 + r cot 2 ) = (r csc 2 + r 2 )
2
2
2
2222222222222222222222222222222222222222222

2222222222222^MFco`

62=B>2<@<Qk[B>2CI@SPICB2V2Z?P<@CIB=2iL<RB@2C?T?\2

222222222222222222222222222222222222222222222222222222222222222222222222222 U = mgz = mr cot 2 2

2
2
2
2222222222222222222222222222222222222222222222222222222222

L=

m
(r csc 2 + r 2 ) m g r cot
22
2

2222222222222^MFcm`

2222222222222^MFaN`

;Z=ICB@R?2=B>2<CLBCI?@<>2R<2.L=<Qp:=BkQB@k<J2?WP<@<T?>22C?@2Q<>Z<CP?2B2=B2UBQIBW=<2Q\
2

22222222222222222222222222222222222222222222222222222222222222 m r csc 2 mr + mg cot = 0 2 2 2

62C?@2Q<>Z<CP?2B2=B2UBQIBW=<2B@kL=BQ\2

2222222222222222222222222222^MFaO`

222222222222222222222222222222222222222222222222222222222222 mr 2 = ctte = 22^/?@><QUBCID@2R<=2T?T<@PLT2B@kL=BQ`.

=

5L>PIPLV<@R?2<@2^aFaO`J2V2TL=PIZ=ICB@R?2Z?Q2 r 2?WP<@<T?>\2

m r r csc 2

^MFaM`

2
r
+
mg
r
cot = 0
mr 3
2222222222222222222222222222222222222222222222^MFae`

22222222222222222222222222222222222222222222222222222222
2
62BZ=ICB@R?2<=2]=k<WQB2C?QQ<>Z?@RI<@P<2?WP<@<T?>\
222222222222222222222222222222222222222222
2

d m csc 2

2
dt

d 2 d
+ [mg r cot ]= 0
r +
2
dt 2mr dt
2222222222222222222222222222222^MFa_`

d m csc 2
2
r
+
+ mg r cot = 0

2
2
2mr

2222222222222222222222222222222222222222222222222222 dt
2

.=2PSQTI@?2<@PQ<2C?QCh<P<>2<>2C?@>PB@P<2V2<dZQ<>B2=B2C?@><QUBCID@2R<2=B2<@<Qk[B\
22222222222222222222222222222222222222222222222222222222

E=

2222222222222222222222222222^MFac`

m csc 2
2
r+
+ mg r cot
2
2mr 2
22222222222222222222222222222222222222222222222^MFaa`
45

MECNICA CLSICA

Ejemplo 2.7: 7S@RL=?2R?W=<

+?>2 TB>B2 ZL@PLB=<>2 Z<@R<@2 R<2 hI=?>2 I@<dP<@>IW=<>2 IRS@PIC?>2 R<2 =?@kIPLR2 BJ2
>Lt<PBR?>2<@PQ<2>[2V2B2L@2ZL@P?2yIt?F

m 2 2
T1 = a
2
7BQB2=B2TB>B2TO2><2PI<@<\2222222222

; s = a

2222222222222222222222222222222222^MFan`

2222222222222222222222222222222222222222222222222222222 U 1 = mgy1 = mga cos 2222222222222222222222222222222^MFao`

Figura 2.827S@RL=?2R?W=<

7?Q2?PQ?2=BR?J2=B2<@<Qk[B2CI@SPICB2R<2=B2?PQB2ZBQP[CL=B2<>\

T=

Pero:
2
2
2
2
2

2222222222222222222222222222222222222222222222222222222
2
2
2
2

2
2
2
2
x 2= x1 + x2 2 = a sen
2 + a sen
2

y = y1 + y 2 = a cos + a cos

2222222222
2222222222222222222222222222222222222

ma 2 2 2
x + y
2
2222222222222222222222222222222222222222222222^MFan`

x = x 1 + x 2 = a ( cos + cos )

y = y 1 + y 2 = a ( sen + sen )

x + y = a 2 ( + ) + 2a 2 ( cos cos sen sen ) 22 2222222222222^MFao`

22
22222222222222222222222222222222222222222222222222

x + y = a 2 ( + ) + 2a 2 cos( ) 2 2 2

;h?QB2>L>PIPLV<@R?2<@2^MFan`J2><2PI<@<\

T2 =

222222222222222222222222222222222222222222222222222222222222

ma 2 2 2
+ + 2 cos( )
2

2 2

2222222222222^MFam`

2222222222222^MFnN`

:B2<@<Qk[B2Z?P<@CIB=2R<2TM2<>\2222 U 2 = mg ( y1 + y 2 ) = mga (cos + cos ) 2 2222222222222222222222222222^MFnO`

/?T?2=B2lL@CID@2R<2:BkQB@k<2?2:BkQB@kIB@?2<>\

22222222222222222222222222222222222222222222222222222222222222222222222222 L = T1 + T2 (U 1 + U 2 ) 2222222222222222222222222222222222222222222222222222222222222^MFnM`
46

NELSON FALCN V.

-<<TZ=BKB@R?2BiL[2^MFnO`J2^MFnN`J2^MFan`J2^MJao`2?WP<@<T?>2<=2:BkQB@kIB@?\
2222222222222222222222222

2 2

2
+ cos( ) + mga(2 cos + cos )
L = ma +
2

2
2222222222222222222222222222222222222222

;Z=ICB@R?2=B2<CLBCID@2R<2.L=<Qp:BkQB@k<2ZBQB2=B2UBQIBW=<2J2><2PI<@<\

1
1 2
g
+ cos( ) + sen( ) + sen = 0
2
2
a

2222222222222^MFne`

22222222222222222222222222222222222222222

2222222222222222222222222222^MFn_`

5I2<=2]@kL=?2R<2=B2><kL@RB2TB>B2<>2C<Q?J2><2?WPI<@<2=B2<CLBCID@2R<2T?UITI<@P?2R<2L@2ZS@RL=?2>ITZ=<J2
C?T?2<>2R<2<>Z<QBQ><2Bh?QB2CLB@R?2BZ=ICBT?>2=B2<CLBCID@2R<2.L=<Qp:BkQB@k<2ZBQB2J2?WP<@<T?>\
2222222222222222222222222222222222222222222
5I2R<yI@IT?>\
2222222222222222222

2
1
g
+ cos( ) sen( ) + sen = 0
2
a
2 2

a = 0.5 m ; g 10m / s 2

; (0) = 0 ; (0) = 0.5rad

2222222222222^MFnc`

(0) = 0

Figura 2.92rQ]yIC?2R<2222^IKi`22V222^R<Q`2U<Q>L>2P2ZBQB2L@2ZS@RL=?2R?W=<2>ITSPQIC?

5<2?W><QUB2iL<2<=2><kL@R?2ZS@RL=?2><2<@CL<@PQB2BPQB>BR?2C?@2Q<>Z<CP?2B=2ZQIT<Q?J2<>2R<CIQJ2iL<2><2
<@CL<@PQB2R<>lB>BR?2NFc2QBRF2.@2=?>2C[QCL=?>2><2R<>PBCB2<><2l<@DT<@?F2
.@2k<@<QB=2<=2>I>P<TB2<>2TLV2><@>IW=<2B2=B>2C?@RICI?@<>2I@ICIB=<>J2Z<iL<qB>2UBQIBCI?@<>2k<@<QB@2CBTWI?>2
>Ik@IyICBPIU?>2<@2=B2<U?=LCID@2P<TZ?QB=2V2><2RIC<2iL<2PB=2>I>P<TB2<>2CBDPIC?F
2
Ejemplo 2.8 7S@RL=?2<>lSQIC?
5LZ?@kBT?>2L@B2UBQI==B2Q[kIRB2R<2Z<>?2R<>ZQ<CIBW=<2iL<2>?Z?QPB2L@B2TB>B2
<@2 L@2 <dPQ<T?J2 =B2 ZBQP[CL=B2 ZL<R<2 T?U<Q><2 <@2 P?RB>2 RIQ<CCI?@<>2 WBt?2 L@2
CBTZ?2kQBUIPBCI?@B=2<@2=B2RIQ<CCID@22^p`KF

Figura 2.10: 7S@RL=?2<>lSQIC?

-<>L=PB2BR<CLBR?2<dZQ<>BQ2<=2T?UI<@R?2<@2C??QR<@BRB>2<>lSQICB>J2P?RB2U<K2
iL<2=B2UBQI==B2I@<dP<@>IW=<2hBC<2=B>2U<C<>2R<2L@2QBRI?2C?@>PB@P<F

47

MECNICA CLSICA

22222222222222222222222222222222222222222222222222222222222222

2
m2 2 2 2
2

T = r + r + r sen
2

w<@I<@R?2<@2CL<@PB2iL<2<=2U[@CL=?2<>22l= r = constanteJ2<@P?@C<>\2

T=
2222222222222222222222222222222222222222222222222222222222222222222222

ml 2
2

2
2
+ sen 2

22

22222222222222222222222222222222222222222222222222222^MFna`

22222222222222222222222222222222222222222222^MFnn`

7?Q2k<?T<PQ[B2><2PI<@<2iL<2z= l cos(.)J2B>[2=B2<@<Qk[B2Z?P<@CIB=2<>\ U = mgl cos 22^MFno`

.=2:BkQB@kIB@?2><2<>CQIW<2C?T?\2

222222222222222222222222222222222222222222222

ml 2
L=
2

2
2
+ sen 2 mgl cos

2 22222222222222222222222222222222222222222222^MFnm`

/?T?22<>2C[C=ICBJ2><2C?@><QUB2<=23?T<@P?2;@kL=BQ2VJ2Z?Q2=?2PB@P?J2>D=?2P<@<T?>2L@B2<CLBCID@2R<2.L=<Qp2
:BkQB@k<2C?@2Q<>Z<CP?2B2\
2

d L L

=0
dt

2222222222222222222222222222222
2

-<B=IKB@R?2=B>2R<QIUBRB>2C?QQ<>Z?@RI<@P<>2><2PI<@<2iL<\2

22

2222222222222^MFoN`

2222222222222^MFoO`

2
2
222222222222222222222222222222222222222222222222222222222 ml ml sen cos + mgl sen = 0 22

/LB@R?22222OJ2<@P?@C<>2

222

g
=0
2 22222222222222222222222222222222222222222222222222222222222^MFoM`
l

iL<2><2Q<RLC<2B=2CB>?2R<=27S@RL=?25ITZ=<2CLB@R?22<>2C?@>PB@P<F2AI@B=T<@P<\

2222222222222222222222222222222222222222222222222222222222222222222

48

g
=0 = g l
l
2

2222222222222^MFoe`

NELSON FALCN V.

Ejemplo 2.9 7S@RL=?2C?@2ZL@P?2R<2>?Z?QP<2C[C=IC?

.=2 ZL@P?2 R<2 >?Z?QP<2 R<2 L@2 ZS@RL=?2 >ITZ=<2 R<2

=?@kIPLR2 W2 ><2 TL<U<2 >?WQ<2 L@2 BQ?2 ^>I@2 TB>B`2 R<2
QBRI?2B2iL<2Q?PB2C?@2U<=?CIRBR2B@kL=BQ2F
.=2 T?UITI<@P?2 R<=2 ZS@RL=?2 ?CLQQ<2 <@2 <=2 Z=B@?2 dVJ2
=L<k?2>L2<@<Qk[B2CI@SPICB2<>\

T=
22222222222222222222222222
2^MFo_`

:B2C??QR<@BRB>2<>P]@2UI@CL=BRB>2^Q<>PQI@kIRB>`2Z?Q2
<=2T?UITI<@P?2B@kL=BQ2R<=2BQ?J2><k@2=B>2Q<=BCI?@<>2
^U<Q2AIkLQB2MFOO`\

y = y 2 y1 = b cos a sen t

Figura 2.1127S@RL=?2C?@2>?Z?QP<2C[C=IC?

x = x1 + x 2 = a cos t + b sen

2222222222222222222222222222222 x = a sen t + b cos

=L<k?\
2

2222222222222222222222222222

2222222222222222222222222222222222222222222222222222222

62<=2:BkQB@kIB@?2<>\
2222222222222222222222

m 2 2
2
a

2
ab

sen( t )
+
+

2
22

22222222222222222222222222222222222222222222222
2
;h?QB2=B2<@<Qk[B2Z?P<@CIB=2<>2IkLB=2B\

y = b sen a cos t

x + y = a 2 2 + b 2 + 2ab (sen cos t sen t cos

T=

m2 2
x + y
2
2

22222222222222222^MFoc`
^MFoa`
22222222222222222222222^MFon`

2222222222222222222222222222^MFoo`

U = mgy = mg (b cos asent ) 222222222222222222222222222222222222222222222^MFom`2

m 2 2
2
L = a + b + 2ab sen( t ) + mg (b cos asent )
2

/?@2=B>2C??QR<@BRB>2k<@<QB=IKBRB>22V2F2
7BQB2=B2C??QR<@BRB2B@kL=BQ

22222222^MFmN`
2

d L L

=0
dt

2222222222222222222222222222222222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222222222222222222222222222^MFmO`
49

MECNICA CLSICA

><2?WPI<@<2=B2<CLBCID@2R<2T?UITI<@P?2R<=2ZS@RL=?\

22222222222222222222222222222222222222222222222222222222222222222222

g
a 2
sen =
cos( t )
b
b
2222222222222222222222222222222222222222222222222222^MFmM`

5I22<=2]@kL=?2<>2TLCh?2T<@?Q2iL<2O2QBRIB@2^TLCh?2T<@?Q2iL<2cn`J2<@P?@C<>

22222222222222222222222222222222222222222222222222222222222222222222222222

g
a 2
=
cos(t )
b
b
22222222222222222222222222222222222222222222222222222222222222^MFme`

L<2><2Q<RLC<2B2=B2R<2L@2ZS@RL=?2>ITZ=<2CLB@R?2>I2NF2.>P<2<t<TZ=?2Z?@<2R<2TB@IyI<>P?2=B2LPI=IRBR2R<=2
TSP?R?2R<2:BkQB@k<2<@2CB>?>2R?@R<2=B2l?QTL=BCID@2@<gP?@IB@B2ZLRI<QB2><Q2TLV2BQRLB2ZBQB2<dZ=ICIPBQ2
=B>2lL<QKB>2iL<2BCPB@2>?WQ<2L@B2ZBQP[CL=BF
Ejemplo 2.10: 3B@CL<Q@B>2>?WQ<2L@B2<>l<QB

8@2ZBQ2R<2TB>B>2IkLB=<>2kIQB@2C?T?2TB@CL<Q@B>2L@IRB>2
B2 L@B2 WBQQB2 Q[kIRB2 R<2 =BQk?2 =F2 .=2 C<@PQ?2 R<2 TB>B>2 R<2 =B2
WBQQB2ZL<R<2T?U<Q><2=IWQ<T<@P<2>?WQ<2=B2>LZ<QyICI<2R<2
L@B2CIQCL@l<Q<@CIB2R<2QBRI?2BF2j]==<><2=B>2<CLBCI?@<>2R<2
T?UITI<@P?F
.=2 C<@PQ?2 R<2 TB>B>2 R<2 =B>2 TB@CL<Q@B>2 ><2 TL<U<2 >?WQ<2
=B2>LZ<QyICI<2R<2=B2<>l<QBJ2BR<T]>2CBRB2TB>B2ZL<R<2kIQBQ2
=IWQ<T<@P<2ZBQB2CBRB2Z?>ICID@2R<=2C<@PQ?2R<2TB>B>J2=L<k?2
hBV2iL<2I@C?QZ?QBQ22=B2C?@PQIWLCID@2R<=2C<@PQ?2R<2TB>B>2
<@2=B2<@<Qk[B2CI@SPICBF

Fig. 2.12.29?>iL<t?2R<=2>I>P<TB2R<2TB@CL<Q@B>

22222222222222222222222\2

222222222222222222^MFm_`

/?T?2<=2C<@PQ?2R<2TB>B>2<>P]2>?WQ<2L@B2CIQCL@l<Q<@CIB2V232TO22TM22MTJ2><2PI<@<\
22222222

22222222^MFmc`

/?T?2QO2V2QM2>?@2C?@>PB@P<>2<2IkLB=<>2B2=MJ2<@P?@C<>\
222222222222222222222

;h?QB2ZBQB2<=2CB>?2R<2=B2.@<Qk[B27?P<@CIB=2Q<>Z<CP?2B=2C<@PQ?2R<=2C[QCL=?\
50

22222222222222222222222^MFma`

NELSON FALCN V.

222222222222222222222
2222222222222222222^MFmn`

222222222222222222222222

.t<QCICI?2PQIUIB=\2.>CQIWIQ2:2V2CB=CL=BQ2=B>2e2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<2ZBQB2
.=2:BkQB@kIB@?2><2<>CQIW<2:2wp8J2<@P?@C<>\

22222

22222^MFmo`

.@P?@C<>2=B>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<\

d L L

=0
dt

22222222222222

d L
dt
2

d L L

=0
dt 1
1

=0
2

2222222222222^MFmm`

jBCI<@R?2 =B>2 R<QIUBRB>2 C?QQ<>Z?@RI<@P<>2 ><2 ZQ<><@PB@2 B2 C?@PI@LBCID@2 =B>2 e2 <CLBCI?@<>2 R<2
T?UITI<@P?\

2222222222222222

2222222222^MFONN`

.=2>I>P<TB2@?2<>2I@P<kQBW=<2B@B=[PICBT<@P<J2Z<Q?2<=2TSP?R?2R<2:BkQB@k<2Z<QTIP<2<>CQIWIQ2=B>2<CLBCI?@<>2
R<2T?UITI<@P?2ZBQB2>L2<>PLRI?2Z?Q2TSP?R?>2@LTSQIC?>F

2.2 Fuerzas disipativas y ecuaciones de Euler-Lagrange

.@2=B2><CCID@2ZQ<C<R<@P<2UIT?>2iL<2<=2ZQI@CIZI?2R<2=?>2PQBWBt?>2UIQPLB=<>2R<2+x;=<TW<QP2C?@==<UB2B2=B>2
<CLBCI?@<>2R<2.L=<Qp:BkQB@k<2^MFMN`F2}L>P?2B@P<>2R<2=B2.CF2^MFOO`2hBW[BT?>2>LZL<>P?2iL<2=B>2lL<QKB>2
<QB@2C?@><QUBPIUB>2V2<@2C?@><CL<@CIB2=B2lL<QKB2><2?QIkI@BWB2R<2L@2Z?P<@CIB=2<>CB=BQF

2;h?QB2 @?>2 ZQ?Z?@<T?>2 B2 =IW<QBQ2 <>PB2 C?@RICID@2 ZBQB2 <@C?@PQBQ2 L>B@R?2 <=2 TI>T?2 ZQ?C<RITI<@P?2
R<RLCPIU?2C?T?2iL<RB@2=B>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<J2<@2<=2CB>?2R<2<dI>PIQ2lL<QKB>2RI>IZBPIUB>J2
PB=<>2iL<\2
2222222222222222222222222222222222222222222222222222222

r
r conservativas r friccion
Fi = Fi
+ Fi

2222222222^MFONO`
51

MECNICA CLSICA

N
r friccion

Fi
= i
k
v k
222222

+?@R<\2 2
2
2
2
2
.>P]@2<dZQ<>BRB>2<@2PSQTI@?>2R<=2~p<>IT?2U<CP?Q2L@IPBQI?F

x k
2

222222222222222222222222

2222222222^MFONM`2

5I<@R?2 c 2 2 L@B2 lL@CID@2 CLBRQ]PICB2 R<2 =B>2 U<=?CIRBR<>2 ^><2 R<@?TI@B2 lL@CID@2 R<2 RI>IZBCID@2 R<2
-BV=<Ikh`F
2222222222222222222222222222222222222222222222222222222222222222222222222222222

=1

Fi

/?@2=?2CLB=\2

friccion

k 2
v
2
222222222222222222222222222222222222222222222222222222222222222^MFONe`

Fi =
.>2C=BQ?2<@P?@C<>2iL<2Z?R<T?>2<>CQIWIQ\2222222

i
v

2 2

22222222222222222222222222222222222222222^MFON_`2

U i

qi q
i 2222222222222222222222222222222222222222222222222222222222222^MFONc`

7?Q2=?2PB@P?J2Q<R<yI@IT?>2=B2<CLBCID@2^MFOo`2=B2CLB=2iL<RB2Bh?QB\
2
k

2222222222222222222222222222222222222222222222222222222222222222

d L L + i qi = 0
dt
qi q
i
qi
2 2

d L
dt q
i
2222222222222222222222222222222222222222222222222222222222222222222222222

i
L
q =

i
qi

2222222222^MFONa`

22222222222222222222222222222222222222222^MFONn`

5?@2=B>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<2C?QQ<kIRB>2CLB@R?2<dI>PB@2lL<QKB>2RI>IZBPIUB>F
22
Ejemplo 2.11 /B[RB2=IWQ<2<@2L@2T<RI?2Q<>I>PIU?2ZQ?Z?QCI?@B=2B2=B2U<=?CIRBR

4WPS@kB><2 =B2 <CLBCID@2 R<2 T?UITI<@P?2 R<2 L@B2 ZBQP[CL=B2 iL<2 CB<2 =IWQ<T<@P<2 WBt?2 =B2 I@y=L<@CIB2 R<2 =B2
kQBU<RBR2V2<@2ZQ<><@CIB2R<2lL<QKB>2R<2lQICCID@J2CLVB2lL@CID@2R<2RI>IZBCID@2<>2R<2=B2l?QTB2^MFONe`F
.>2l]CI=2BRU<QPIQ2iL<2>I2C?=?CBT?>2<=2<t<2K22ZBQB=<=?2B=2CBTZ?2kQBUIPBCI?@B=2<@P?@C<>
22222222222222222222222222222222222222222222222222222222222222222222
52

L=

m 2
z + mgz
2

22222222222222222222222222222222222222222222222222222222222222222^MFONo`

NELSON FALCN V.

k 2
z
2 22222222222222222222222222222222222222222222222222222222222222222222222222^MFONm`2
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

62=B2<CLBCID@2R<2T?UITI<@P?2R<W<2CLTZ=IQ2C?@2^MFONn`\

d L L
=

dt z
z2 2
222222222222222222222222222222222222222222222222222222222222222222222222222 z

22222222222222222222222222222222222222222222222222222222222222222222222222222222 m z mg = k z 2

5I2Bh?QB2><2Q<B=IKB2<=2CBTWI?\

222222222222222222222222222222222222222222222222222222222222222222222222222

2222222222222222222222222222222222222222222222222222222222222222222222222222

u = z ; u+

u = u0 e

k
t
m

22222222222222222222222222222222222222222^MFOON`2
2

22222222222222222222222222^MFOOO`

k
u=g
m
22222222222222222222222222222222222222222222222222222222222^MFOOM`

m
g
k
2222222222222222222222222222222222222222222222222222222222222222^MFOOe`

L<2ZL<R<2I@P<kQBQ><2l]CI=T<@P<2C?@2=B>2C?@RICI?@<>2I@ICIB=<>\
22
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222

u0 =

m
g
k 22222222222222222222222222222222222222222222222222222222222222222222222^MFOO_`

5L>PIPLV<@R?2 2 <@2 ^MFOOe`2 <2 I@P<kQB@R?2 C?@2 Q<>Z<CP?2 B2 KJ2 ><2 ?WPI<@<2 =B2 >?=LCID@2 B2 =B2 <CLBCID@2 R<2
T?UITI<@P?\

u=

k
t
m
g 1 e m
k

2
2222222222^MFOOc`2
222222222222222222222222222222222222222222222222222222222222222222222222
2
4WUIBT<@P<J2R<>ZLS>2R<2L@2PI<TZ?2TLV2kQB@R<2=B2U<=?CIRBR2R<2R<>C<@>?2<>2C?@>PB@P<J2PB=2<>2<=2CB>?2R<2
=B>2ZBQP[CL=B>2<dPQBP<QQ<>PQ<>2^T<P<?QIP?>`2iL<2I@kQ<>B@2B2=B2BPTD>l<QB2P<QQ<>PQ<F25I2@?2><2C?@>IR<QB@2
=B>2 lL<QKB>2 RI>IZBPIUB>J2 @L<>PQ?2 C]=CL=?2 BQQ?tBQ[B2 iL<2 <>B>2 ZBQP[CL=B>2 ><2 BC<=<QBQ[B@2 <@2 =B2 BPT?>l<QB2
P<QQ<>PQ<2hB>PB2B=CB@KBQ2U<=?CIRBR<>2Q<=BPIUI>PB>F2/?@PQBRICI<@R?2=B2<dZ<QI<@CIBF
222222222222222222222222222222222222222222222222222222222222222

z (t ) = z 0 +

t
m
m2
gt 2 g e m
k
k
22222222222222222222222222222222222222222222222222222^MFOOn`

.UIR<@P<T<@P<2 =B2 ZBQP[CL=B2 @?2 CB<2 C?@2 =B2 TI>TB2 BC<=<QBCID@2 R<2 kQBU<RBRJ2 <>PB2 BC<=<QBCID@2 R<2 CB[RB2
R<Z<@R<2R<2=B2lL<QKB2iL<2><2?Z?@<2B2>L2T?UITI<@P?F
53

MECNICA CLSICA

NOTA BIOGRFICA N 2. JEAN DALEMBERT

Jean Le Rond DAlembert ^7BQ[>J2 OnOnpOnoe`2 /I<@P[yIC?2 V2

Z<@>BR?Q2 lQB@CS>2 R<2 =B2 ,=L>PQBCID@F2 jIt?2 I=<k[PIT?2 R<2 L@B2 <d2
T?@tB2V2R<2L@2?yICIB=2R<2BQPI==<Q[B2:LI>p/BTL>2+<>P?LCh<>F2;=2
@BC<Q2lL<2BWB@R?@BR?2<@2=B>2<>CB=<QB>2R<2=B2Ik=<>IB2R<2}<B@2:<2
-?@R2 ^R<2 B==I2 >L2 @?TWQ<`2 V2 lL<2 <@PQ<kBR?2 B2 L@2 h?>ZICI?F2 5L2
ZBRQ<2Q<kQ<>D2B27BQI>2V2CLB@R?2=?CB=IKD2B2>L2hIt?2BQQ<k=D2iL<2
L@2TBPQIT?@I?2=?2CLIRB><F2:B2<RLCBCID@2R<2+x;=<TW<QP2lL<2RIp
QIkIRB2 Z?Q2 >L2 ZBRQ<2 WI?=DkIC?J2 V2 B2 =B2 TL<QP<2 R<2 S>P<J2 CLB@R?2
+x;=<TW<QP2P<@[B2m2Bq?>J2=B2lBTI=IB2R<=2ZBRQ<2><2>IkLID2?CLZB@p
R?2R<2>L2<RLCBCID@F25L>2I@U<>PIkBCI?@<>2<@2TBP<T]PICB>J2y[>Ip
CB2V2B>PQ?@?T[B2=<2==<UBQ?@2B2l?QTBQ2ZBQP<2R<2=B2;CBR<TIB2R<2
/I<@CIB>2C?@2>D=?2Mc2Bq?>2V2Q<>L=PBQ?@2R<2PB=2Q<=<UB@CIB2iL<2
B@2C?@><QUB@2>L2@?TWQ<2L@2ZQI@CIZI?2R<2y[>ICB2iL<2Q<=BCI?@B2
=B2<>P]PICB2C?@2=B2RI@]TICB2V2L@2CQIP<QI?2R<2C?@U<Qk<@CIB2R<2><p
QI<>2TBP<T]PICB>F2+x;=<TW<QP2Q<>?=UID2=B2C?@PQ?U<Q>IB2>?WQ<2=B2
C?@><QUBCID@2R<2=B2<@<Qk[B2CI@SPICBJ2<@2>L2PQBWBt?2R<2On_eJ2Tratado de dinmicaF22.@2On__22ZLW=ICD2>L2Tratado sobre el equilibrio y el movimiento de -luidosF2/?T?2+x;=<TW<QP2><2==<UBWB2TB=2
C?@2CB>I2P?R?>2=?>2;CBRSTIC?>2R<2=B2;CBR<TIB2R<27BQ[>J2<@UIBp
WB2 >L>2 PQBWBt?>2 B2 =B2 ;CBR<TIB2 R<2 9<Q=[@J2 R?@R<2 <>PBWB2.L=<QF2
+x;=<TW<QP2lL<2ZI?@<Q?2<@2<=2<>PLRI?2R<2=B>2<CLBCI?@<>2<@2RIl<p
Q<@CIB=<>2ZBQCIB=<>2V2<@2>L2L>?2<@2A[>ICBF25L2PQBWBt?2Re-lexiones
sobre la causa general de los vientosJ2Q<CIWID2<=2ZQ<TI?2R<2On_n2
R<2=B2;CBR<TIB2R<27QL>IBF2.>P<2TI>T?2Bq?2ZLW=ICD2L@2PQBWBp
t?2>?WQ<2=B2UIWQBCID@2R<2=B>2CL<QRB>F2.@2<>P<2PQBWBt?2BZBQ<CID2
Z?Q2ZQIT<QB2U<K2=B2<CLBCID@2R<2=B>2?@RB>2.@2Onc_J2lL<2<=<kIp
R?2TI<TWQ?2R<2=B2;CBR<TIB2lQB@C<>B2V2<@2OnnM2lL<2@?TWQBR?2
5<CQ<PBQI?2Z<QZ<PL?F2.@2=B2=PITB2<PBZB2R<2>L2UIRB2><2R<RICD2
T]>2B2=B2yI=?>?y[B2V2B2=B2=IP<QBPLQB2}L@P?2C?@2+IR<Q?P2RIQIkID2=B2
Enciclopedia, Q<RBCPD2<@2OncO2<=2+I>CLQ>?2ZQ<=ITI@BQJ2<@2<=2
CLB=2BZL@PBWB2<=2<@l?iL<2k<@<QB=2R<2=B2?WQBJ2=IkBR?2B2=B2yI=?>?p
y[B2R<2=B>2:LC<>F25L2Z<@>BTI<@P?2Q<>L=PB2L@B2>[@P<>I>2<@PQ<2<=2
QBCI?@B=I>T?2V2<=2<TZIQI>T?J2iL<2>LWQBVB2=B2L@IRBR2R<=2>BW<Q2
V2=B2l<2<@2<=2ZQ?kQ<>?2R<2=B2hLTB@IRBR2B2PQBUS>2R<2=B>2CI<@CIB>J2
L@IyICBRB>2Z?Q2L@B2yI=?>?y[B2R<>ZQ<@RIRB2R<2TIP?>2V2CQ<<@CIB>2
PQB>C<@R<@PB=<>F2 /LB@R?2 TLQID2 lL<2 <@P<QQBR?2 <@2 L@B2 PLTWB2
C?T@2Z?Q2>L2C?@RICID@2Bk@D>PICB2R<2@?2CQ<V<@P<F

La razn acabar por tener razn.

La guerra es el arte de destruir a los hombres, la poltica la de engaarlos
Jean DAlembert

54

NELSON FALCN V.

TEMA AVANZADO N 2: 71+8:42+.2u,:9.-A4-/.

Figura II.127S@RL=?2
R<2uI=W<Ql?QC<

.=2 ZS@RL=?2 R<2 uI=W<Ql?QC<2 ><2 R<>CQIW<2 C?T?2 L@2 CL<QZ?2 R<2 l?QTB2 CI=[@RQICB2 iL<2
CL<=kB2R<2L@2TL<==<2<@2l?QTB2R<2hS=IC<F2-<CIW<2>L2@?TWQ<2<@2h?@?Q2B22:I?@<=2-?W<QP2
uI=W<Ql?QC<2 ^OoaOpOm__`J2 iLI<@2 =?2 R<T?>PQD2 <@2 <=2 =BW?QBP?QI?2 R<2 /BU<@RI>h2 <@2
/BTWQIRk<J2B2yI@B=<>2R<=2>Ik=?2,F27BQB2L@2?W><QUBR?Q2=<tB@?2^iL<2@?PB2=B2?>CI=BCID@2
R<2P?Q>ID@`2=<2RB2=B2ITZQ<>ID@2iL<2=B2?>CI=BCID@2U<QPICB=J2ZQIT<Q?J2UBVB2RI>TI@LV<@R?2
hB>PB2 ZBQBQ2 V2 =L<k?2 >I@2 @I@kL@B2 I@P<QU<@CID@2 <dP<Q@BJ2 <TZI<KB2 B2 CQ<C<Q2 R<2 @L<U?2
C?T?2 >I2 <>PLUI<QB2 BCPLB@R?2 >?WQ<2 S=2 L@B2 lL<QKB2 I@UI>IW=<F2 .>2 <=2 <iLIUB=<@P<2 B2 L@2
ZS@RL=?2R<2P?Q>ID@2Z<Q?2C?@2L@2TL<==<2V2C?=kB@R?2L@B2TB>B2l?QTB@R?2L@2>I>P<TB2
TB>BpTL<==<2C?@2T?T<@P?2R<2I@<QCIB2UBQIBW=<F2;iL[2L@B2<@<Qk[B2Z?P<@CIB=2BRiLIQIRB2
Z?Q2=B2TB>B2^><2kIQB2V2=L<k?2><2>L<=PB`2><2PQB@>l?QTB2<@2<@<Qk[B2CI@SPICB2PB@P?2C?T?2
PQB>=BCI?@B=2 C?T?2 Q?PBCI?@B=2 CLB@R?2 L@2 ZS@RL=?2 <>P]2 >LWI<@R?2 V2 WBtB@R?2 C?@2
BTZ=IPLR2T]dITB2^<@<Qk[B2CI@SPICB2PQB>=BCI?@B=2T]dITB`J2><2?W><QUB2iL<2=B2TB>B2ZBQB2
R<2kIQBQ2^<@<Qk[B2CI@SPICB2Q?PBCI?@B=2T[@ITB`2V2UIC<U<Q>BJ2>I2=B2<@<Qk[B2PQB>=BCI?@B=2<>2
T[@ITB22=B2Q?PBCI?@B=2<>2T]dITBF2.>2<UIR<@P<2iL<2BR<T]>J2<=2ZS@RL=?2ZL<R<2?>CI=BQ2
C?T?2L@2ZS@RL=?2>ITZ=<J2C?@2lQ<CL<@CIB2R<=2?QR<@2R<2=B2QB[K2CLBRQBRB2R<2>L2=?@kIPLR2
RIUIRIRB2Z?Q2=B2BC<=<QBCID@2R<2kQBU<RBRJ2Z<Q?2PB=<>2T?R?>2@?QTB=<>2R<2?>CI=BCID@2
@?2=?>2PQBPBQ<T?>2BiL[J2Z?Q2><Q2hBQP?2C?@?CIR?>2V2@?2BqBR<@2I@l?QTBCID@2>?WQ<2<=2
I@P<QCBTWI?2R<2T?R?>2PQB>@BCI?@B=<>2V2Q?PBCI?@B=<>2iL<2CBQBCP<QIKB@2B=2ZS@RL=?2R<2
uI=W<Ql?QC<F5<B2kz2=B2C?@>PB@P<2<=]>PICB2R<=2TL<==<2<@2=B>2?>CI=BCI?@<>2=?@kIPLRI@B=<>2
V2k.2=B2C?@>PB@P<2<@2=B>2?>CI=BCI?@<>2P?Q>I?@B=<>F22:=BTBQ<T?>22z22B=2R<>Z=BKBTI<@P?2
U<QPICB=2R<=2TL<==<2R<2=B2Z?>ICID@2R<2<iLI=IWQI?J2V2.22<=2]@kL=?2R<2Q?PBCID@2B=Q<R<R?Q2
R<=2<t<2U<QPICB=F2

Ecuaciones del movimiento:

:B2<@<Qk[B2CI@SPICB2C?@>PB2R<2R?>2PSQTI@?>2B22>BW<Q\2=B2<@<Qk[B2CI@SPICB2PQB>=BCI?@B=2V22=B2<@<Qk[B2CI@SPICB2
Q?PBCI?@B=2R<WIRB2B2=B2Q?PBCID@2R<2=B2TB>B2R<2T?T<@P?2R<2I@<QCIB2,\

m 2 I 2
T= z +
2
2 2
222222222222222222222222222222222222222222222222222222222222222222222222222222222

3I<@PQB>2iL<2=B2<@<Qk[B2Z?P<@CIB=2ZL<R<2<>CQIWIQ><2C?T?\

U =

222222222222222222222222222222222222222222222222222222222222222222

k z 2 k 2
z z
2
2
2
2

222222222222222^,,FO`

2222222222222222222222222222222222222222222222^,,FM`

.=2 ZQIT<Q2 V2 ><kL@R?2 PSQTI@?2 Z<QP<@<C<2 B2 =B2 <@<Qk[B2 Z?P<@CIB=2 R<=2 TL<==<2 CLB@R?2 ><2 R<l?QTB2 L@B2
=?@kIPLR2K2V2B2=B2<@<Qk[B2Z?P<@CIB=2CLB@R?2kIQB2L@2]@kL=?22Q<>Z<CPIUBT<@P<J2<=2=PIT?2PSQTI@?2<>2<=2
BC?Z=BTI<@P?2<@PQ<2=?>2T?R?>2R<2?>CI=BCID@2C?@22L@2C?<yICI<@P<2R<2BC?Z=BTI<@P?2<@PQ<2N2V2OF2:L<k?2=B2
lL@CID@2R<2:BkQB@k<22iL<RB2C?T?\2:wp8

55

MECNICA CLSICA

m 2 I 2 k z 2 k 2
L = z + + z + + z
2
2
2
2
2
22222222222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222222222^,,Fe`

:B>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<2>?@2<@P?@C<>\

m z+ kz z + = 0
2
222222222222222222222222222222222222222222222222222222222222222222222222222222
2 2222222222222222222222222222222222222222222222222222222222222^,,F_`

222222222222222222222222222222222222222222222

222222222222222222222222222222222222222222222222222222222222222222222222222222

I + k +

z=0
2
222222222222222222222 2222222222222222222222222222222222222222222222^,,Fc`

+<yI@I<@R?2=B>2lQ<CL<@CIB>2R<2?>CI=BCID@2U<QPICB=2V2B@kL=BQ2C?T?\2

k
2
w
I
2

kz
2
wz
222222222222222222222222222222222222222222222222222222222222222222222222 m

222222222222222222222222222222^,,Fa`

/?T?2^,,F_`2V2^,,Fc`2<>P]@2BC?Z=BRB>2Q<B=IKBT?>2=B2><kL@RB2R<QIUBRB2R<2=B2<dZQ<>ID@2^,,Fc`J2R<>Z<tBT?>2
y R<2^,,F_`2V2=B2I@PQ?RLCIT?>2<@2^,,Fc`2ZBQB2P<@<Q2L@B2<CLBCID@2<@2PSQTI@?>2R<2
222222222222222222222222222222222222222222222222222222222222222222

2222222222222222222222222222222222222222222222222222222222222
+?@R<\2222
2
2
2

222222222222222222222222222222222222

2222222222222222222222222222222222222222222222^,,Fn`
2222222222222222222222222222222222222222222222222222^,,Fo`

2


d 4
2 d
2
+
w
+ wz z

4
2
2I
2m 2222222222222222222222222222222222222222222222222222^,,Fm`
dt
2222222222222222222222222222222222222222222222222222222222 dt

+<>Z<tB@R?2K2R<2^,,Fc`2?WP<@<T?>\

2V2U?=U<T?>2B2>L>PIPLIQ2<@2^,,Fm`2P<@<T?>\

2
2 2 2
d 4
2
2 d
wz w

w
w
+
+
+

z
4 Im
dt 4
dt 2
2222222222222222222222222222222222222222222222222222222
222222222 2222222222222222222222222222^,,FON`

7?R<T?>2>LZ?@<Q2L@B2>?=LCID@2R<2=B2l?QTB2BQTD@ICB\

222222222222222222222222222222222222222222222222222222222222222222222 (t ) = Asen( wt ) + B cos(wt ) 2

222222222222^,,FOO`

jBC<T?>2=B>2R<QIUBRB>2C?QQ<>Z?@RI<@P<>2V2=B>2I@PQ?RLCIT?>2<@2=B2<CLBCID@2RIl<Q<@CIB=2R<2CLBQP?2?QR<@J2
=L<k?2R<2>ITZ=IyICBQ2V2BkQLZBQ2PSQTI@?>2P<@<T?>\

56

NELSON FALCN V.

2
2
2
2
2
0 = Asen( wt ) + B cos( wt ) w 4 + ( w + wz )( w 2 ) + ( wz w
)
4mI

22222222222222222222
2222222222222222222^,,FOM`

;@B=IC<T?>2<=2lBCP?Q

4
2
2
2
2
2
2
) = 0
w + ( w + wz )( w ) + ( wz w
4mI
222222222222222222222222222222222222222222222222
22

2222222222222222222222222222^,,FOe`

2
2
2
2
2
2
(
)
(
) = 0
D

w
+
w
D
+
w
w

z
z

4mI

22222222222222222222222222222222222222222222222222222
2

jBC<T?>2L@2CBTWI?\2D=w2 y D2=w4J2C?@2=?2CLB=\

/LVB>2>?=LCI?@<>2>?@\2

222222222222222222222222222222222222222222222222222222222222

222222222222^,,FO_`

222222222222222222222222222222222222222222222222222^,,FOa`
22222222222222222222222222222222222222222222222222222^,,FOn`2

222222222222222222222222222222222222222222222222222222222222222

;h?QB2P<@<T?>2=?>2R?>2T?R?>2R<2?>CI=BCID@J2<>2C=BQ?2BR<T]>2iL<2=?>2C?<yICI<@P<>2;J29J2/2V2A2<>P]@2RBR?>2
Z?Q2=?>2RBP?>2I@ICIB=<>2R<=2ZQ?W=<TB\
2222222222222222222222222222222222222222 = Asen ( w1t ) + B cos( w1t ) + Csen ( w2 t ) + F cos( w2 t ) 222222222222222222222222222222222^,,FOo`
;h?QB2R<QIUBT?>2V2P<@<T?>2=B2U<=?CIRBR2B@kL=BQ2R<2Q?PBCID@\

222222222222222222222222222222222222222 = w1 [A cos( w1t ) Bsen( w1t )]+ w2 [C cos( w2 t ) Fsen( w2 t )]2222222222222222222^,,FOm`

,@PQ?RLCIT?>2=B2ZQIT<QB2V2><kL@RB2R<QIUBRB2<@2=B2<dZQ<>ID@2^,,Fc`2ZBQB2hB==BQ2K2\
2222

z (t ) =

[(

;>[J22=B2U<=?CIRBR2R<2PQB>=BCID@2<@2<=2<t<22<>\

z (t ) =

2I
2
2
2
2
w1 w (Asen( w1t ) + B cos(w1t ) )+ wz w (Csen( w2 t ) + F cos(w2 t ) )

222^,,FMN`

[(

2I
2
2
2
2
w1 w w1 (A cos( w1t ) Bsen( w1t ) )+ wz w w2 (C cos( w2 t ) Fsen( w2 t ) )

2^,,FMO`

/?@2=B>2C?@RICI?@<>2I@ICIB=<>2Z?R<T?>2R<P<QTI@BQ2=B>2C?@>PB@P<>2;J9J/2V2AF

57

MECNICA CLSICA

5I2R<>Z=BKBT?>2<=2CI=I@RQ?2N2V2=?2kIQBT?>2L@2]@kL=?2N2P<@<T?>2iL<2dz/dt=02V2d./dt= 02<@2t=0F2

.@P?@C<>2Q<>?=U<T?>2<=2>IkLI<@P<2>I>P<TB2R<2<CLBCI?@<>\

22222222222222222222

z=0=

[(

) ]

2I
2
2
2
2
w1 w w1 A + wz w w2 C

= 0 = w1 A + w2 C

L<2@?>2==<UB2B2iL<2;/N2V2BR<T]>2iL<222292NpA2?2WI<@2A2Np92
-<<TZ=BKB@R?2<@2^,,FMN`2C?@2;/N2V2NJ2P<@<T?>\
222222222222222222222222222222222222222222222222222
:L<k?\2

z0 =

[(

) ]

2I
2
2
2
2
w1 w ( 0 F ) + wz w F

222222222222222222^,,FMM`

222222222222^,,FMe`2

2222222222222222222222222222^,,FM_`

22222 22222222222222222222222222222222222222222222222222222222222^,,FMc`

2222222222222222222222222222222222222222222222222222222222222222222222222222222

;Z=ICB@R?2<=2]=k<WQB2C?QQ<>Z?@RI<@P<J2><2CB=CL=B292B2ZBQPIQ2R<2^,,FOo`2ZBQB2?WP<@<Q\22
2222222222222222222222222222222222222222222222222222222222222222222222222222

2 2

^,,FMa`

AI@B=T<@P<2 2 =B>2 <CLBCI?@<>2 R<2 T?UITI<@P?2 >?@J2 <@2 lL@CID@2 R<2 =B>2 Z?>ICI?@<>2 V2 U<=?CIRBR<>2 I@ICIB=<>2
^C?<yICI<@P<>292V2A`\
222222

= w1 Bsen( w1t ) w2 Fsen( w2 t )

= B cos( w1t ) + Fsen( w2 t )
2I
2
2
2
2
z (t ) =
w1 w B cos(w1t ) + wz w F cos(w2 t )

2I
2
2
2
2
z (t ) =
w1 w w1 Bsen( w1t ) + wz w w2 Fsen( w2 t )

2222222222222222222^,,FMn`
222222222222222222222

[(
[(

2
.=2 PQBPBTI<@P?2 R<2 <>P<2 ZQ?W=<TB2 @?>2 I=L>PQB2 C?T?2 B2 PQBU<>2 R<2 =B2 l?QTL=BCI?@2 R<2 :BkQB@k<2 ZL<R<@2
?WP<@<Q><2=B>2<CLBCI?@<>2R<2T?UITI<@P2CB>I2RIQ<CPBT<@P<2^,,F_`2V2^,,Fc`2V2<UIPB2=B2C?@lL>I?@2R<2P<@<Q2iL<2
IR<BQJ2C?T?2<@2=B2T<C]@ICB2@<gP?@IB@BJ2lL<QKB>2BRICI?@B=<>2ZBQB2<dZQ<>BQ2=B>2=IkBRLQB>2R<=2>I>P<TBF2

58

!"#$% 3: &'()!(&(* -% 6#.("/*) 4 %!,#!(*)%$ -% "#5'#)5%

En la clase anterior (Clase 2) vimos cmo las ecuaciones de Euler-Lagrange permiten describir el movimiento
de un sistema mecnico (dar su ecuacin diferencial de evolucin temporal) sin recurrir a agentes externos al
sistema tales como fuerzas de tensin, normales y centrpetas; usuales en la formulacin newtoniana de la
mecnica y cuyo carcter es arti#cioso, en el sentido que no son fuerzas propiamente dichas, o que deriven de
un potencial. Durante los siglos XVIII y XIX se procur formular la Mecnica Clsica y las leyes de Newton
desde una perspectiva ms general, o de un principio o ley fundamental. Por analoga quiz a las leyes de la
ptica, deducibles a partir del llamado principio de Fermat, segn la cual la trayectoria de lo rayos luminosos
es aquella que minimiza el tiempo de transito de los mismo. Maupertuis, Gauss Hertz, y #nalmente Rower
Hamilton investigaron estos aspectos.

3.1 Principio de Hamilton

En efecto, Hamilton (en 1835) demostr que la condicin necesaria y
su#ciente para obtener las Ecuaciones de Euler-Lagrange de un sistema
mecnico conservativo, es que la variacin temporal de la funcin de
Lagrange entre dos instantes dados sea un extremal, es decir alcance un
mximo o un mnimo en el intervalo AB:
B

Figura 3.1 Variaciones in#nitesimales

en el espacio de fases a extremos #jos

0 = S = L(q1 , q 2 ,..., q k , q 1 , q 2 ,..., q k , t )dt

A

(3.1)

Teniendo en cuenta que la variacin in#nitesimal de la accin es nula, se sigue que:

B k
k
L
L L

0 = qi + q i + t dt
t
qi
i =1
A i =1
qi

(3.2)

Se han supuesto vnculos holnomos y que las fuerzas son conservativas. Asumiendo que el lagrangiano o
depende explcitamente del tiempo podemos anular el ltimo trmino de (3.2), y si integramos por partes el
segundo trmino, obtenemos:
B

0=

k
L
L
qi dt + qi

i =1 q i
i =1
qi
k

59

B
A

d L

qi dt

dt q

A
i

(3.3)

MECNICA CLSICA

Por condicin de extremos #jos anula el segundo trmino al valuar $q, as:
B

0 =

i =1

d L L
dt q
q
i
i

qi dt

(3.4)

Que se anula si se anula separadamente cada uno de los i-esimos trminos separadamente.

d L
L
=0

dt q
qi
i

(3.5)

Que son las ya conocidas i-esimas Ecuaciones de Euler-Lagrange. Al pedir la condicin extremal de la
funcin de Lagrange, considerada esta como un funcional y el clculo de variaciones desde la perspectiva
abstracta de la matemtica, puede emplearse el mismo procedimiento para demostrar aspectos geomtricos;
cambiando la funcin de Lagrange por el funcional de la mtrica del espacio ds.
Es importante observar que el Lagrangiano no es nico para un problema dado, es decir dado una funcin de
Lagrange L, siempre podemos encontrar una nueva funcin Lagrangiana L tal que:

L' ( qi ,q i ,t ) = L(qi , q i , t ) +
.

df
(qi , q i , t )
dt

(3.6)

Donde f es una funcin cualquiera que depende de las coordenadas y del tiempo:
2

df
df

0 = L' = L(qi , qi , t ) + dt = L(qi , qi , t )dt + dt

dt
dt

(3.7)
El primer trmino es igual a cero ya que la variacin del impulso es igual a cero, y si se aplica la condicin
de extremos #jos para el ltimo se tiene que:

f 2 f1 = 0
0 = L = L'

(3.8)

As el Lagrangiano no es el nico. Dado un Lagrangiano cualquiera se puede escribir otros equivalentes,

con tal de que se le agregue una derivada total. Teniendo esto en cuenta no hay que preocuparse, porque las
ecuaciones de Euler-Lagrange sern idnticas.
Ejemplo 3.1: Probar que las geodsicas del espacio eucldeo son lneas rectas.
La distancia ms corta entre dos puntos (llamados 1 y 2) a lo largo de cualquier camino esta dada por la
integral tomada en el camino correspondiente:
2

S = ds =

60

(dx

+ dy + dz

)=
1

2 2 2
x + y + z dt

(3.9)

NELSON FALCN V.

El valor extremo de esa integral no dar la distancia ms corta. Obsrvese que en la ultima igualdad se ha
multiplicado y dividido por dt.
2
2 2 2
0 = x + y + z dt

(3.10)

Es claro ahora que el radical acta como la Funcin de Lagrange, y por tanto es un extremal que debe
veri#car las ecuaciones (3.5) con:

2 2 2
L x + y + z

(3.11)

Y las tres ecuaciones de Euler-Lagrange son ahora para xi= x,y, z:

d
dt x

2 2 2
x + y + z
x

2 2 2
x + y + z = 0

(3.12)

Luego, al integrar cada una de las ecuaciones de Euler-Lagrange obtenemos:

= c1

2 2 2
x + y + z

(3.13)

= c2

2 2 2
x + y + z

(3.14)

z
2 2 2
x + y + z

= c3

(3.15)

Como el denominador en (3.13) (3.14) y (3.15) son iguales, se sigue que:

x
y
z
=
=
c1 c 2 c3

(3.16)

Relacin que permite construir las ecuaciones:

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MECNICA CLSICA

c 2 x c1 y = 0

c3 x c1 z = 0

c3 y c 2 z = 0

(3.17)

Cuya integracin es inmediata para obtener las proyecciones de una recta sobre los planos coordenados XY,
XZ y ZY, las constantes quedan unvocamente determinadas por la condicin de que la recta pase por los
puntos 1 y 2 previamente dados:

c1
y = b1
c2

c1
z = b2
c3

c2
z = b3
c3

(3.18)

Ejemplo 3.2 Demustrese que las geodsicas de una super#cie esfrica son crculos mximos.
Como antes, extrememos la mtrica, pero ahora en coordenadas esfricas:
B

0 = ds = dr 2 + r 2 d 2 + r 2 sen 2 d 2
A

(3.19)

Crculos mximos tenemos que r = a = constante:

B

0 = ds = a 2 d 2 + a 2 sen 2 d 2 = a 1 + sen 2 2 d
A

Donde hemos dividido el radical por d% y usado como de#nicin

es el funcional anlogo a la funcin de Lagrange con lo cual:

(3.20)

d
d es claro que el radical de (3.20)

L = 1 + sen 2 2

(3.21)

La ecuacin de Euler-Lagrange es fcilmente integrable:

d L L

=0
d

= cte b
(3.22)

sen 2
2

=b

1 + sen

(3.23)

Ahora despejamos a :

62

d
b
=
sen 2 b 2
d sen

1 / 2

(3.25)

NELSON FALCN V.

podemos calcular &:

b
sen 2 b 2
=
sen

1 / 2

d
d = b
sen 2

b2
1

2
sen

1 / 2

(3.26)

Ahora resolvemos la integral llevando la a la forma de una integral conocida:

csc 2 d
1 b 2 (1 cot g 2 )

Donde se ha escrito

B2 &

B2 2

b
d

b
1 b2
2 2
b

= ar cos

+ 0
B

(3.27)

(3.28)

1; b2
b2

Finalmente con el lgebra correspondiente y devolviendo los cambios:

= B cos( 0 )

(3.30)

cot g = B cos cos 0 + B sens sen 0

(3.31)

cos = Bsen cos cos 0 + Bsen sens sen 0

(3.32)

Multiplicamos ambos lados de la igualdad por (a) y usando que, en coordenadas esfricas las variables
cartesianas son:

x = a sen cos

A = B cos

y = a sen sen

z = a cos

(3.33)

A = Bsen

0 y
0 la ecuacin (3.32) nos queda de la forma de un plano que pasa por el
Con
origen de la esfera, es decir crculos mximos de radio a

z = Ax + A y

(3.34)

Ejemplo 3.3: La Braquistocrona

Cul es la cueva que permite minimizar el tiempo de cada libre entre dos cuerpos A y B, no colineales en la
vertical de un campo gravitacional uniforme?

63

MECNICA CLSICA

En junio de 1696, Johann Bernoulli, propone en Acta Eruditorum (primera revista cient#ca germana,
publicada de 1682 a 1782) el problema ya enunciado, de la braquistcrona. Ofreciendo como premio a un
libro de su biblioteca personal muy ambicionado por los miembros de la sociedad cient#ca. Los aspirantes
disponan de un plazo mximo de seis meses para presentar sus propuestas de solucin. Los seis meses
transcurrieron, y no haban encontrado una solucin satisfactoria al problema de la braquistcrona. As pues,
Johann Bernoulli opt por extender el plazo de resolucin por seis meses ms. Molesto por su fracaso,
Leibniz sugiri a Bernoulli que se solicitara la intervencin de Newton.
El 29 de enero de 1697 a las 6 de la tarde, Newton, ya retirado de la vida acadmica, recibi de manos de
Halley la carta de Bernoulli conteniendo los dos problemas. A las cuatro de la maana del da siguiente tena
preparada las soluciones, y a las ocho las envi en una carta sin #rma al presidente de la Royal Society.
Johann Bernoulli, impresionado por la elegancia de las soluciones
propuestas en el artculo annimo, no tuvo di#cultad en identi#car
al autor y lo expres con la histrica frase: ex ungue leonem (se
reconoce al len por sus garras).
Solucin: queremos que la accin sea extrema sabiendo que, por el
teorema de Helmholtz

mgx =

1
m v2
2

ds
ds
=
v
2 gx
A
A

0 = dt =
A

Figura 3.2 Problema de la Baquistocrona

Ahora ds 8

dx 2 g dy 2

(3.35)

la condicin extremal resulta:

2

t12 =
1

1 + ( y' ) 2
dx = 0
2 gx

(3.36)

Resulta que la funcin de Lagrange es:

L=

1 + ( y' ) 2
2 gx

(3.37)

Aplicando las ecuaciones de Euler-Lagrange se obtiene

d L L

=0
dx y y
Al despejar y se obtiene la siguiente ecuacin

64

( y' ) 2
1
=
2
x[1 + ( y ' ) ] 2a

(3.38)

NELSON FALCN V.

dy =

x
dx
2a x

(3.39)

x
= sen 2
2
a
podemos reescribir la integral como
Haciendo el cambio
y yo =

4asen cos sen

sen (2 )
d = 4a

cos
4
2

(3.40)

De la #gura 4.2 vemos que la altura inicial es cero si 1, y haciendo & 8 2' , la solucin queda de la forma

y = a[ + sen( )]

(3.41)

Para hallar la variable x se despeja del cambio que se hizo previamente

1 sen2
x = 2asen 2 = 2a

(3.42)

x = a (1 cos )

(3.43)

En trminos del parmetro & tenemos:

Las expresiones (3.41) y (3.43) son la representacin paramtrica de una cicloide, curva generada por la
trayectoria de un punto #jo de una circunferencia al rotar si misma a lo largo de una lnea recta.
En efecto la #gura 3.3 esboza las 2 propiedades principales
de un cicloide como son (i) el rea bajo la cicloide es
exactamente 3 veces el rea del crculo que da lugar a ella y
(ii) la longitud de la cicloide es 4 veces la del dimetro del
crculo que la genera.

Figura 3.3 Cicloide trazada por crculo giratorio

Se demostrar que las ecuaciones paramtricas de la cicloide

tienen la forma (3.41) y (3.43), a travs de la geometra de la
#gura 4.4
Como la circunferencia rueda, el arco PB y la distancia rectilnea
OB coinciden: OB= arco (PB). Entonces las ecuaciones
paramtricas del cicloide son:
Figura 3.4 Geometra de la Cicloide

65

MECNICA CLSICA

x = O A = O B A B = R Rsen = R( sen )

(3.44)

y = P A = D B D C = D B P D cos = R(1 cos )

(3.45)

x = R( sen )

y = R(1 cos )

(3.46)

Ejemplo 3.4 Oscilaciones libres de una cuerda #ja en sus extremos

Se desea encontrar la ecuacin diferencial para una cuerda de longitud l sujeta entre sus extremos #jos.
Sea u(x,t) la funcin que expresa la desviacin de la posicin de equilibrio de la abscisa x y el tiempo t. La
energa potencial U de un elemento de una cuerda absolutamente (exible es proporcional al alargamiento de
la misma:

dU kd

(3.47)

Donde K es una constante que depende de la naturaleza del material en unidades de Joules/metro. El segmento
de cuerda dx en estado de deformacin tiene longitud:
2

ds = 1 + uk dx

(3.48)

Y por tanto el alargamiento es igual a:

1 2

2
d ds dx = 1 + u x 1dx 1 + u x + ... 1 dx

2

(3.49)

Donde se ha usado la expansin de Taylor del radical hasta segundo orden en ux, puesto que es pequea por
de#nicin. Luego:

1 2
u x dx
2

(3.50)

Usando (3.50) en (3.47) e integrando sobre todas los diferenciales de cuerda, tenemos:

U=

1
2
k
u
x dx
2 0

(3.51)

Por otra parte la energa cintica de un elemento de la cuerda es:

dT =

66

dm 2 2
u t u t dx
2
2

(3.52)

NELSON FALCN V.

Donde ) es la densidad lineal de la cuerda. Asumiendo ) constante, sobre toda la cuerda la energa cintica es:
l

2
u
t dx
2 0

T =

(3.53)

As la ecuacin de movimiento vendr dada por la variacin de la accin:

t1

0 = I = (T U )dt =
t0

11
2 t0

2
2

u
ku

x dxdt
0 t

(3.54)

La ecuacin de movimiento, ser la ecuacin de Euler-Lagrange (3.5) con la funcin de Lagrange, o

lagrangiana, que aparece en el parntesis de (3.54):

d
d

ut ku x = 0
dx
dt

(3.55)

Que equivale a escribirla en la forma usual:

2u k 2u
=
t 2 x 2

utt ku xx = 0

(3.56)

Suponemos que adems acta una fuerza por unidad de longitud (f ), perpendicular a la cuerda en su posicin
de equilibrio, entonces hay que aadir el termino !f en la ecuacin (3.54) y #nalmente obtenemos, repitiendo
la derivacin respectiva:

2u k 2u

= f ( x, t )
t 2 x 2

(3.57)

3.2 Multiplicadores de Lagrange

En la seccin precedente se supuso que los vnculos eran holnomos. Al liberar esta condicin, hay que
incluir adems de las ecuaciones de Euler-Lagrange las correspondientes relaciones para las ligaduras no
holnomos, y un conjunto de variables adicionales del sistema, denominadas multiplicadores de Lagrange,
como se ver en seguida.
Si las ligaduras no son holnomas entonces existen cantidades !li tales que:
k

a
i =1

li

l =1

li

qi = 0

Introduciendo esto en (6) y repitiendo el procedimiento precedente:

(3.58)

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MECNICA CLSICA

k
m
L
L

0 = qi + q i + li ali qi dt
qi

i =1
l =1
A i =1
qi

Operando queda que:

B

0=

i =1

m
L d L

li li q i dt
q dt
i

q i l =1

(3.59)

(3.60)

Por ltimo se tiene que

m
d L
L

=
li ali

dt q
qi
l =1
i

(3.61)

Donde las li se denominan Multiplicadores de Lagrange. Debemos insistir en decir que si los vnculos no
son holnomos se requieren adems de las ecuaciones de Euler-Lagrange las expresiones de los vnculos en
forma diferencial para poder integrar las ecuaciones de movimiento.
Ejemplo 3.5: Aro que rueda sin deslizarse en un plano inclinado
La condicin de ligadura de rodamiento debe expresar el hecho que el desplazamiento sobre el plano, la
cantidad x, es justamente el arco de rotacin del aro, esto es el
radio por el ngulo de giro del aro, es decir:

r = x rd 1 dx = 0

(3.62)

Advirtase que la ecuacin de ligadura hay que expresarla en

forma diferencial.
Figura 3.5: Aro rodante en una cua

En este ejemplo solo hay multiplicador de Lagrange ), porque hay

una sola ecuacin de ligadura. Para cada uno de los multiplicadores
de Lagrange, existen tantos coe#cientes como grados de libertad del sistema, en nuestro ejemplo, hay solo un
) y deben haber dos coe#cientes, asociados a las variables r y %. Luego los coe#cientes de los multiplicadores

a = 1

de Lagrange son: 1x
La Energa Cintica es:

a1 = r

T=

68

m 2 m 2 2 2
x + (r + r )
2
2

(3.63)

NELSON FALCN V.

U = mgsen( (l x) )

y la Energa Potencial:
As, el Lagrangiano es:

L=
Entonces usando (3.5) tenemos:
Para q=x

(3.64)

m 2 m 2 2 2
x + (r + r ) mgsen( (l x) )
2
2

(3.65)

d L L
= a1x =

dt x x

(3.66)

m x mgsen = (3.67)

Para q=%

d L L
= a1 = r

dt

(3.68)

mr 2 = a1 = r
De (3.62) y (3.69) se tiene que:

Reemplazando en (3.67):

(3.69)

mr 2 = mr x = r

(3.70)

mgsen =

(3.71)

Por lo tanto:

x=

mg
sen
2

(3.72)

g
= sen
m 2

(3.73)

Ejemplo 3.6. Esferilla deslizndose por un cilindro

Una pequea esfera de masa m rueda sin deslizar sobre un cilindro #jo
de radio a como se muestra en la #gura 3.6. La nica fuerza exterior es la
de la gravedad. Si la esferilla comienza a deslizarse desde el punto ms
alto partiendo del reposo. Hallar por el mtodo de los multiplicadores de
Lagrange el punto en el cual se separa del cilindro.

Fig. 3.6: Esferilla deslizndose

por un cilindro

Se expresa el Lagrangiano en forma cilndrica, y se observar que la

energa potencial es el peso por la altura que es la proyeccin vertical
del radio (r por el coseno del ngulo):

69

MECNICA CLSICA

L=

m2 2 2
r + r + mgr cos

(3.74)

Y el vnculo va a venir dado por r 8 a para c lo que lleva a que la ecuacin de ligadura en forma
diferencial es:

1.dr + 0.d = 0

(3.75)

Solo tenemos un multiplicador de Lagrange ) porque tenemos una sola ecuacin de ligadura. Luego debe
haber dos coe#cientes, asociados a las variables r y %, para ):

a1r 8 1 a1' 8 0
Aplicando las ecuaciones de Euler-Lagrange se obtiene lo siguiente:
2

m r mr mg cos =

(3.76)

mr 2 + mgrsen = 0

(3.77)

Sustituyendo el vinculo r=a, en (3.75):

2

ma mg cos =

(3.78)

Multiplicamos (3.77) por

a + gsen = 0

(3.79)

Agrupamos el primer trmino como la derivada de 2 e integramos:

2

d
g

g
cos = 0 = ctte = k
cos = 0

dt 2 a
2 a

Donde se puede despejar 2

70

(3.80)

NELSON FALCN V.

=2

g
cos + k
a

(3.81)

Inicialmente (0) = 0 , sustituyendo en (3.81) obtenemos k

k=

2g
a

(3.82)

Reemplazando (3.82) en (3.81):

2 =

2g
(1 cos )
a

(3.83)

Sustituyendo en (3.78) obtenemos el multiplicador de Lagrange:

ma

2g
(1 cos ) mg cos = (t ) = gm(2 3 cos )
a

Cuando la esferilla se separa de la super#cie

que:

( t ) = 0

y eso solo ocurre en

= c

2
c = arccos = 48
3

(3.84)

, de (3.84) se obtiene

(3.85)

Ejemplo 3.7 De una polea cuelgan un racimo de pltanos de masa m1 y un

mono de masa m2 (m1 > m2). El mono no sabe mecnica clsica pero trepa a la
velocidad V (t) por la cuerda de largo l. Estdiese el problema por el mtodo de

"
V
Lagrange para encontrar una condicin acerca de la aceleracin (t ) que debe
alcanzar el simio para obtener los pltanos.

El sistema que se tiene es el mostrado en la #gura 3.7, donde la masa 2 se mueve

hacia arriba a una cierta velocidad tratando de alcanzar la masa 1, debido a esto
la longitud de la cuerda no es constante ya que la distancia de esta depende de
la velocidad con la que suba la masa 2, las distancias respectivas de cada una de
las masas al centro de coordenadas ubicado en el centro de la polea se pueden
de#nir como:

y 2 = l y1 v(t ) dt
s = v(t ) dt

(3.86)

Figura 3.7: El mono quiere trepar

y agarrar los pltanos

71

MECNICA CLSICA

Donde l es la longitud total de la cuerda, y s es la distancia recorrida por la masa 2 para un instante de tiempo
dado. Teniendo en cuenta esto, se expresa el Lagrangiano de la siguiente forma:

L=

m1 2 m2 2
y1 +
y 2 + m1 gy1 + m2 gy 2
2
2

(3.87)

Al sustituir el trmino de y1 , queda de la siguiente forma:

m1 2 m2
L=
y1 +
2
2

y1 v(t ) + m2 g l y1 v( t ) dt + m1 g y1

(3.88)

Aplicando las ecuaciones de Euler-Lagrange para determinar las ecuaciones que describen el movimiento
del sistema, tenemos:

m1 y + v (t ) + m2 y + g ( m1 + m2 ) = 0

g (m2 m1 ) m2 v (t )
y=
m1 + m2

(3.89)
==

Para que la masa 2 pueda alcanzar a la masa 1 es necesario que y k 0 , imponiendo esta condicin en
(3.89).

v(t ) >

g (m1 m2 )
m2

(3.90)

Siempre que se cumpla la inecuacin (3.90), la masa 2 podr alcanzar a la masa 1.

Ejemplo 3.8: Una esfera de radio r est obligada a rodar sin deslizar sobre la mitad inferior de la super#cie
interior de un cilindro hueco de radio interno R. Determinar la lagrangiana y las ecuaciones de EulerLagrange.
Obsrvese que la energa cintica debe contener la
contribucin de la energa rotacional ms la energa
cintica del centro de masas, as que:

T=

2
1
1

m (R ) + I esf
2
2

(3.91)
Figura 3.8 Esfera rodante sobre la super#cie de un cilindro hueco

72

NELSON FALCN V.

Donde:

I esf =

2
mR 2
5
, por lo tanto:
T=

Y la Energa Potencial:

2
1
1

m (R ) + m 2
2
5

U = mg [R (R )cos ]

(3.92)

(3.93)

La ecuacin de Ligadura (que se in#ere al advertir que el elemento in#nitesimal de arco desplazado por la
esfera es idntico al arco diferencia del desplazamiento del centro de la esfera respecto al cilindro) es:

R d d = 0
Luego el Lagrangiano:

(3.94)

2
1
1

2
L = m (R ) + m mg [R (R )cos ]
2
5

(3.95)

Las Ecuaciones de Euler-Lagrange son las siguientes:

f
d L L

dt

d L L
f

dt

(3.96)

(3.97)

Haciendo las derivadas correspondientes quedan las siguientes ecuaciones:

(R )2 m + mg (R )sen = R

2
m 2 =
5

(3.98)

(3.99)

Adems derivando el vnculo (3.94) obtenemos

R = 0

(3.100)

Sustituyendo en (3.99) obtenemos una expresin para el multiplicador de Lagrange ), que representa, en la
mecnica newtoniana, la fuerza de rodadura:

73

MECNICA CLSICA

2
mR
5

(3.101)

Seguidamente se sustituye el valor de ) en (3.98) y despejando :

g ( R ) sen
2
(R ) 2 R 2
5

Para ngulos pequeos senl R l y R>>& se tiene:

Con la frecuencia de pequeas oscilaciones dada por:

(3.102)

= 0

(3.103)

5g
3R

(3.104)

Ejemplo 3.9 Partcula en el interior de un tazn esfrico

Determnese las ecuaciones de movimiento de una partcula que
se mueve en la super#cie interior de un tazn esfrico de radio a
y altura b.
La ecuacin de ligadura es la ecuacin de la super#cie del tazn
que relaciona las variables x,y, z de la partcula:

x2 y2
+ 2 = bz 2
2
a
a

(3.105)

En coordenadas cartesianas el lagrangiano es:

Figura 3.9 Partcula en el interior
de un tazn esfrico

L=

m 2 2 2
( x + y + z ) + mgz
2

(3.106)

Usando las ecuaciones de Euler Lagrange (3.61), tenemos para los 3 grados de libertad:

m x = 1 a1x

m y = 1 a1 y

m z mgz = 1 a1z

(3.107)

Hay una sola ecuacin de ligadura y un nico multiplicador de Lagrange )1, luego existen tres coe#cientes,
uno para cada grado de libertad del sistema, en nuestro ejemplo, asociados a las variables x, y, z.
Diferenciando la ecuacin de ligadura (3.105) tenemos:

2x
2y
dx + 2 dy 2bzdz = 0
2
a
a

74

(3.108)

NELSON FALCN V.

Los coe#cientes asociados al multiplicador de Lagrange )1 son:

a1x =

2x
a2

a1 y =

2y
a2

a1z = 2bz

(3.109)

Reemplazando en (3.107), y diferenciando respecto al tiempo la ecuacin de ligadura (3.108) obtenemos el

sistema de cuatro ecuaciones diferenciales que describen el movimiento segn las variables dinmicas x, y,
z, )1.

m x = 1

2x
a2

m y = 1

2y
a2

m z mgz = 2bz1

2x 2 y
x + 2 y 2bz z = 0
2
a
a

(3.110)

Ejemplo 3.10: Descrbase el movimiento de una partcula de masa m que cae en una espiral simple
Solucin:
Obviamente usamos coordenadas cilndricas para resolver el problema, en las cuales la energa potencial solo
depende de la altura z, luego el Lagrangiano, puede escribirse directamente como:

(3.111)
Con r = a = constante y adems la ecuacin de la espiral: z = b2 con b = constante es la ecuacin de la
Ligadura, imponiendo esta condicin en el Lagrangiano se tiene:

(3.112)
Las Ecuaciones de Euler-Lagrange con los multiplicadores de Lagrange son ahora:

m(a 2 + b 2 ) 2 + mgb = a12 m

(3.113)
(3.114)

Diferenciando la ecuacin de Ligadura o de restriccin obtenemos:

dz bd = 0

a1 = b a1z = 1

(3.115)

Podemos escribir el sistema de ecuaciones reemplazando los coe#cientes de los multiplicadores de Lagrange
en (3.113) y (3.114) adems de una ecuacin auxiliar, que en este caso es la derivada de la ecuacin de
restriccin o de ligadura:

75

MECNICA CLSICA

(3.116)
(3.117)
Tomando la derivada

en la restriccin

Diferenciando nuevamente a (3.118):

(3.118)

z = b2

, sustituyendo en (3.117) obtenemos:

bm 2 = m

(3.119)

Observamos que el multiplicador de Lagrange en este caso hace el papel de la aceleracin centrpeta
multiplicada por la masa, y permite aclarar el carcter #cticio, en el sentido de que esa fuerza (trmino mal
empleado el problema se trata por mecnica newtoniana) no realiza trabajo. Adems de que tal ecuacin de
vnculo, o su equivalente newtoniano no posee reaccin alguna.
Finalmente sustituyendo en (3.116) podemos obtener la ecuacin de movimiento por simple integracin,
dependiendo de la velocidad y posicin inicial de la partcula, sealadas ambas con el subndice 0:
(3.120)

(3.121)

(3.122)

3.3 Otras aplicaciones de la Mecnica de Lagrange

Las ecuaciones de Euler-Lagrange surgen de modo natural mediante el clculo de variaciones como en el
ejemplo sobre el problema de la braquistcrona. El sentido matemtico de la lagrangiana es aquella cantidad
que minimiza la accin. Repetimos que la dinmica de Lagrange no es una nueva teora para la mecnica,
los resultados obtenidos por este mtodo han de ser idnticos a los que proporcionan la mecnica de Newton,
lo que vara es el procedimiento, mientras que con la mecnica newtoniana se maneja la fuerza como agente
exterior; en la mecnica analtica se manejan magnitudes asociadas al cuerpo (energas). Las de#niciones
de las funciones lagrangianas dadas aqu slo son vlidas dentro de la mecnica clsica, para problemas
de relatividad o de electromagnetismo habr que de#nir esta funcin de algn otro modo, como en los dos
ejemplos dados a continuacin.

76

NELSON FALCN V.

Ejemplo 3.11: El lagrangeano de una partcula libre en el rgimen relativista.

m v2
2 pues estamos en un rgimen relativista an cuando
Obsrvese que T no es

L 8 T * ;U .

Cmo calcular T*? . En general: se denominan momentos cannicos

L
Pi
q&i

(3.123)

Para una partcula libre U=0 y los momentos cannicos son:

Pi =

L T *
=
q&i
q&i

(3.124)

Por otro lado, el cuadrimomento relativista P es:

r
P n & (o m0 c, o m0 V ) = o .m0V n
D

v2 A

(3.125)

;1 / 2

r
o & BB1 ; 2 ??
= ( c, V ) y
C c @

es el factor de Lorentz. Podemos

donde n = 0,1,2,3 ; la cuadrivelocidad V
calcular la energa cintica relativista integrando (3.124) y reemplazando el cuadrimomento por medio de
(3.125):

T = P d q i = moVdV
T =

moV
v2
1 2
c

dV = mo

(3.126)

v2
1 2 + ctte
c
(3.127)

Es claro que si V = 0, T* debe tener el valor de la energa en reposo:

integracin es nula.

; mo c 2

, con lo cual la constante de

Para una partcula libre relativista:

L = T = m0 c 2 1

v2
c2

(3.128)

77

MECNICA CLSICA

y en general el lagrangeano relativista es:

L = m0 c 2 1

v2
U (q1 , q 2 ,...q j )
c2

(3.129)

Ejemplo 3.12. El lagrangeano del campo magntico

Al de#nir L 8 T ; U y encontrar las ecuaciones de Euler-Lagrange se supuso que el potencial

U 8 U (q1 , q 2 , q3 ...q j )

es decir, las fuerzas derivan de un potencial que slo depende de las posiciones y
no de las velocidades. La fuerza electromagntica o de Lorentz, depende de las velocidades explcitamente:

"
" " "
F 8 Q( E g v r B) . Usamos Q para denotar la carga elctrica y evitar que el lector desaprensivo confunda

la notacin con las coordenadas generalizadas qi.

Para salvar la di#cultad sustituiremos en L el potencial U 8 U ( qi ) , por otro potencial generalizado

=

U s 8 U (qi , q i , t j )

con lo cual las ecuaciones de Euler-Lagrange (3.5) son:

mVi 2

d mVi

0=
U
(
q
,
q
,
t
)
U
(
q
,
q
,
t
)

i
i
i
i
dt q 2
q 2

0=m

dVi d U U

+
dt dt q
q

(3.130)

(3.131)

As la ecuacin de movimiento resultante es:

d 2 qi
d U U
=

dt q
q
dt 2

(3.132)

Que debe ser igual a la fuerza de Lorentz:

r
r
r r
d 2x
m 2 = QE + Qv B
dt

(3.133)

Por otro lado, supongamos que las intensidades de los campos elctricos y magnticos en el vaco pueden
expresarse en trminos del potencial escalar y del potencial vector (A):

r
r
r
A
E =
t

78

r r r
B = A

(3.134)

NELSON FALCN V.

Entonces la fuerza de Lorentz (3.133) se expresa como:

r
r
r
A r r r
d 2x
V A
m 2 = Q +

t
dt

(3.135)

Por otra parte, el doble producto vectorial del ltimo trmino de (3.135) se escribe como:

"
"" " w " "
" # " " " "
" wA w " " wx"
V r : r A 8 : V . A ; V .: A 8 " V . A ; V " 8 " V . A ;
wx
wx wx
wt

u vu v

u v

u v

"
"
wA w " " wA
" 8 " V .A ;
wx wx
wt

u v

(3.136)

Sustituyendo (3.136) en (3.135), tenemos que:

r
r
r r dA A
r r d w r r A
D w
d 2x
w
? = QDB ; r 2 ; V . A ;
r (V . A) ?
m 2 = QBB r ; 2 + V . A ;
dt ?@
dt wV
dt
C wx
@
C wx

(3.137)

Como el potencial escalar no depende de las velocidades, podemos sin prdida de generalidad, sumarlo en el
penltimo trmino de la ecuacin precedente, pues al derivar se anular; reordenando tenemos:

r
r r
r r A
w
d 2x
Dd w
r ( 2 ; V . A) ; r 2 ; V . A ?
m 2 = QB
wx
dt
C dt wV
@

(3.138)

Para comparar mejor, podemos emplear la notacin en forma similar a (3.132)

r
r r
r r
d 2x d w
w
m 2 =
Q
2
;
V
A
;
Q
2
;
V
(
.
)
.A
dt w q
wqi
dt
i

[(

)]
(3.139)

Por inspeccin de (3.132) y (3.139) encontramos el potencial del campo electromagntico:

r r
U s (qi , q i , t ) = Q 2 ; V . A

(3.140)

Comparando con la expresin (3.130), es claro que un sistema en presencia de un campo electromagntico
tiene por funcin de Lagrange, en general:

L = T U (qi , q i , t ) = T U (q ) Q (qi , t ) Q q i . A(qi , t )

(3.141)

donde el trmino entre corchetes es el potencial electromagntico.

79

MECNICA CLSICA

La accin S ser la contribucin de la accin mecnica ms la accin electromagntica

t2
t2
r r
S = < (T ; U ) dt + < (;Q2 + QV . A)dt
t1

t1

En general, en conformidad con el principio de superposicin, podemos escribir para la accin total:

Ejemplo 3.13 Fuerza de impulso

Mostrar la forma de las ecuaciones de Lagrange para el caso de fuerzas de impulsivas,
como las existentes en la colisin entre esferas rgidas o bolas de billar, en las cuales F es intenssima (tiende
a in#nito) pero actan en un in#nitsimo de instante !t, por lo cual la cantidad
#nita.
Sean Qj las fuerzas conservativas, entonces las ecuaciones de Euler-Lagrange:

d L
L

= Qj

dt q
qi
i

S j & ! Fdt
Kt

permanece

(3.142)

Consideremos el intervalo de impulsin o tiempo de colisin (!t), con lo cual:

d L

dt

qi

dt

q dt = Q dt

(3.143)

Si se asume que la energa cintica no depende explcitamente de las coordenadas generalizadas qj

durante la colisin, entonces durante la colisin el lagrangiano solo depende de la energa potencial

LKt 8 TKt ; U Kt R ;U Kt

; integrando (3.143) y usando (3.142) tenemos:

qi

80

q dt

= Sj
(3.144)

NELSON FALCN V.

El segundo trmino del primer miembro se anula durante la colisin, y obtenemos:

L
Sj =
q
i

final q i

= (p j )final (p j )inicial

inicial
(3.145)

Que equivale a a#rmar, que la variacin del momentum es el impulso newtoniano, usando la de#nicin de
impulso como en el enunciado del ejemplo y (3.145); en efecto:

Fdt = (p )
j

final

(p j )inicial

(3.146)

Ejemplo 3.14 Aplicaciones a circuitos elctricos

Hay una forma del puente de Wheatstone que contiene una
inductancia en un brazo y una capacitancia en el opuesto, adems
para el puente sin
de las 4 resistencias usuales. Hllese L y
equilibrar, usando como coordenadas las corrientes que pasan por
los diversos elementos. Utilizando como ligaduras las condiciones
en los nudos de Kirchhoff, hllese las ecuaciones de Lagrange del
movimiento y demuestre que eliminando los multiplicadores de
Lagrange ()) se reduce a las ecuaciones de redes ordinarias.
Solucin:

Figura 3.10 Puente de Wheatstone

Usaremos como notacin que la corriente In es la corriente que

circula por la resistencia Rn.
Usando como coordenadas las corrientes que pasan por los diversos elementos, la funcin de Lagrange es:

(3.147)
Y la funcin de disipacin de Rayleigh ser:

(3.148)
Para establecer las condiciones en los nudos, se hace necesario agregar al Lagrangiano un trmino multiplicador
de Lagrange para cada uno de los tres vrtices, es decir, para a, b y c. La cuarta condicin se reduce de estas
tres anteriores.

81

MECNICA CLSICA

De esta manera:
(3.149)
Ahora bien:
(3.150)
De aqu obtenemos:
(1)

(3.151)
(3.152)
(3.153)
(3.154)

(3.155)
(3.156)
Las ecuaciones de ligadura del sistema son:
(3.157)
(3.158)
(3.159)
Para eliminar las

se suman las ecuaciones enumeradas:

De esta forma sumamos (3.151) + (3.153) + (3.155):

(3.160)
Igualmente sumamos (3.152) (3.153) + (3.154):
(3.161)

82

NELSON FALCN V.

Y #nalmente obtenemos (3.154) + (3.155) (3.156):

(3.162)
Las expresiones (3.160), (3.161) y (3.162) son las ecuaciones de redes ordinarias que corresponden a los
circuitos independientes del sistema original.
Ejemplo 3.15 Momentos cannicos dependientes de la velocidad
Partiendo del principio de Hamilton, mustrese que si las fuerzas son no conservativas los momentos
cannicos generalizados adquieren la forma

Solucin:
A partir de la ecuacin de Lagrange (que incluya fuerzas no conservativas)

(3.163)

Pero:

(3.164)
Donde

es un desplazamiento virtual de

adems:

(3.165)
Al combinar (3.164) y (3.165):

(3.166)
Suponiendo que

y escribiendo L en vez de T

(3.167)

83

MECNICA CLSICA

Lo que implica que:

(3.168)

(3.169)
Donde

es el impulso de

(fuerza generalizada)

Ejemplo 3.16 Coordenadas separables disjuntas en el lagrangiano

Demustrese que si el potencial de la Lagrangiana depende de las velocidades, el momento cannico
correspondiente a una coordenada de rotacin

del sistema completo no es ya el momento angular mecnico

sino que viene dada por:

(3.170)
Donde

es el operador gradiente, en el que las derivadas se toman respecto a las componentes de la

velocidad y
un vector unitario en la direccin de la rotacin. Si las fuerzas son electromagnticas, el
momento cannico ser:

(3.171)

Solucin:
El cambio de

corresponde al giro in#nitesimal del vector

, que no cambie su mdulo.

(3.172)

(3.173)
Por otro lado:

Figura 3.11 Giro in#nitesimal de

84

(3.174)

NELSON FALCN V.

(3.175)

(3.176)
Sustituyendo (3.173) en (3.176) y operando con el lgebra correspondiente tenemos:

(3.177)

(3.178)

(3.179)
La fuerza sobre una carga que est de#nida por la fuerza de Lorentz:

(3.180)
Si

, donde

= potencial vector magntico.

Por otro lado:

Donde:

(3.181)

(3.182)
Luego (3.180) adopta la forma:

(3.183)

85

MECNICA CLSICA

Consideremos que:

(3.184)

(3.185)

(3.186)

(3.187)

Como

se puede escribir como:

(3.188)
Luego (3.183) se convierte en:

(3.189)
As:

(3.190)

(3.191)
Finalmente:

(3.192)

86

NELSON FALCN V.

NOTA BIOGRFICA N 3. JOSEPH L. DE LAGRANGE

Joseph Louis de Lagrange (1736-1813) Astrnomo y matemtico
franco-italiano, nacido en Turn y fallecido en Pars. Lagrange era
de ascendencia francesa, aunque naci y se cri en Italia. De nio,
en el colegio, se encontr con un ensayo de Halley sobre anlisis
matemtico y al momento decidi dedicarse a las matemticas.
La habilidad matemtica de Lagrange fue reconocida por Euler a
partir de un memorndum que recibi de Lagrange sobre el clculo
de variaciones, sobre el que el propio Euler ya haba trabajado. Tan
impresionado qued Euler por esta obra Miscellanea taurinensia,
que permiti que esta obra fuera publicada antes que la suya.
Lagrange aplic su facilidad matemtica a una sistematizacin de
la mecnica, que ya haba comenzado con Galileo. Utilizando el
anlisis de las variaciones, dedujo unas ecuaciones muy generales
con las que se podan resolver todos los problemas de la mecnica.
Tambin dedujo la forma y manera de aplicar las matemticas a los
movimientos de sistemas que in(ua en ms de dos cuerpos, tales
como el sistema Tierra-Luna-Sol y el de Jpiter con sus cuatro
lunas. La revolucin francesa tambin le dio una oportunidad de
prestar un servicio a la ciencia, al recibir el encargo de dirigir una
comisin que estudiara un nuevo sistema de pesos y medidas.
Como resultado apareci el sistema mtrico decimal, el ms lgico
de los sistemas de medidas que se han inventado. En cierta ocasin
re#rindose a Napolen, le contrast: General, podramos esperar
cualquier cosa de vos menos lecciones de Geometra.

Newton fue el ms grande genio que ha existido y tambin el ms afortunado

dado que slo se puede encontrar una vez un sistema que rija al mundo.
Joseph Louis de Lagrange

87

MECNICA CLSICA

/%.# #0#)1#-* ) 3: *$!#&(2&2#(2%(%'*$H(2

Relacionado al problema de la Baquistocrona se encuentra un problema equivalente, que consiste en encontrar

la forma que ha de tener una curva para que, independientemente del punto en el cual se deje caer, por la
accin libre de la gravedad, llegue a la base de la misma en el mismo tiempo. Galileo se planteo el problema
y crey ingenuamente que se trataba de un arco de crculo, Bernoulli, Newton y L`Hopital, junto a Legendre
obtuvieron como resultado, por distintas vas, que se trataba de una curva cicloide, como veremos en este
apartado, empleando para ello matemticas superiores.
Una cuenca est condicionada a moverse sobre un alambre sin
rozamiento el cual est en un plano vertical. Si la partcula parte del
reposo desde cualquier punto del alambre (Sea P(u,v) Q(x,y)) y cae
por la in(uencia de la gravedad, encontrar el tiempo de descenso hasta
el punto ms bajo (origen del sistema O) del alambre.
La conservacin de la energa en el movimiento entre ambos puntos
conlleva a:
Figura 3.12 Problema de la Tautcrona

mghv = mgy +

m d

2 dt

(III.1)

Donde d"/dt es la rapidez instantnea de la partcula en Q, * decrece cuando t crece, luego:

d
= 2 g (hv y )
dt

(III.2)

El tiempo total (T) empleado en el recorrido es:

T

T = dt =

2 g (hv y )

=
0

2 g (hv y )

(III.3)

La longitud de arco puede expresarse en funcin de (y) como: dx = F ( y ) dy . Por lo tanto:

T=

F ( y ) dy

(h
2g
0

y)

(III.4)

Donde el tiempo de descenso T es una constante.

Se desea ahora hallar la forma que debe tener el alambre del problema anterior para que el tiempo en alcanzar
el punto mas bajo sea constante, es decir, independiente del punto de partida. Desconocemos a F(y) del
resultado anterior, de manera que emplearemos la transformada de Laplace y su transformada inversa para
determinar la funcin; pero antes haremos un breve repaso de las transformadas de Laplace.

88

NELSON FALCN V.

#&#'/% "# /'#)$+*'.#-# -% "#&"#!% 4 &'*-,!/* -% !*)0*",!(7)

De"nicin: Sea F(t) una funcin de t de#nida para t>0 . La transformada de Laplace de F(t)
es:
y

L{F (t )}& f ( s ) & < F (t )e ; s t dt

0

De la de#nicin es fcil veri#car que la transformada de la suma es la suma de las transformadas

y que la transformada de una funcin por una constante es la transformada de la funcin por la
constante:
De"nicin: Si la transformada de Laplace de una funcin F(t) es f(s), es decir, si
, entonces F(t) se llama una transformada inversa de Laplace de f(s) y se
expresa por:

F (t ) 8 L;1 zf ( s ){
Propiedad de convolucin: Si F (t ) 8 L

;1

zf ( s){ y G (t ) 8 L;1 zg ( s){, entonces:

t

F s G & L -1 {f ( s ) g ( s )}= < F (u )G (t ; u )du

0

Donde F s G se llama la convolucin de F y G

Ecuaciones Integrales Tipo Convolutorias: Una ecuacin integral de singular importancia por sus
aplicaciones es
t

Y (t ) = F (t ) + < Y (u ) K (t ; u )du
0

Esta ecuacin es de tipo convolutoria y puede escribirse como

Y (t ) 8 F (t ) g K (t ) s Y (t )
Tomando la transformada de Laplace a ambos lados de la igualdad y suponiendo que existen

f ( s ) 8 LzF (t ){ y k ( s ) 8 LzK (t ){, encontramos que

y(s) 8 f (s) g k (s) s y(s)

Despejando y(s) se obtiene:

y(s) 8

f (s)
1 ; k (s)

89

MECNICA CLSICA

Finalmente la solucin requerida puede encontrarse tomando inversas.

Una importante ecuacin integral de tipo convolutoria, es la ecuacin de Abel:
t

Y (u )
du
|
t
u
(
;
)
0

G (t ) = <

Donde G(t) es dada y + es una constante tal que 0<+<1

Funcin especial gamma (#): Si n>0 la funcin gamma se de#ne por:
y

}(n) = < u n ;1 e ;u du
0

} ( n) =
Propiedades:

}(n + 1)
n
}(n + 1) = n

! si n es positivo.

}(1 / 2) = ~

Retomando el problema y a la expresin del tiempo del descenso (III.4) para advertir que esa ecuacin
integral de tipo convolutiva, es un caso particular de la ecuacin integral de Abel y puede escribirse como:

2 g T = F ( y ) y 1 / 2

(III.5)

Tomamos la transformada de Laplace, y recordando las propiedades de la funcin (,)Gamma:

L {F ( y )}& f ( s )

{ }

L y ;1 / 2 =

}(1 / 2)
s

~
s

(III.6)

Obtenemos de (III.5):

f (s) =

2 gT
s

(III.7)

Aplicando la transformada inversa de Laplace se obtiene:

F ( y) =

2 gT

{ }

L-1 s 1 / 2 =

2 g T 1 / 2
y

Como:

d
=
dy

90

dx 2 + dy 2
dx
= 1 +
dy
dy

(III.8)

(III.9)

NELSON FALCN V.

Tenemos que:
2

dx
1 + =
dy

2 g T 1 / 2
1 / 2
(by )
y

dx
b y
=
dy
y

Se puede escribir:

(III.10)

(III.11)

Como la pendiente debe ser positiva, al integrase se obtiene:

x=

b y
dy + ctte
y

(III.12)

Haciendo y & b sen ' , la ecuacin anterior es fcilmente integrable:

x = 2b cos 2 d + ctte =

b
(2 + sen2 )+ ctte
2

(III.13)

De (III.10) y (III.13) obtenemos las expresiones paramtricas de la curva, asumiendo la constante nula porque
la curva debe pasar por el origen del sistema, entonces:

x=

b
(2 + sen2 )
2

y = b sen 2 =

b
(1 cos 2 )
2

(III.14)

Que corresponden exactamente a las expresiones paramtricas de la cicloide (ver ejemplo 3.3) relaciones
(3.42) y (3.43). Se concluye que la curva cicloide tiene la propiedad de ser tautcrona, es decir que si
colocamos dos esferas sobre ella a distintas alturas y las dejamos caer llegan al punto ms bajo a la vez! a
pesar de que una tenga que recorrer un camino ms largo.

91

C"#$% 4: F,%'1#$ C%)/'#"%$

Una fuerza central es aquella que deriva de una funcin potencial con simetra esfrica U =U(r). Dos de las
interacciones fundamentales de la naturaleza, de hecho las dos interacciones que intervienen en el mundo
macroscpico, como son la interaccin gravitatoria y la interaccin coulombiana entre cargas puntuales, son
fuerzas centrales. El sistema formado por dos partculas que interactan entre s a travs de una fuerza cuya
recta de accin pasa por la ubicacin de las mismas (y cuyo mdulo depende nicamente de la distancia entre
ellas) se puede reducir al problema de una partcula efectiva sometida a una fuerza central. Tanto en el caso
del movimiento planetario (conocido en el argot como el problema de Kepler) como en el caso de partculas
cargadas (conocido en el tambin como el problema de Coulomb) admiten el mismo formalismo a la vera de
la formulacin lagrangeana de la Mecnica Clsica.

4.1 Masa reducida y ecuaciones de Euler-Lagrange

Para este estudio se pueden considerar dos partculas que estn ligadas una con la otra mediante un potencial
.
Se supone que las dimensiones de los cuerpos son
mucho menores que la separacin r entre los cuerpos
interactuantes que equivale a considerar estos como
partculas.
De la #gura 4.1 podemos escribir la energa cintica
como la contribucin del centro de masas y la de cada
una de las partculas:

M Rcm
m r
m r
T=
+ 1 1 + 2 2
2
2
2
Figura 4.1: Dos partculas interactantes a travs de fuerzas
centrales

(4.1)

Adems podemos escribir que el lagrangiano como:

M Rcm
m r
m r
L=
+ 1 1 + 2 2 U (r )
2
2
2

93

(4.2)

MECNICA CLSICA

Donde el primer trmino de la suma re#ere a la posicin del centro de masas:

r
r
r
m1 r1 + m2 r2
Rcm =
m1 + m 2

(4.3)

Para que se pueda simpli#car el problema trabajaremos con el sistema de referencia colocado en el centro de

"
Rcm 8 0 , con ello tendremos:
masas

r
m1 r1
r
r2 =
m2
#

"

(4.4)

"

Como Kr 8 r2 ; r1 , sigue de (4.4) que:

r
r m + m2
r = r1 1
m2

m2
r
r1 =

m1 + m2

r
r

(4.5)

Usando este resultado en (4.4) tenemos:

r m1
r2 =
m1 + m2

r
r

(4.6)
"
R 8 0 se
Derivando respecto al tiempo (4.5) y (4.6), para luego sustituir en (4.2) y advirtiendo que cm
obtiene:

L=

m1 m1

2 m1 + m2
L=

2 m2
r +
2

1 m1 m2

2 m1 + m2

m2

m1 + m2

2
r U (r )

2
r U (r )

(4.7)

(4.8)

La cantidad entre parntesis tiene unidades de masa y se suele denominar masa reducida:

n&

m1 m2
m1 + m2

M mp
M  + mp

(4.9)

M mp
M

= mp

(la masa del Sol es mucho

Para un planeta que orbita en torno al Sol,
mayor que la masa de cualquiera de los planetas) por lo tanto la energa cintica es solamente la del movimiento
de la partcula en un campo gravitacional uniforme dado por U(r). Como el movimiento se efecta en un

94

NELSON FALCN V.

"

plano podemos expresar el Lagrangiano en las coordenadas polares para el vector Kr , usando (4.9); tenemos
que el lagrangiano de una partcula en un campo de fuera central (4.8) es ahora:

L=

1 2 2 2
r + r U (r )
2

(4.10)

Las ecuaciones de Euler Lagrange son:

2
d L L
U

= 0 r r +
=0

dt r r
r

d L L

=0
dt

d 2
r = 0
dt

(4.11)

(4.12)

Esta ltima expresin nos muestra una cantidad conservada, obviamente como ya habramos advertido al
notar que la funcin de Lagrange (4.10) es cclica en la variable %; luego en todo movimiento bajo un campo
de fuerzas central, como se discutir en seguida, se conserva el momento angular.

4.2 Ecuacin de las Orbitas y Leyes de Kepler

Es claro que (4.12) implica la conservacin del momento angular:

r 2 = constante l

(4.13)

Para explicar el signi#cado fsico de la ecuacin (4.12) debemos

observar un diferencial de la trayectoria descrita por las partculas,
como en la #gura 4.2
El rea del sector triangular recorrido (dA) es:

dA =

Figura 4.2 Velocidad

r
ds
2

(4.14)

Donde ds es el arco de la trayectoria, luego:

dA =

2
r
(rd )= r d
2
2

(4.15)

Dividiendo a ambos lados de la ecuacin anterior por dt obtendremos la velocidad areolar, es decir la rapidez
de cambio del rea barrida durante el desplazamiento de la partcula en un campo de fuerzas centrales:

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MECNICA CLSICA

dA r 2
=
dt
2

(4.16)

Sustituyendo (4.13) en la ltima expresin, obtenemos:

dA
l
=
= constante
dt 2

(4.17)

Que es la expresin matemtica de la 2.a ley de Kepler, segn la cual Un planeta barre reas iguales en
intervalos de tiempo iguales.
Se sigue de la expresin (4.16) que si la velocidad aureolar debe ser
constante, entonces en el periastro (punto ms cercano al centro
de fuerzas: perigeo en el caso de la rbita terrestre y perihelio para
el caso de un planeta en torno al Sol) la velocidad orbital debe ser
mayor que el el apoastro (punto ms lejano al centro de fuerzas:
apogeo en el caso de la rbita terrestre y afelio para el caso de un
planeta en torno al Sol).
Para integrar la ecuacin de movimiento (4.11), reemplazamos
por medio de (4.13) y luego multiplicamos por

Fig. 4.3 Segunda ley de Kepler

r r

l 2 U
r+
r =0
r
r 3

, se obtiene:

(4.18)

Vemos que puede escribirse cada trmino como una derivada total:

d 2 d l2
r +
dt 2 dt 2 r 2

dU
+
=0
dt

d 2
l2
r +
+ U = 0
2
dt 2
2 r

(4.19)

(4.20)

Se observa que todo lo que se encuentra dentro del parntesis tiene unidades de energa, y adems es constante,
que la podremos de#nir como la energa del sistema:

2
l2
r +
+ U = const = E
2
2 r 2

Despejamos en esta expresin a r :

96

(4.21)

NELSON FALCN V.

2
l2
(E U ) 2 2

r=

Como

(4.22)

, con ello nos queda que:

2
l2
(E U ) 2 2

dr
=
d

(4.23)

Usando (4.13) para expresar ' tendremos que:

dr l
=
d r 2

2
l2
(E U ) 2 2

(4.24)

Ahora despejando d' en trminos de r e integrando a ambos lados obtenemos que:

(4.25)

(4.26)

Realizando el cambio

, tenemos que:

(4.27)
Para poder resolver la integral hay que decir explcitamente qu valor tiene
Coulomb que viene como

, tanto para el problema de

y para el de Kepler se expresa como

, que

; con K una constante que depende o bien de las cargas

permite escribir el potencial en la forma
y la permitividad elctrica del vaco (Coulomb) o bien de las masas y la constante de gravitacin universal
(problema de Kepler) .

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MECNICA CLSICA

Sabiendo que el potencial viene descrito de la forma

integral que nos quedara de la forma:

, podemos reescribir la

(4.28)
Completando cuadrado en el denominador, tenemos:

(4.29)

(4.30)

Realizando otro cambio de variable en donde:

(2 K2
) 8 2( E g
l2
2

Con esto ahora la integral queda:

' ; ' 0 8 ;!
Cuya solucin es:

z 8 x;

(K
l

(4.31)

dz / )
1 ; uz / ) v

(4.32)

(4.33)
Devolviendo el cambio de variables (4.31)

(4.34)
Con esto despejamos la variable

para obtener:

(4.35)
Finalmente expresado en funcin de r:

98

NELSON FALCN V.

(4.36)
Se puede observar la ecuacin que describe la rbita (4.36) tiene la forma de las cnicas en coordenadas
polares, escrita como:

(4.37)
En efecto, de la #gura 4.4 la curva de la cnica es tal que la razn
entre la distancia a la directriz AD y la distancia al foco DF es
constante. De la geometra de la #gura 4.4 vemos que:
___

___

DF = AD y r = (k + r cos )

Luego:
Figura 4.4 Cnicas en coordenadas polares

r=

1 cos

(4.38)

(4.39)

Finalmente, (4.37) puede reagruparse en la forma (4.39), en efecto:

(4.40)

Luego, la excentricidad de la rbita es:

(4.41)
Dependiendo de la energa del sistema, obtenemos diferentes excentricidades y por extensin cnicas
diferentes. Que resumimos en el cuadro 4.1

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MECNICA CLSICA

Cuadro 4.1: Energa y la excentricidad de las rbitas.

/D@ICB

pzMM=M

/IQCL@l<Q<@CIB

.=IZ><

7BQ]W?=B

jIZSQW?=B

Como quiera la fuerza de gravedad para un planeta orbitando alrededor del Sol tiene una energa negativa
(atractiva) y que hemos probado que la ecuacin de su orbita es una elipse en este caso; entonces en stritus
sensus, hemos probado la 1.a ley de Kepler: Los planetas describen rbitas elpticas con el Sol situado en
uno de sus focos.
Ejemplo 4.1: 3.a ley de Kepler.
Dedzcase la 3ra ley de Kepler del movimiento planetario: El cuadrado del perodo de revolucin de cada
planeta es proporcional al cubo de la distancia media del planeta al Sol.
La forma newtoniana de derivar la 3ra. ley de Kepler consiste en usar la fuerza de gravedad en la 2da. ley de
Newton con M la masa del Sol y m la del Planeta:

ma = G

Mm
R2

(4.42)

Y advertir que la aceleracin es centrpeta, siendo T el periodo orbital, por lo que podemos escribir:
2

Mm
2
m
R=G 2
R
T

(4.43)

Que trivialmente nos lleva a:

4 2
=
GM

3
R

(4.44)

No es correcto, como veremos en las clases siguientes, asumir una fuerza centrifuga (?) que contrarresta
a la gravedad. Esa nocin de centrifuga adems de confusa es errnea desde el punto de vista fsico y un mal
habito en algunos muy viejos textos de fsica general.
Para reobtener este resultado con la Mecnica de Lagrange, bastar con anular el primer trmino de (4.11) y
obtener:

100

NELSON FALCN V.

2
2
U
GMm
Mm
GMm
= 0 r + 2 = 0
.0 r +
r + 2 = 0
r
M +m
r
r

(4.45)

Donde hemos usado el potencial gravitacional y la de#nicin de masa reducida.

Reescribiendo (4.45), con la observacin de que

es la velocidad angular, tenemos:

1
G
2
r
= 2
M +m T
r

G ( M + m) GM
2
3

=
r3
r
T

(4.46)

Donde hemos usado el hecho de que la Masa del Sol (M) es mucho mayor que la de un planeta (m). Obsrvese
que el mal llamado trmino centrpeto o peor fuerza centrpeta no es ms que una relacin del vnculo,
que resulta de escribir la posicin en coordenadas polares. Luego no es correcto fsicamente, escribirlo del
lado derecho de (4.11) y llamarlo fuerza centrifuga (?). Una deduccin rigurosa de la 3ra ley de Kepler se
dar en el ejemplo 4.5 (vase)
Ejemplo 4.2. Demuestre que si una partcula, sometida a la accin de una fuerza
central atractiva dirigida hacia un punto de su orbita como en la #gura 4.5, de modo
tal que su orbita describa una circunferencia, entonce la fuerza es inversamente
proporcional a la quinta potencia de la distancia.
Solucin:
Se quiere encontrar la fuerza que viene dada por:

dr d
=
d dt

F 8;

wU
wr . A partir de (4.22):

2
l2
(E U ) 2 2

Figura 4.5 Fuerza central

proporcional a r-5

(4.47)

Advirtiendo en la #gura 4.5 que:

dr
= 2asen
d

r = 2a cos

Usando esto y (4.13):

d'
l
= 2
dt nr

(4.48)

en la ecuacin (4.47) obtenemos:

2asen

l
=
r 2

2
l2
(E U ) 2 2

(4.49)

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MECNICA CLSICA

; 2asen ' 8

2 (r 4
2 (r 4
E ; 2 U ; r2
2
l
l

(4.50)

Entonces despejamos U:

U =E

l2
4a 2 l 2
l2

+
4a 2 cos 2
2
4
4
2 r
2 r
2 r

(4.51)

Trivialmente de (4.48):

r
2a cos
1 4a 2 cos 2
=

=
r2
r2
r2
r4

(4.52)

Luego (4.51) se puede escribir como:

U =E

l2
4a 2 l 2
l2

+
2 r 2 2 r 4 2 r 2

(4.53)

Y #nalmente queda demostrado que la fuerza es inversamente proporcional a la quinta potencia de la

distancia:

F =

U 8a 2 l 2 1
=
r
r5

(4.54)

Ejemplo 4.3. Demostrar que el problema de fuerzas centrales puede resolverse en trminos de funciones
elpticas cuando la fuerza es una ley potencia de las distancias con los siguientes exponentes fraccionarios:

Solucin:
La integral del problema de fuerzas centrales con ley potencia de la distancia es (4.28):

' 8 '0 ;

(0

Con U 8 a r

102

ng1

, * 8

1
r

d*
2m E 2m a ;n;1
; 2 (*
) ;* 2
l2
l

(4.55)

NELSON FALCN V.

Hagamos la sustitucin:

. Entonces:
s

2 sds

= 0

2mE 2ma 2 n 2
2 s
s4
2
l
l

(4.56)

5
n 8 ; , entonces,;2n ; 2 8 3
2
Si
s

= 0
s

2 sds
2mE 2ma 3
2 s s4
l2
l

(4.57)

De acuerdo con la de#nicin de integrales elpticas, tambin podemos poner:

3
n 8 ; , donde,;2n ; 2 8 1
2

<

Por de#nicin una integral elptica es de la forma R ( x, w) dx

x y w, con w de#nida por:

donde R es cualquier funcin racional de

w = x 4 + x 3 + x 2 + x +

(4.58)

Donde + y , no so simultneamente nulas. Por lo tanto quedan agotadas las posibilidades de n no enteros
con la sustitucin hecha.
Consideremos ahora

se tiene:
1

= 0
s0

Donde

n8;

3 2
s ds
2
3 n 3
2mE
2ma 2 2 +1

s
s4
s
l2
l2

(4.59)

7
3 entonces:

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MECNICA CLSICA

= 0
s0

3 2
s ds
2
2mE
2ma
s 2 s3 s4
2
l
l

(4.60)

Tambin podemos poner:

No hay otras posibilidades de valores no enteros con esta sustitucin, pues la integral no tendra solucin
analtica.
Ejemplo 4.4 Discutir el movimiento de una partcula sometida a un campo de fuerzas centrales dado por:

f 8;

k
c
g 3
2
r
r

En particular mostrar que la ecuacin de la rbita puede ser puesta en la forma:

r=

a (1 ; 2 )
1 + cos | l

Que es una elipse para | = 1 , elipse que precesa si | 1 .el movimiento de precesin puede describirse en
trminos de la velocidad de precesin del perihelio, donde el termino perihelio se usa para indicar cualquiera
de los puntos de in(exin de la rbita. Derivar una expresin aproximada para la velocidad de precesin
cuando | es muy aproximadamente uno, en trminos de la cantidad adimensional.

c
ka

La razn - es una necesidad del peso del trmino inverso del cubo con respecto al trmino principal inverso
del cuadrado. Se ah observado que en perihelio de mercurio precesa a razn de 40 segundos de arco por
siglo. Mostrar que esta precesin pudiera explicarse clsicamente si el valor de- fuese tan pequeo como

1,42 x10

104

;7

. (La excentricidad de la rbita de mercurio es 0,206 y su periodo es de 0,24 aos.)

NELSON FALCN V.

Figura 4.6 Precesin del perihelio de Mercurio

Solucin:
La rbita est dada por (4,28) escrita en trmino de r=1/x y con la notacin #=$, en este ejemplo m denota
a la masa reducida; as:

ldr
mr

2
l2
(E U )
m
2mr 2

+ 0
(4.61)

En este caso:

U (r ) =

k
c
+ 2
r 2r

(4.62)

Luego:

dr
r

2mE 2mk mc
1
+ 2 2 2 2
2
l
l r l r
r

+ 0
(4.63)

nos queda:

Hacemos la sustitucin

d
2mE 2mk
mc
+ 2 2 2 2
2
l
l
l

+ 0
(4.64)

Expresin que puede escribirse:

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MECNICA CLSICA

d
2mE
m2k 2
mc + l 2
mk
+

2
2
2
2
l
l (mc + l )
l
mc + l 2

+ 0
(4.65)

Pongamos:

a2 8

2m E
m2k 2
mc g l 2
2
g
;
b
8
l2
l 2 ( mc g l 2 )
l2

(4.66)

Lo que permite escribir:

d
b2
mk

a 1 2
2
a
mc + l

o tambin:

+ 0
(4.67)

1
dv
+ 0

b 1 v2

(4.68)

v=

b
mk

a
mc + l 2

(4.69)

1
arccos v + 0
b

(4.70)

de donde se ha hecho la sustitucin:

Por lo tanto:

De donde la ecuacin de la rbita resulta:

mk
1
=
r
mc + l 2

1 + cos

= 1+

mc

+
1
(

)
0

l2

2 El 2 mc
+ 1

mk 2 l 2

(4.71)

(4.72)

Claramente si E< 0, -< 1, se trata de una elipse. Si la excentricidad c de la ley inversa del cubo es cero,
entonces:

106

NELSON FALCN V.

mc
+1 = 1
l2

(4.73)

y se trata de la elipse quieta del problema de los cuerpos en interaccin bajo la ley de fuerza inversa del
cuadrado.
El semieje a la de la elipse est dado por:

a=

r1 + r2
2

(4.74)

De donde r1 y r2 son las distancias extremas, perihelio y afelio, respectivamente. Entonces de la ecuacin
de la rbita:

1
mk
(1 g . )
8
r1 m c g l 2
1
mk
8
(1 ; . )
r2 m c g l 2

r1 g r2 m c g l 2
8
2
2m k

(4.75)

1 A
D 1
g
B
?
C1g . 1; . @

(4.76)

de donde:

mc + l 2 1
a=
mk 1 2

(4.77)

mediante esta relacin la ecuacin de la rbita puede escribirse:

r=

a (1 )
1 + . cos

l =0

(4.78)

| 1

en donde se ha rotado el sistema de coordenadas de modo que 0

. Si
se trata de una elipse que
precesa; con esto queremos decir que la elipse como un todo en el plano del moviendo alrededor del origen,
precesa. Podemos calcular la velocidad de procesin de la elipse tomando como referencia el perihelio. En
efecto, el perihelio es alcanzado cada vez que

cos
vale decir cuando

mc + l 2
=1
l2

(4.79)

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MECNICA CLSICA

mc + l 2
= 2 n
l2

(4.80)

el ngulo recorrido por la partcula para alcanzar el perihelio es, entonces:

2 n

mc + l 2
l2

(4.81)

y, por lo tanto, el ngulo que ha precesado la elipse queda dado por:

2 n

p =

mc + l 2
l2

2 n
(4.82)

as, la precesin del perihelio por vueltas es:

d p

dn

2
mc + l 2
l2

2
(4.83)

el signo menos es porque l no alcanza a recorrer 2~ cuando se llega nuevamente al perihelio. Si | R 1 ,

tenemos:

d p

mc

2 1 2 2
dn
2l

entonces:
vp 8 %

mc radianes
l 2 vueltas

(4.84)

(4.85)

ahora de las expresiones para a , el semi-eje mayor, y , obtenemos:

k
2E

(4.86)

2cE 2 El 2
+
k2
mk 2

(4.87)

a=
de este modo podemos poner:

2 = 1+

108

NELSON FALCN V.

Con n =

c
ka

l2
= 1 n
n
mc

(4.88)

mc
n
=
2
l
1 n 2

(4.89)

escribimos:

de donde

y #nalmente

v p=

.n
1 n 2

(4.90)

Ahora bien, la velocidad de precesin observada de Mercurio es 40/siglo. Por otra parte el ao de mercurio
equivale a 0,24 aos terrestres, esto es 4,16 aos de mercurio corresponden a 1 ao terrestre. Entonces

v p ( mercurio) =
de aqu

40 segundos
radianes

416 vueltas
45 x360 x 416 vueltas

(4.91)

n
1
=
45 x360 x 416
1 ; n ; 0,206
n R 1,42 x10 ; 7

Ejemplo 4.5 Anomalas verdadera y excntrica en rbitas planetarias

Es de inters determinar la distancia mxima ( rMAX ) y la mnima ( MIN ) con respecto al Sol en la orbita del
planeta, ver Fig.4.7, de la trayectoria del planeta en torno al Sol, estas posiciones son conocidas como afelio
y perihelio respectivamente.
Para esta labor se puede demostrar con facilidad que la rapidez de la orbita en funcin de la posicin esta dada
por (4.22), empleando (4.13) que expresa la conservacin del momentum angular y (4.21) sobre la energa
del sistema.
Empleando (4.22) con U el potencial gravitacional

l
Gm1 m2
2
E+

2 r 2
2

r& =

(4.92)

Figura 4.7 Posiciones extremales de la rbita

La rapidez en el afelio y en el perihelio es nula, por lo tanto despejando de esta ecuacin las races del

r
polinomio (ntese que r nunca es cero), rMAX y MIN , se obtiene:

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MECNICA CLSICA

1 1 + 2 E

(Gm1 m2 )2

(4.93)

2 2 E
Gm1m2
1+ 1+
=
2 E
(Gm1m2 )2

(4.94)

rMIN =

rMIN

Gm1 m2
2E

La longitud del semieje mayor es la semisuma de (4.93) y (4.94),

a=

rMIN + rMAX
Gm1 m2
=
2
2E

de la cual se puede obtener la energa:

E=

(4.95)

Gm1 m2
2a

(4.96)

Si este resultado se introduce en la ecuacin de la excentricidad(4.41) se puede obtener el momentum angular

en trminos de la excentricidad y la longitud del semieje mayor, como:

l 2 = (1 2 )aGm1 m2

(4.97)

Empleando (4.92), (4.97) y (4.96), se obtiene:

t=

1 2 1 2

r
r
r
a

2Gm1 m 2 r0 2a
2

12

dr
(4.98)

Para el movimiento elptico, es conveniente integrar empleando

la variable auxiliar , denominada anomala excntrica que no

es mas que la posicin angular de la proyeccin del movimiento
del planeta, sobre un circulo cuyo centro coincide con el centro
de la trayectoria del planeta (centro de la elipse), como se muestra
en la Fig. 4.8

r = a[1 cos( )]

(4.99)

Sustituyendo (4.99) en (4.98), y considerando que para

r0 = a ] E 0 = 0

Figura. 4.8 Anomala excntrica y verdadera.

Construccin de Kepler

t=

a3
Gm 1 m 2

por convencin, se escribe

[1 cos( )]sen ( )d
2
2[1 cos( )] [1 cos( )] (1 2 )
(4.100)

110

NELSON FALCN V.

Completando cuadrado en denominador se obtiene:

t8

a3(
Gm1 m2

. 1 ; . cos# sen#
2

. ; . cos #

t8

d#

a3(
Gm1 m2

! . 1 ; . cos# d#
#

(4.101)

Si se considera un ciclo completo, la anomala excntrica toma valores desde 0 hasta 2~ , y realizando la
integral (Ec.4.101), se obtiene la tercera ley de Kepler, (4.102), que enuncia que el perodo de traslacin al
cuadrado de un planeta en una rbita elptica con el Sol en uno de sus focos es proporcional al semieje mayor
al cubo:

= 2

a3
Gm1 m2

(4.102)

Empleando (4.102)la frecuencia se puede escribir como:

Gm1 m2
a 3

(4.103)

Integrando (4.101) para cualquier valor de la anomala excntrica, y teniendo en cuenta (4.103), se obtiene la
ecuacin de Kepler para las anomalas:

M = t = esen

(4.104)

Donde M es la anomala media, esta ecuacin permite relacionar la anomala excntrica con la anomala
media, y a su vez con la anomala verdadera.
Ejemplo 4.6 potenciales efectivos
Una partcula se mueve bajo un campo de fuerza central dado por el potencial:

U (r ) 8 ;k

e ;a r
r

donde k y a son constantes positivas. Discutir cualitativamente la naturaleza del

movimiento mediante el mtodo del potencial unidimensional equivalente.
Como se trata de una fuerza central, el movimiento es plano y el lagrangiano en coordenadas polares, es:

L=

m2 2 2
e ar
r + r + k

2
r

(4.105)

Es fcil veri#car que el momento angular se conserva y es:

mr 2 l
Con lo cual la energa resulta:

(4.106)

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MECNICA CLSICA

E=

m2 2 2
e ar m 2
l2
e ar
r + r k
=
+

r
k

2
2
r
r
2mr 2

(4.107)

Esta expresin puede interpretarse como el movimiento de una partcula en direccin r, bajo un potencial
efectivo dado por:

U (r ) =

l2
e ar
k

r
2mr 2

(4.108)

Entonces la conservacin de la energa puede escribirse como:

E=

m 2
r +U
2

(4.109)

Podemos esbozar el potencial a travs de la #gura 4.9

Figura 4.9 Potencial equivalente unidimensional

Para estudiar los potenciales efectivos observamos que:

112

Si la fuerza es repulsiva la energa total tiene que ser positiva.

Si la fuerza es atractiva la energa de la partcula puede ser positiva o negativa, aunque el valor de la
energa total no puede ser menor que el mnimo de la energa potencial efectiva. En el caso de que la
energa de la partcula sea positiva su movimiento no estar limitado.

NELSON FALCN V.

El factor exponencial baja rpidamente el potencial k/r al nivel cero muy rpidamente, de modo que
resulta una interaccin prcticamente de corto alcance; que en principio podra describir el efecto de
apantallamiento de los electrones que rodean al ncleo en la interaccin coulombiana, o las fuerzas entre
nucleones (potencial de Yukawa).
El caso ms interesante ser cuando la energa de la partcula sea negativa, tal como se muestra en la
Figura 4.9, en donde el movimiento estar limitado a una regin radial que est comprendida entre r1 y r2,
que son las abscisas de los puntos de interseccin de la recta horizontal y la curva de energa potencial, el
primero corresponde al perihelio, es decir la distancia de mximo acercamiento de la partcula al centro
de fuerzas, el segundo corresponde al afelio la cual es la distancia mxima de alejamiento del mvil al
centro de fuerzas.

Ejemplo 4.7 Conservacin del vector de Runge-Lenz

Hay una integral de movimiento que solo existe para leyes de fuerza de cuadrado
inverso. Esta cantidad es el vector de Runge-Lenz:

r
r
1 r r r
K = V l +

(4.110)

Derivando respecto al tiempo, obtenemos:

rr
r
r
dK
1 r r 1 r r r V r V .r
= a l V r F + + r 3
dt
r

(4.111)

Por medio de adecuadas sustituciones (l = .rv, F = .a = -kr/r3), advertimos que el miembro de la derecha
se anula; con lo cual este vector K es una integral de movimiento. Es importante aclarar que se trata de una
nueva constante de movimiento, no reducible a alguna combinacin de la energa y el impulso angular.
Apunta en la direccin del foco al perihelio, y su magnitud es igual a la excentricidad. Por lo tanto nos indica
que ambas ni la posicin ni la magnitud del perihelio vara con el tiempo.

4.3. Dispersin de Rutherford y seccin e8icaz de Scattering

Consideramos el choque elstico entre dos partculas con masas que interactan a travs de un potencial
central. La idea es considerar que en el sistema centro de masas la energa mecnica ECM > 0; de manera
que, aun para un potencial atractivo, las partculas no estn ligadas, cuando estn muy separadas la energa
potencial entre ellas pueda considerarse despreciable frente a las correspondientes energas cinticas (se toma
el cero de la energa potencial correspondiendo a distancia in#nita entre partculas. Para analizar la Dispersin
de Rutherford, lo vamos con el mismo anlisis del Problema de los dos cuerpos con fuerzas centrales. Como
ilustra la #gura 4.10, se tiene un haz de partculas que se aproximan al centro de fuerzas M, con velocidad V
en direccin no colonial con el centro de fuerzas, las partculas (uyen en todas direcciones siendo su mnima
distancia de separacin r=b y con dispersin entre r=b y r+dr=b+db.

113

MECNICA CLSICA

Figura 4.10 Dispersin en un campo de fuerzas Central

Conocemos que el momento angular en el in#nito se puede expresar como:

l = mbv

(4.112)

La energa viene expresada de la siguiente forma:

E T 0 =

m
(v )2
2

(4.113)

Suponiendo de manera general que #0 % 0 , reemplazando en (4.26) con U(r)=k/r obtenemos:

(4.114)
Con el lgebra respectiva obtenemos:

(4.115)

T = mv2 / 2

Donde se ha usado que 0

x= 1/r nos queda la integral como:

, completando cuadrados tenemos y realizando el cambio de variable

(4.116)
Haciendo y 8 x g

114

K
se tendr que:
2 bT0

NELSON FALCN V.

(4.117)

, tendremos:

Con las constantes de#nidas como

(4.118)
Que es fcilmente integrable:

(4.119)
En trminos de r, tenemos que:

(4.120)

Ahora cuando

, tenemos:

(4.121)
De la #gura 4.10 vemos que

22 + = ~

, luego:

(4.122)

Colocando que

, nos queda que:

(4.123)

Con el lgebra correspondiente, despejamos

para obtener:

115

MECNICA CLSICA

(4.124)
Devolviendo el cambio nos queda:

(4.125)
Despejando el valor de la constante

, tendremos el valor de:

(4.126)
Derivando respecto a $ tendremos que:

(4.127)
Mediante la Figura 4.11 podemos relacionar el ngulo slido d/ con el parmetro de impacto, toda vez
que:

d = 2 sen d

(4.128)

Figura 4.11 ngulo slido de scattering

De la #gura 4.11 es claro que el diferencial de rea dA= 20bdb, el cual se escribe como:

(4.129)

116

NELSON FALCN V.

La seccin e"caz de dispersin es entonces:

(4.130)
Sustituyendo de la ecuacin (4.128) tendremos que:

(4.131)

(4.132)
Finalmente, obtenemos la relacin de dispersin de Rutherford:

(4.133)
Se puede observar que la seccin e#caz de dispersin que representa dicha ecuacin no depende de la carga
debido al termino K2, con lo cual el resultado es igualmente vlido, ya sea para campos coulombianos
repulsivos o atractivos. Este sorprendente resultado tiene como explicacin que en la ecuacin del ngulo
de dispersin es negativo cuando k< 0. Sin embargo, como el problema de colisin tiene simetra cilndrica,

podemos cambiar el signo de ' 0 hacindolo positivo. Pero justamente para el potencial coulombiano este
ngulo positivo es el ngulo de desviacin correspondiente a k > 0, y por ello ambas secciones e#caces son
iguales. En general se restringe el ngulo

'0

al rango entre 0 y ~ por medio de operaciones de cambio de

signo y resta de mltiplos enteros de 2~ . A este ngulo lo llamaremos ngulo de dispersin.

Dos aos despus Geiger y Marsden demostraron que la dependencia angular de la intensidad de partculas
re(ejadas era la predicha por Rutherford. Tambin interpusieron diferente nmero de lminas de mica entre
la fuente y el blanco para poder variar la velocidad de las partculas alfa, demostrando as que la dependencia
con la velocidad era tambin la predicha por Rutherford. El modelo atmico de Rutherford, y con l el
descubrimiento del ncleo atmico, quedaba as #rmemente establecido.
Ejemplo 4.8. Mostrar que para cualquier fuerza repulsiva una solucin formal para el ngulo de Scattering,

 , esta dado por:

(0

 8 % g 2!
0

sds
1;

U(
E

; s2( 2

117

MECNICA CLSICA

donde U es la energa potencial, &=1/ r, y .0 corresponden al punto de in(exin de la orbita. Cul es la

expresin correspondiente para un potencial atractivo?
Solucin:
Formalmente, en el caso de fuerza central, la rbita est dada por:

ldr

d =

2
l2
E U (r )
m
mr 2

mr 2

(4.134)

ahora bien en el caso repulsivo el ngulo & , ngulo entre las asntotas a la rbita, esta relacionado con el
ngulo de Scattering. De la relacin general (#gura 4.10) con

/ &  2' 0 8 & se sigue & g  8 % .

Claramente, el ngulo & , esta dado por (4.26):

r0

ldr

= 2

mr

l2
2
E U (r )
m
mr 2

(4.135)

Equivalentemente:
0

= 2
0

ld
2mE 2mU l 2 2

(4.136)

despus de la sustitucin &=1/ r, . Si introducimos a nuestra integral la expresin que nos da el mdulo del
momento angular, l, en trminos del parmetro de impacto s y la energa E, obtenemos
0

sd

= 2
0

U
s2 2
E

de donde:
0

= + 2
0

sd
1

2
U
s 2
E

2
2 ; 8~
en el caso atractivo, la relacin entre  y es

118

(4.137)

, entonces:

(4.138)

NELSON FALCN V.

= 2
0

sd
U
s2 2
1
E

(4.139)

Ejemplo 4.9 Examinar el scattering producido por una fuerza central repulsiva
seccin e#caz diferencial est dada por:

mostrar que la

(4.140)
Donde x es la razn

y E es la energa.

Resolucin:
La rbita est dada por (4.26):

(4.141)
El potencial de cual deriva la fuerza dada es, integrando

De donde:

(4.142)

(4.143)
La sustitucin:

(4.144)
Conduce a:

(4.145)

119

MECNICA CLSICA

Expresin que puede escribirse:

(4.146)
O tambin:

(4.147)

Con:

(4.148)
De aqu obtenemos:

(4.149)
Debe cumplirse la condicin

, de donde

(4.150)
Como condicin de los valores de

orbitales. Entonces:

(4.151)
Esto es:

(4.152)

120

NELSON FALCN V.

As el ngulo

que mide el barrido total realizado por el ngulo polar

, es:

(4.153)
De la relacin general (#gura 4.10) con

&  2' 0 =

se sigue

+=~

Obtenemos:

(4.154)
O tambin:

(4.155)

Donde:

(4.156)
Y s es parmetro de impacto. De la relacin podemos despejar

; se obtiene:

(4.157)
De donde:

Ahora:

(4.158)

(4.159)

(4.160)

121

MECNICA CLSICA

Luego:

Y entonces:

(4.160)

(4.161)
Finalmente, la seccin e#caz diferencial:

(4.162)
Toma la forma:

(4.163)
Ejemplo 4.10 En fsica nuclear aparece un potencial de fuerzas centrales conocido como pozo rectangular,
de#nido por:

Demustrese que la difusin producida por tal potencial en mecnica clsica es idntica a la refraccin de los
rayos luminosos en una esfera de radio a e ndice de refraccin relativo:

(4.164)
Esta equivalencia prueba que es posible explicar los fenmenos de refraccin tanto mediante las ondas de
Huygens como por medio de los corpsculos mecnicos de Newton. Prubese, adems que la seccin e#caz
diferencial es:

(4.165)
Cul es la seccin e#caz total?

122

NELSON FALCN V.

Solucin:
De la ley de Snell

(4.166)
El ngulo de la direccin de la trayectoria
externa y la trayectoria interna es:
(4.167)

Fig. 4.12 Refraccin en una esfera de radio a

El ngulo de difusin es:

(4.168)
Ahora

donde

es el radio de la esfera. De aqu

(4.169)

Con un poco de trigonometra es posible obtener lo siguiente:

(4.170)
Por lo que:

(4.171)

(4.172)

Para #nalmente obtener:

(4.173)

(4.174)

123

MECNICA CLSICA

Ahora bien la seccin e#caz diferencial es:

(4.175)
Donde:

(4.176)
Operando un poco y realizando la derivada, tenemos:

(4.177)
Por lo que:

(4.178)
Luego:

(4.179)
Con esto

queda:

(4.180)
Aplicando operaciones algebraicas y trigonomtricas se puede obtener que:

(4.181)

124

NELSON FALCN V.

La seccin e#caz total resulta ser:

(4.182)
Esto se deduce de que todas las partculas que chocan la esfera ser difundidas, esto por unidad de tiempo es:
, donde es la intensidad del haz incidente. Por lo tanto:

(4.183)
Ejemplo 4.11 a) Demustrese que el ngulo de retroceso de la partcula difusora en relacin con la direccin
de incidencia de la partcula difundida es

2=

1
(~ ;  )
2

b) Considere un sistema difusor constituido por partculas de igual masa. Se observa que la energa de las
partculas que retroceden es constante hasta cierto valor de energa por encima de cero. Prubese que la
difusin ha de ser istropa en el centro de masas.
Solucin:
Consideremos el problema equivalente de la desviacin de una partcula de masa m Movindose en un
campo

cuyo centro est en reposo:

La trayectoria de una partcula en un campo central

es simtrica respecto a una recta que pasa por el
centro y por el punto de la rbita ms prxima a este
(o a la #gura). Por tanto las dos asntotas de la rbita
forman ngulos iguales con esta recta.
Si designamos este ngulo por , el ngulo de
desviacin de la partcula cuando pasa frente al centro
es, como se ve en la #gura 4.13:

Figura 4.13 Partcula en un campo difusor de potencial U(r)

Por lo tanto el ngulo de retroceso de la partcula difusora es:

(4.184)
Donde:
(4.185)

125

MECNICA CLSICA

b) Tomando en cuenta, que la energa perdida por una partcula de masa

por la esfera de masa
x son de la forma:

m2

m1

, es igual a la energa adquirida

. Las velocidades de las dos partculas despus del choque en funcin del ngulo

(4.186)

(4.187)
Donde, la energa mxima que puede adquirir en el choque la partcula que se encontraba en reposo, es:

(4.188)
Sustituyendo (4.187) en (4.188) tenemos:

(4.189)
Donde:
Por lo tanto:

(4.190)

(4.191)
Derivando esta ltima ecuacin obtenemos:

(4.192)
Despejando:

(4.193)
Aparte tenemos que la seccin e#caz en la dispersin de partculas por una esfera perfectamente rgida de
radio

126

est dada por:

NELSON FALCN V.

(4.194)
(4.195)
Sustituyendo (4.193) en (4.1965) tenemos:

(4.196)
Con esto se tiene que la distribucin segn los valores de
en todo el intervalo de

de las partculas dispersadas es, pues homogneo

comprendido entre 0 y

4.4 Teorema del virial

La palabra virial tiene su origen en vis, que en latn signi#ca fuerza o energa; trmino acuado por Clasius
en 1870 para denotar la relacin existente entre los valores medios o promedios de las energas cintica y
potencial en el movimiento de rbitas peridicas bajo la accin de fuerzas centrales.
Se tiene la expresin Virial de Clausius, que es la siguiente:
n
r r
G pi .ri
i

Considerando al derivar la ecuacin que:

(4.197)

r
r
n
n
dp i r
dri r
dG

.ri +
. pi
dt
dt
i dt
i

(4.198)

n r
n
r
dG
1 r2
Fi .ri + 2
. pi
dt
i
i 2m

(4.199)

"
"
F
i
8
;
:
U i y U i 8 ar
Teniendo en cuenta que

n g1

tener que:

n
n
dG
1 r2
n
a (n + 1)ri .ri + 2
. pi
dt
i
i 2m

con n entero, vamos a

(4.200)

El segundo trmino del segundo miembro es la energa cintica, luego:

127

MECNICA CLSICA

n
n
dG
n +1
a (n + 1).ri + 2 Ti
dt
i
i

(4.201)

n
n
dG
(n + 1) U i + 2 Ti
dt
i
i

(4.202)

Tomemos ahora la integral temporal sobre un periodo completo para calcular los valores medios dado que el
movimiento es peridico con periodo 1

1 dG
(n + 1) n
2
dt

U i dt +

0 dt
0 i
0

T dt
i

G ( ) G (0)
(n + 1) U + 2 T

(4.203)

(4.204)

Considerando que el sistema sea cerrado, y se tiene que G (" ) 8 G (0) , por tanto

n +1
U
2

(4.205)

Con esto se demuestra que:

Teorema del virial para fuerzas inversas al cuadrado de la distancia (gravitacional y

electrosttica) la Energa Cintica promedio es la mitad de la Energa Potencial promedio.

Ejemplo 4.12. Consideremos un sistema en el cual las fuerzas totales que actan sobre las partculas consisten

en fuerzas conservativas i y las fuerzas de roce

sistema el teorema del virial es valido en la forma:

T =

fi

proporcionales a la velocidad. Mostrar que para tal

1
Fi .ri
2 i

(4.206)

con tal que alcance un estado estacionario y no sea detenido por las fuerzas de roce.
Solucin:

G = Pi .ri
i

cuya derivada temporal es:

128

(4.207)

NELSON FALCN V.

dG
= P&i .ri + Pi .r&i
dt
i
i

(4.208)

dG
= F&i .ri + 2T
dt
i

(4.209)

esto es

el promedio temporal de esta expresin sobre un intervalo

esta dado por:

1 dG
1
1
dt = Fi .ri dt + 2Tdt

0 dt
0 i
0

(4.210)

G ( ) G (0)
= 2T + Fi .ri

(4.211)

en nuestro caso:

Fi = Fi + f i

(4.212)

entonces:

1 dG
1
1
1
dt = Fi.ri dt + f i .ri dt + 2Tdt

0 dt
0 i
0 i
0

G ( ) G (0)
1
1
= Fi.ri + k .r&i .ri dt + 2Tdt

0 i
0
i
r ( )

i
G ( ) G (0)
1
= Fi.ri + xdr i 2 + 2T

i ri ( 0 )
i

(4.213)

si el movimiento es estacionario hay periodicidad en posicin y velocidad. Entonces si " es el perodo o

mltiplo entero del perodo, caso este ultimo que es el que importa cuando el estado estacionario se alcanza
despus de un corto tiempo, tenemos:

0 = Fi .ri + 2T
i

T =

1
Fi.ri
2 i

(4.214)

por supuesto, para que el sistema se mantenga en estado estacionario, es necesario entregar continuamente
energa al sistema.

129

MECNICA CLSICA

Ejemplo 4.13
Considrese un movimiento elptico bajo fuerzas centrales inversas del cuadrado de la distancia, mediante el
teorema del virial, muestre que:
2m
p r dr + p d = k E
(4.215)
en el caso del tomo de Bohr k 8 $
la ley de cuantizacin (con nj entero):

y las siguientes integrales cerradas respecto a un ciclo obedecen a

p dq
j

= njh

(4.216)

donde h es la constante de Plank, entonces la energa resulta cuantizada segn los niveles:

E nr + n =

2 2 ml 4
(n r + n ) 2 h 2

Solucin:

(4.217)

Para aplicar el teorema del virial debemos introducir el promedio temporal respecto a un ciclo, esto es:
"

"

"

=
dr
1
1
1 D =
d'
A
p
dt
p
g
8
g
dt
p
r
p
'
? dt
B
r
r
'
'
dt
" !0
" !0
dt
" !0 C
@

ahora:

p r r& + p & = 2T
p r r& = mr& y

puesto que

p = mr 2&

(4.218)

(4.219)
(4.220)

Por otra parte, el teorema del virial (4.205) , para el caso de n=-2, establece que:

1
T = U
2

E = T + U = 2T

de donde:

(4.221)
(4.226)

con el sistema en conservativo E 8 E y as:

1
1
p r r&dt + p &dt = 2T = E

0
0

130

(4.227)

NELSON FALCN V.

de la ecuacin (4.102) o bien de la 3ra ley de Kepler (4.44):

3

= 2a 2

m
k

entonces:

p r+p
r

d = k

2m
E

(4.228)

(4.229)

Ejemplo 4.14 La paradoja de Von Braun sobre la cada de un satlite

La cada de un satlite arti#cial es provocada fundamentalmente porque en su movimiento se ve enfrentado
continuamente a una resistencia que, pese a ser pequea va transformando su trayectoria en una parsimoniosa
espiral que en algn momento encontrar a la Tierra. El que esta resistencia exista es la causa de que el
satlite no se mantenga en una eterna rbita elptica, como es el caso por ejemplo de la Luna. Esa resistencia
o arrastre es provocada, como es obvio, porque a las alturas en que se encuentran comnmente los satlites el
aire no es inexistente y aunque su presencia sea escasa no es despreciable desde el punto de vista dinmico.
La frase ya instituida paradoja del satlite, se re#ere al hecho de que la presencia de esta fuerza de rozamiento
que se opone a la direccin del movimiento, da como resultado (contra lo que la experiencia previa esperara)
un aumento en la velocidad del satlite.
Usando el teorema del virial, demustrese que la velocidad del satlite aumenta debido a las fuerzas de
rozamiento, y en consecuencia cae sobre la Tierra.
Solucin:
Para el movimiento del satlite, alrededor de la Tierra, la ecuacin de la elipse en coordenadas polares es:

r = a (1 e 2 )(1 + e cos ) 1

(4.230)

Donde e es la excentricidad de la rbita, que para las elipses es siempre menor que 1. El momentum angular
total del sistema (por unidad de masa) se mantiene:

l = r 2 = GMa (1 e 2 )

(4.231)

El teorema del virial, para fuerzas inversas al cuadrado como, dice que:

U = 2 T = 2 E

(4.232)

Usando la ecuacin de la rbita para la variable u = 1/r, se tiene que:

u=

GM
(1 + e cos' )
ml

(4.233)

131

MECNICA CLSICA

De all y con la de#nicin de energa cintica T, se obtiene que:

T=

ml 2
2

GM
2
2
2
2 (1 + e cos ) + e sen
ml

(4.234)

La energa cintica media est dada por la ecuacin:

T =

dt
1
1
T dt = T
d

0
0 d

(4.235)

Donde 1: periodo de la rbita. Introduciendo (4.234) en la expresin (4.235)

se obtiene #nalmente:

T =

ml

1
1 e2

(4.236)

De modo semejante se halla la energa potencial media, mediante una de#nicin equivalente a la (4.236) y
se encuentra que es:

U =

2ml

1
1 e2

(4.237)

Comparando(4.236) y (4.237)se obtiene el resultado ya conocido como teorema del virial, que se puede
aplicar siempre que el movimiento del sistema bajo consideracin, sea realizado en una regin limitada del
espacio, cuyas energa potenciales sean funciones homogneas de las coordenadas.
Las cantidades anteriores y el perodo del movimiento estn relacionadas con el semieje a, a travs de
frmulas conocidas.
La relacin entre la energa total en la rbita con el semieje a

E=
La 3 ley de Kepler implica que

GMm
2a

a3
= 2
GM

(4.238)

1/ 2

(4.239)

donde 1 es el perodo. Junto a estas ecuaciones y el teorema del virial ya podemos relacionar las distintas
formas de la energa con a:

[12a ]

132

T =

GMm
GMm
; U =
a
2a

(4.240)

NELSON FALCN V.

Como la fuerza de roce, o cualquier otra perturbacin de la que se trate, es pequea comparada con la
interaccin gravitatoria la rbita seguir siendo esencialmente kepleriana, de modo que en la trayectoria
helicoidal descendente cada punto pertenecer siempre a sucesivas elipses que si bien mantendrn siempre
constante uno de sus focos (la Tierra), tendrn sus semiejes a cada vez menores. Dado que el rozamiento (F)
es opuesto al movimiento, se cumple que: 2E = F"%s es negativo: el satlite pierde energa total como efecto
del roce
Veremos cmo afecta esto a las cantidades de#nidas por (4.240), en funcin de la variacin 2E de la energa
total, para ello tomaremos diferenciales en (4.238):

D 2a 2 A
D GMm A
BB
??KE
KE = B
K
]
K
=
a
a
?
2
C 2a @
C GMm @

(4.241)

Igualmente al diferenciar el perodo 1 en (4.239) como funcin de a, queda:

D 6~ 2 a 2
K = BB
C GM m

A
D 3a A
D 3aS A
??Ka = B
?KE ] KS = ;B
?KE
C GMm @
C GMm @
@

(4.242)

En (4.242) usamos (4.241) para relacionar 2a con 2E. Por ltimo usando el teorema del virial,
encontramos:

K T = ;KE; K U = 2KE

(4.243)

Los resultados dados por (4.241), (4.242) y (4.243) permiten resumir muy abreviadamente los efectos de la
fuerza F, que como sabemos disminuye la energa total: disminuir igualmente el semieje a como sabemos
que sucede efectivamente en la prctica- menguar tambin la energa potencial y se incrementarn la
energa cintica y la velocidad angular (y tambin la lineal, obviamente). Exactamente la mitad de la energa
potencial que se pierde se transforma en energa cintica y el resto se disipa en forma de calor. La paradoja
en suma es una ilusin producto de nuestros prejuicios, fundados a su vez en la experiencia cotidiana que
nos dice que si un mvil es frenado por una fuerza que se opone a la direccin del movimiento su velocidad
debe disminuir. Esto sucede as porque no hay otras fuerzas relevantes actuando, situacin muy distinta a la
del satlite en que con largueza, la interaccin dominante es la gravitacin, de modo que las variaciones ms
importantes de la energa total se deben a ella. Mientras la energa potencial disminuye en una cantidad igual
a dos veces 2E, la energa cintica aumenta en 2E, de modo que el cambio neto es una disminucin en 2E,
igual al trabajo realizado por la fuerza perturbadora.
A partir de (4.241) se puede ver tambin que fuerzas que aumenten la energa total debern alargar la elipse
(aumentar a), aumentar su energa potencial y mermar su velocidad y energa cintica en las proporciones
dadas por esas frmulas.

133

MECNICA CLSICA

NOTA HISTRICA:

Esta paradoja (una verdad aparente, como todas las paradojas) es la historia que tuvo lugar
al #nal de una sesuda conferencia en que Von Braun mostraba lo complicado que es poner algo en rbita. La
leyenda dice que a la hora de las preguntas alguien de las ltimas #las a#rm que en su opinin, lo difcil no
es evitar que los satlites se caigan, sino impedir que se eleven. Su argumento fue el siguiente: Si un satlite
comenzara a caer, el roce con el aire disminuira su rapidez (eso nos dice la intuicin) lo que hara que r
aumentase, segn la ley de gravedad, El satlite entonces no caera, sino que se elevara.
Para salir de la paradoja hay que aceptar los hechos: los satlites caen, no se elevan espontneamente, luego
nuestra intuicin es errnea: el efecto del rozamiento atmosfrico es incrementar la energa cintica y por
consiguiente la velocidad del satlite.

134

NELSON FALCN V.

)*/# 3(*5'9+(!# )4. :*6#))%$ ;%&"%'

Johannes Kepler (1571- 1630) Naci en Wurttemberg Alemania. En 1584 ingres al seminario de Adelberg y en 1589
estudi Teologa en la Universidad de Tbingen, luego profesor de
Aritmtica, Geometra y Retrica, dedicando sus tiempos libres a la
Astronoma. Durante 1597, contrajo nupcias con Barbara Mller, y
public Mysterium Cosmographicum, obra que gano la admiracin
del ya famoso astrnomo Tycho Brahe quien le invita en 1600 a
Praga como matemtico y astrnomo de la corte. En 1609 public
su obra Astronoma Nova, resumen de sus clculos de la rbita de
Marte. En ella expone dos de sus tres leyes del movimiento de
los planetas. En 1610 public Dissertatio cum Nuncio Sidereo,
sobre las observaciones de Galileo y, al ao siguiente, realiz sus
propias observaciones de los satlites descriptos por el italiano
con la ayuda de un telescopio, publicando sus observaciones en
su obra Narratio de Observatis Quatuor Jovis Satellitibus. En
1615 su madre fue acusada de brujera por la Inquisicin y Kepler
asumi su defensa, hasta conseguir su liberacin. En 1619 public
Harmonice mundi, obra en la que hizo pblica su tercera ley. En
Linz, ya viudo, contrajo segundas nupcias. Y en 1613 public un
trabajo sobre la fecha del nacimiento de Jess demostrando que el
calendario estaba errado y que Jess haba nacido en el ao 4 a.C. En
1621 public Epitome astronomiae copernicanae, reuniendo todos
sus descubrimientos, obra que ayud a difundir el heliocentrismo
copernicano. En 1625 public las Tablas Rudol'nas, tablas
del movimiento planetario basadas en los datos de Brahe que
reducan notablemente los errores de las tablas anteriores respecto
de la posicin de los planetas y estrellas, de singular uso para la
navegacin comercial. Kepler se destac tambin por sus aportes a
la ptica descubri la re(exin total, formul la primera Teora de
la Visin moderna, adems, desarroll un Sistema In#nitesimal,
antecesor del Clculo In#nitesimal de Leibnitz y Newton.

La vista debe aprender de la razn.

Mi intencin es demostrar que la mquina celestial no es como un ser divino, sino como un reloj
Johannes Kepler
Med los cielos, y ahora las sombras mido.
En el cielo brill el espritu. En la tierra descansa el cuerpo.
Epita#o en la tumba de Kepler

135

MECNICA CLSICA

/%.# #0#)1#-* (0:

H%$)2&2#(*(H&22&#2*$!#&(2*&)%*"H"$2&2#$)2%*&)2'&*$)

1. Introduccin

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@ICBT<@P<2B2PQBUS>2R<2>L>2lL<QKB>2kQBUIPBP?QIB>J2=?>2<>lL<QK?>2R<2L@B2kQB@2ZBQP<2R<2y[>IC?>2B2=?2=BQk?2R<2
=?>2>Ik=?>2E,,,2V2,22><2C<@PQBQ?@2<@2<=2<>PLRI?2R<=2ZQ?W=<TB2R<2=?>2PQ<>2CL<QZ?>F25I@2<TWBQk?J2B2Z<>BQ2
R<2<>P<2B@]=I>I>2<dhBL>PIU?2Z?Q2ZBQP<2R<2y[>IC?>2V2TBP<T]PIC?>2R<2=B2SZ?CB2@?2><2=?kQD2?WP<@<Q2>?=LCID@2
B=kL@BF2.=2ZQ?W=<TB2C?@>PB2R<2PQ<>2CL<QZ?>2<@2<=2<>ZBCI?2>I@2<>PBQ2>?T<PIR?>2B2@I@k@2PIZ?2R<2=IkBRLQBJ2
V2Z?Q2=?2PB@P?2<dI>P<@2m2kQBR?>2R<2=IW<QPBRJ2iL<2<>2=B2>LTB2R<2=B>2e2C??QR<@BRB>2R<2CBRB2CL<QZ?F2.>P?>2
m2kQBR?>2R<2=IW<QPBR2hBC<@2iL<2=B2>?=LCID@2R<=2ZQ?W=<TB2ZB><2Z?Q2=B2Q<>?=LCID@2R<2L@2>I>P<TB2R<2m2
<CLBCI?@<>2RIl<Q<@CIB=<>2R<2><kL@R?2?QR<@J2?2>L2<iLIUB=<@P<J2L@2>I>P<TB2R<2Oo2<CLBCI?@<>2RIl<Q<@CIB=<>2
R<2ZQIT<Q2?QR<@F27BQB2Z?R<Q2Q<>?=U<Q2<>P<2>I>P<TB2R<2<CLBCI?@<>J2<>2@<C<>BQI?2<@C?@PQBQ2L@2@T<Q?2
>LyICI<@P<2R<2C?@>PB@P<>2?2R<2C??QR<@BRB>2C[C=ICB>2iL<2Z<QTIPB@2I@P<kQBQ=?F2+LQB@P<2WB>PB@P<>2Bq?>J2
<>PB2W>iL<RB2>I@2SdIP?J2hB>PB2iL<2<@2Ooon2<=2TBP<T]PIC?2B=<T]@29QL@>2R<T?>PQD2iL<2@?2<dI>P<@2=B>2
>LyICI<@P<>2C?@>PB@P<>2R<=2T?UITI<@P?2I@R<Z<@RI<@P<>2<@PQ<2>[F2.@2<=2ZQ?W=<TB2Q<>PQI@kIR?J2><2RB@2R?>2
CL<QZ?>2R<2TB>B>2M1 V2M2 iL<2R<>CQIW<@2CIQCL@l<Q<@CIB>2B=Q<R<R?Q2R<2>L2C<@PQ?2R<2TB>B2C?T@2WBt?2
=B2BCCID@2R<2>L2BPQBCCID@2kQBUIPBP?QIBF2.=2P<QC<Q2CL<QZ?J2R<2TB>B2TLV2Z<iL<qB2mJ2><2TL<U<2<@2<=2CBTZ?2
kQBUIPBP?QI?2R<2M1 V2M2F25<2>LZ?@<2iL<2m <>2PB@2Z<iL<qB2iL<2=B2Z<QPLQWBCID@2iL<2I@PQ?RLC<2<@2=?>2
T?UITI<@P?>2R<2M1 V2M2 <>2R<>ZQ<CIBW=<F2;2Z<>BQ2R<2<>PB>2Q<>PQICCI?@<>J2<=2ZQ?W=<TB2>IkL<2>I<@R?2@?2
I@P<kQBW=<F25I@2<TWBQk?J2<>2Z?>IW=<2<@C?@PQBQ2C?@yIkLQBCI?@<>2R<2=?>2CL<QZ?>2V2>L>2U<=?CIRBR<>2iL<2
<>PS@2<@2<iLI=IWQI?2C?@2Q<>Z<CP?2B2B=k@2>I>P<TB2R<2Q<l<Q<@CIB2<=<kIR?2C?@U<@I<@P<T<@P<F2.@C?@PQBQ2
<>PB>2Z?>ICI?@<>2R<2<iLI=IWQI?2@?2Q<iLI<Q<2I@P<kQBQ2=B>2<CLBCI?@<>2R<2T?UITI<@P?F
.@2OnnM2}?><Zh2:?LI>2:BkQB@k<2ZQ?WD2iL<2hBV2c2ZL@P?>2R<2<iLI=IWQI?2<@2<=2ZQ?W=<TB2Q<>PQI@kIR?2R<2=?>2
PQ<>2CL<QZ?>F25I2><2C?=?CB2L@2CL<QZ?2iL<2CLTZ=B2C?@2=B>2Q<>PQICCI?@<>2RBRB>2<@2L@?2R<2<>P?>2ZL@P?>2C?@2
U<=?CIRBR2I@ICIB=2C<Q?J2S>P<2iL<RBQ]2<@2Q<Z?>?2B==[2Z<QTB@<@P<T<@P<F23]>2BL@J2><2hB@2<@C?@PQBR?2iL<2
<dI>P<@2BCLTL=BCI?@<>2R<2TBP<QIB2<@2=?>2ZL@P?>2R<2:BkQB@k<2<@2>I>P<TB>2R<2PQ<>2CL<QZ?>J2=?2CLB=2<>2
L@B2ZQL<WB2R<2>L2<dI>P<@CIBF2/?T?2<@2<=2CB>?2R<2=?>2kQLZ?>2R<2B>P<Q?IR<>2PQ?VB@?>2iL<2?QWIPB@2R<=B@P<2
V2R<PQ]>2R<2=B2ZQ?ZIB2?QWIPB2R<2}LZIP<QJ2<@2=?>2ZL@P?>2ZQ<RICh?>2Z?Q2:BkQB@k<F
5<2ZQ<><@PB2L@B2WQ<U<2Q<UI>ID@2R<=2ZQ?W=<TB2R<2z<Z=<Q2ZBQB2<=2CB>?2Q<>PQI@kIR?2R<2=?>2PQ<>2CL<QZ?>2?2
TB>B>2ZL@PLB=<>F2.=2T<@CI?@BR?2ZQ?W=<TB2><2WB>B2<@2<@C?@PQBQ2<=2T?UITI<@P?2?QWIPB=2R<2L@B2TB>B2
TLV2 Z<iL<qB2 iL<2 ><2 >IPB2 <@2 <=2 CBTZ?2 kQBUIPBP?QI?2 TDUI=2 R<2 ?PQB>2 R?>2 TB>B>2 R<2 PBTBq?2 >LZ<QI?QF2
+IChB>2TB>B>2TBV?Q<>J2R<>CQIW<@2DQWIPB>2CIQCL=BQ<>2B=Q<R<R?Q2R<2>L2C<@PQ?2R<2TB>B2C?T@F

.=2ZQ?W=<TB2R<2=?>2PQ<>2CL<QZ?>2<@2T<C]@ICB2C<=<>P<J2<>2<=2T?UITI<@P?2R<2I@P<QBCCID@2R<2PQ<>2TB>B>2
ZL@PLB=<>2<@2L@2CBTZ?2R<2lL<QKB>2kQBUIPBCI?@B=<>F2;2Z<>BQ2R<2=?>2<@?QT<>2<>lL<QK?>J2@?2><2hB2Z?RIR?2
<@C?@PQBQ2L@B2>?=LCID@2Z?>IW=<2B2<>P<2ZQ?W=<TBF2j?V2><2>BW<2iL<2<>P<2<>2L@2>I>P<TB2CBDPIC?J2Z<Q?2L@B2
U<Q>ID@2TLV2>ITZ=IyICBRB2R<2<>P<2ZQ?W=<TBJ2<>2<=2==BTBR?22ZQ?W=<TB2Q<>PQI@kIR?2R<2=?>2PQ<>2CL<QZ?>F2

2. Descripcin del movimiento

.@2 <=2 ZQ?W=<TB2 Q<>PQI@kIR?J2 ><2 RB@2 R?>2 CL<QZ?>2 R<2 TB>B>2 M12 V2 M22 iL<2 R<>CQIW<@2 CIQCL@l<Q<@CIB>2
B=Q<R<R?Q2R<2>L2C<@PQ?2R<2TB>B2C?T@2WBt?2=B2BCCID@2R<2>L2BPQBCCID@2kQBUIPBP?QIBF2.=2P<QC<Q2CL<QZ?J2R<2
TB>B2TLV2Z<iL<qB2mJ2><2TL<U<2<@2<=2CBTZ?2kQBUIPBP?QI?2R< M12V2M2F25<2>LZ?@<2iL<2m2<>2PB@2Z<iL<qB2
136

NELSON FALCN V.

iL<2=B2Z<QPLQWBCID@2iL<2I@PQ?RLC<2<@2=?>2T?UITI<@P?>2R<2M12V2M2 <>2R<>ZQ<CIBW=<F27BQB2>ITZ=IyICBQ2B@2
T]>2<=2ZQ?W=<TB2><2BRTIPID2iL<2m2Z<QTB@<C<2<@2<=2Z=B@?2<@2iL<2kIQB@2M12V2M2F2.=2ZQ?W=<TB2><2Q<RLC<2
B>[2B2L@?2R<2L@2CL<QZ?2<@2<=2iL<2hB2R<2hB==BQ><2<=2T?UITI<@P?2R<2m2<@2<=2CBTZ?2kQBUIPBP?QI?2^TDUI=`2
R<2=?>2?PQ?>2R?>F

5I2M12V2M22RI>PB@2dJ2>L2U<=?CIRBR2B@kL=BQ2iL<RB2R<P<QTI@BRB2IkLB=B@R?2=B2lL<QKB2kQBUIPBP?QIB2B2=B2TB>B2
TL=PIZ=ICBRB2Z?Q2=B2BC<=<QBCID@2B@kL=BQ2<@2<=2ZQ?W=<TB2Q<RLCIR?J2<@2<=2iL<2M12<>P]2<@2Q<Z?>?2V2M22PI<@<2
L@B2TB>B2 $ 2iL<2<>P]2RBRB2Z?Q2=B2>IkLI<@P<2<dZQ<>ID@2O\

2222222222222222222222222222222222222222222222222222222222222222222222222222222222
Z?Q2=?2iL<22
2
2
2
2
>L>PIPLV<@R?2^O`2<@2^M`J2><2PI<@<2O\2
2

M 1M 2
M 1 + M 2 2222222222222222222222222222222222222222222222222222222222222222222222222^,EFO`2

nS 2 d =

2222222222222222

2 =

M 1M 2 G
d2

22222222222222222222222222222222222222222222222222222222222222^,EF2M`

( M 1 + M 2 )G
d3
222222222222222222222222222222222222222222222222222222222222222222^,EF2e`2

.=2C<@PQ?2R<2TB>B>2RIUIR<2=B2RI>PB@CIB2d2<@2><kT<@P?>2ZQ?Z?QCI?@B=<>2B2=B>2TB>B>F2:B2TB>B2M1J2>IPLBRB2
<@2;2^yIkLQB2O`J2<t<QC<2L@B2lL<QKB2F12>?WQ<2mJ2>IPLBRB2<@2P^d,y`J2V2=B2TB>B2M2J2>IPLBRB2<@29J2L@B2lL<QKB2F2F2
+IChB>2lL<QKB>2>?@2=B>2BPQBCCI?@<>2kQBUIPBP?QIB>2R< M12V2M22>?WQ<2mF

,@PQ?RLCI<@R?2Bh?QB2L@2>I>P<TB2C??QR<@BR?2iL<2kIQ<2C?@2U<=?CIRBR2B@kL=BQ2 $ B=Q<R<R?Q2R<=2C<@PQ?2
R<2TB>B2R<2M12V2M2J2<>PB>2<>PBQ]@2<@2Q<Z?>?2<@2S=J2V2><2>LZ?@RQ]@2>IPLBRB>2>?WQ<2<=2<t<2x2<@2=?>2ZL@P?>2
M\2
22222222222222222222222222222222222222222222222222

d1 =

M1
M2
d
d2 =
d
M 1 + M 2 22^_FW`
M 1 + M 2 2^_FB`22222

5<2P?TB2=B2U<=?CIRBR2B@kL=BQ2 $ B2=?2=BQk?2R<=2<t<2KF2.@P?@C<>2m2><2TL<U<2<@2<=2Z=B@?2x-yJ2V2>L2<CLBCID@2
R<2T?UITI<@P?2><2R<RLC<2R<2=B2>IkLI<@P<2l?QTB\

F = ma
2222222222222222222222222222222222222222222222222222222222222222222222222222^,EF2_`
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222

,@PQ?RLCI<@R?2=B2<dZQ<>ID@2R<2=B2BC<=<QBCID@2R<2L@B2ZBQP[CL=B2<@2L@2>I>P<TB2R<2Q<l<Q<@CIB>2<@2Q?PBCID@J2
><2PI<@<2e\

F = [ar + r (r rr ) + 2r vv ]

m
22222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222^,EF2c`

137

MECNICA CLSICA

r
r
d 2r r r
r r r
r dr
m
= F1 + F2 m ( r ) 2m
dt
dt 22222222222222222222222222222222222222222222^,EF2a`
22222222222222222222222222222222222222222222222222
+?@R<2=B>2lL<QKB>2R<2BPQBCCID@2kQBUIPBP?QIB2>?@\22

r GM m
F1 = r 21
r1 ^nB`222
222222222222222222222222222222222222222222222222222222222222
"

"

:B>2C?TZ?@<@P<>2R<2 F1 2V F2 2>?@2=B>2>IkLI<@P<>\

F1x =
22222222222222222222222222222222222222222

F2 x =

2222222222222222222222222222222222222222

1DP<><2iL<\2
22

GM 1m
( x d1 )
3
r1
^oB`22

r
GM m
F2 = r 22
r2 ^nW`2
22

F1 y =
2

GM 1m
( y)
3
r1
^oW`

GM 2 m
GM 2 m
F2 y =
( y)
( x d2 )
3
3
r
r2
2
^mB`222222222222
^mW`

)
)
r r
r r r
2
2
j - y& i
&
(
)

v
=

r
=

j
+

i ^ONW`
y
x
^ONB`222222222222222222222
22222222222222222222222222222222222222222
5L>PIPLV<@R?2=B>2<CLBCI?@<>2^,EFoBJ2,EFmB2V2,EFON`22<@2^,EFa`2><2?WPI<@<2=B2<CLBCID@2R<2T?UITI<@P?2<@2
lL@CID@2R<2=B2C?TZ?@<@P<2d\
222222222222222222222222222222222222222222

d 2x
dy
MG
M G
2
2 x = 13 ( x d1 ) 23 ( x d 2 )
dt
dt
r1
r2

5I2><2Q<B=IKB2<=2TI>T?2ZQ?C<RITI<@P?2ZBQB2=B2C?TZ?@<@P<2yJ2><2?WPI<@<2iL<\
22222222222222222222222222222222222222222222222222

MG
M G
d2y
dx
+ 2
2 y = 13 ( y ) 23 ( y )
dt
dt
r1
r2

3. Estabilidad de la rbita:

222222222222222222222222222222^,EF2OO`

2222222222222222222222222222222222222222^,EF2OM`

.@2OnnM2}?><Zh2:?LI>2:BkQB@k<2ZQ?WD2iL<2hBV2c2ZL@P?>2R<2<iLI=IWQI?2<@2<=2ZQ?W=<TB2Q<>PQI@kIR?2R<2=?>2
PQ<>2CL<QZ?>F25I2><2C?=?CB2L@2Z=B@<P?IR<2<@2L@?2R<2<>P?>2ZL@P?>2C?@2U<=?CIRBR2I@ICIB=2C<Q?J2S>P<2iL<RBQ]2
<@2 Q<Z?>?2 B==[2 Z<QTB@<@P<T<@P<F2 .>P?>2 ZL@P?>2 <>Z<CIB=<>2 >?@2 =?>2 ==BTBR?>2 ZL@P?>2 R<2 <iLI=IWQI?2 ?2
ZL@P?>2R<2=IW<QBCID@F
138

NELSON FALCN V.

Figura IV.1 +IBkQBTB2ZBQB2<=2ZQ?W=<TB2Q<>PQI@kIR?2R<2=?>2PQ<>2CL<QZ?>

wB=2 C?T?2 ><2 Q<ZQ<><@PB2 <@2 =B2 ^yIkLQB2 ,EFO`J2 ><2 >LZ?@<2 C?T?2 VB2 ><2 T<@CI?@D2 iL<2 =B>2 TB>B>2 M12 V2 M22
R<>CQIW<@2DQWIPB>2CIQCL=BQ<>2<@2P?Q@?2B=2C<@PQ?2R<2TB>B>2OJ2C?@2L@B2U<=?CIRBR2B@kL=BQ2 $ F2.@P?@C<>J2>I2
m2hB2R<2<@C?@PQBQ><2<@2<iLI=IWQI?J2R<W<Q]2PBTWIS@2kIQBQ2<@2P?Q@?2B2O2B2=B2U<=?CIRBR2B@kL=BQ2C?@>PB@P<2

$ F2-<>L=PB2B>[J2iL<2C?T?2m2hB2R<2<>PBQ2<@2<iLI=IWQI?2Q<>Z<CP?2R<2M 2V2M J2=B2lL<QKB2C<@PQ[lLkB2mr $ 2 2

1

R<W<2><Q2<iLI=IWQBRB2Z?Q2=B>2lL<QKB>2kQBUIPBP?QIB>2F12V2F22<>2R<CIQ2_J

2222222222222222222222222222222222222222222222222222222222222222222222222222 mr er + F1 + F2 = 0 2222222222222222222222222222222222222222222222222222222222222^,EF2Oe`

7BQB2iL<2m2<>PS2<@2<iLI=IWQI?J2=B>2C?TZ?@<@P<>2R<2F1 V2F22@?QTB=<>2B2er2R<W<@2><Q2IkLB=<>2V2=B2>LTB2
2

R<2=B>2C?TZ?@<@P<>2<@2=B2RIQ<CCID@2er R<W<2><Q2IkLB=2B2mr $ 2F2.UIR<@P<T<@P<J2<@P?@C<>J2>I2m2hB2R<2

<>PBQ2<@2<iLI=IWQI?J2R<W<Q]2hB==BQ><2<@2<=2Z=B@?2R<2T?UITI<@P?2R<2M12V2M2J2VB2iL<2<@2?PQ?2CB>?2hBWQ[B@2
C?TZ?@<@P<>2R<2F1 V2F22iL<2@?2Z?RQ[B@2><Q2C?@PQBQQ<>PBRB>2Z?Q2=B2lL<QKB2C<@PQ[lLkBF22
5I2><2?W><QUB2@L<UBT<@P<2=B2yIkLQB2OJ2V2><2=B2==BTB2p2B=2C?CI<@P<2
iL<\2

M2

M R?@R<2 M & M 1 g M 2 J2C?@2=?2

2222222222222222222222222222222222222222222222222222222222222222222222222222222222 O B = (1 p ) d 22222222222222222222222222222222222222222222222222222222222222222222^,EF2O_`
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222 O A = pd 222222222222222222222222222222222222222222222222222222222222222222222222^,EF2Oc`

.@P?@C<>J2<dZQ<>B@R?2@L<UBT<@P<2=?>2TDRL=?>2R<2=B>2F12V2F2\

139

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F1 =
2222222222222222222222222222222222222222222222222222222222222222222222222222222222

Gm(1 p )
2
r1
22222222222222222222222222222222222222222222222222222222222222222^,EF2OaB`

F2 =

222222222222222222222222222222222222222222222222222222222222222222222222222222222222

GmMp
2
r2
22222222222222222222222222222222222222222222222222222222222222222222^,EF2OaW`

/?@>IR<Q<T?>2ZQIT<QBT<@P<2=B>2C?TZ?@<@P<>2@?QTB=<>2B2er\

222222222222222222222222222222222222222222222222222222222222222222222222222222 F1Sen 1 = F2 Sen 2 22222222222222222222222222222222222222222222222222222222222222^,EF2On`

;Z=ICB@R?2<=2P<?Q<TB2R<=2><@?2<@2<=2PQI]@kL=?24;7J2P<@RQ<T?>\

Sen1 Sen 1
=
r
pd 22222222222222222222222222222222222222222222222222222222222222222222^,EF2Oo`
2222222222222222222222222222222222222222222222222222222222222222222222222222222
;R<T]>\

22222222222222222222222222222222222222222222222222222222222222222222222222222222222222

Sen1 =

/?TWI@B@R?2=B2<CLBCID@2^,EFOo`2V2=B2^,EFOm`J2><2PI<@<\
2222222222222222222222222222222222222222222222222222222222222222222222222222222222
;@]=?kBT<@P<\
2222222222222222222222222222222222222222222222222222222222222222222222222222222

Sen 1 =

Sen 2 =

y
r1 222222222222222222222222222222222222222222222222222222222222222222222222^,EF2Om`

pdy
rr1 2222222222222222222222222222222222222222222222222222222222222222222222^,EF2MN`

(1 p )dy
rr2
22222222222222222222222222222222222222222222222222222222222222^,EF2MO`

5L>PIPLV<@R?2^,EFOaB2V2W`J2^,EFMN2`2V2^,EFMO`2<@2^,EFOn`J2Q<>L=PB

y
y
= 3
3
r
r2 22222222222222222222222222222222222222222222222222222222222222222222222222^,EF2MM`
22222222222222222222222222222222222222222222222222222222222222222222222222222222222222222 1

><2PI<@<2Z?Q2PB@P?J2R?>2>?=LCI?@<>2Z?>IW=<>2^yI@IPB>`\22^B`2 r1 8 r2 8 ! 2V2^W`2 y 8 0 F

.@2 <=2 CB>?2 ^B`2 =B>2 PQ<>2 TB>B>2 l?QTB@2 L@2 PQI]@kL=?2 I>D>C<=<>2 V2 <@2 <=2 CB>?2 ^W`2 =B>2 PQ<>2 TB>B>2 <>P]@2
B=I@<BRB>F

1DP<><2iL<2=B2>?=LCID@2Z?>IW=<2r22N22><2I@C=LV<2<@2=B>2>?=LCI?@<>22y22NF221DP<><2PBTWIS@2iL<2r22N2><Q]2
Z?>ICID@2R<2<iLI=IWQI?2>?=?2<@2<=2CB>?2ZBQPICL=BQ22M122M2F
140

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5<2ZL<R<2ByIQTBQ2iL<2ZBQB22<=2CB>?2^B`J22<dI>PIQ]@22c2ZL@P?>2R<2<iLI=IWQI?J2e2R<2<==?>2==BTBR?>2ZL@P?>2
R<2<iLI=IWQI?2I@<>PBW=<2V2C?@>PIPLV<@2=B2>?=LCID@2C?=I@<B=F22:?>2?PQ?>2R?>2>?@2=?>2ZL@P?>2R<2<iLI=IWQI?2
<>PBW=<2=?>2CLB=<>2l?QTB@2L@2PQI]@kL=?2<iLI=]P<Q?2C?@2=B>2Z?>ICI?@<>2R<2=B>2TB>B>2kQB@R<>2V2C?@>PIPLV<@2
=B2==BTBRB2>?=LCID@2PQIB@kL=BQJ2RIChB>2Z?>ICI?@<>2R<2<iLI=IWQI?2<>P]@2R<>Ik@BRB>2Z?Q2:I2C?@2^IOJJc`22<@2
=B2yIkLQB2,EFM2F

Figura IV.2 .>iL<TB2R<2=?>2CI@C?2ZL@P?>2R<2:BkQB@k<J25O2V25M2>?@2C??QWIPB=<>2C?@2=B2TB>B23MJ

=?>2?PQ?>2PQ<>2R<>Ik@BR?>2C?@282<PB@2<@2=B2=[@<B2iL<2L@<2BTWB>2TB>B>2V2Q<>L=PB@2I@<>PBW=<>F

4. Conclusin
.@2L@2>I>P<TB2l?QTBR?2Z?Q2R?>2TB>B>2TBV?Q<>2iL<2R<>CQIW<@2DQWIPB>2CIQCL=BQ<>2<@2P?Q@?2B=2C<@PQ?2R<2
TB>B2R<2BTWB>J2<dI>PIQ]@2CI@C?2ZL@P?>2R<2<iLI=IWQI?2R<=2C?h<P<J2P?R?>2=?>2CLB=<>2><2<@CL<@PQB@2<@2<=2
Z=B@?2R<=2T?UITI<@P?2R<2=B>2TB>B>2TBV?Q<>F2+?>2R<2<>P?>2ZL@P?>2>?@2R<2<iLI=IWQI?2<>PBW=<2^CLB@R?2M2
>LyICI<@P<T<@P<2Z<iL<qB`2V2>?@2=?>2==BTBR?>2ZL@P?>2<iLI=]P<Q?>F2:?>2?PQ?>2R?>2ZL@P?>2<>P]@2B=I@<BR?>2
V2<>P]@2>IPLBR?>J2Q<>Z<CPIUBT<@P<J2Z?Q2lL<QB2V2B2L@?2L2?PQ?2=BR?2R<2=B>2TB>B>2TBV?Q<>2V2<@PQ<2BTWB>2
<>P?>2=PIT?>2ZL@P?>2>?@2Z?>ICI?@<>2R<2<iLI=IWQI?2I@<>PBW=<>F2

141

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8@2>D=IR?2Q[kIR?2<@2T<C]@ICB2<>2L@2>I>P<TB2R<2ZBQP[CL=B>2PB=2iL<2=B>2RI>PB@CIB>2<@PQ<2<==B>2@?2UBQ[B@F2
8@2CL<QZ?2Q[kIR?2ZL<R<2P<@<Q2T?UITI<@P?2R<2PQB>=BCID@2V2Q?PBCID@2>ITL=P]@<B>F2/LB@R?2><2PQB>=BRBJ2
P?RB>2>L>2ZBQP[CL=B>2><2TL<U<@2C?@2=B2TI>TB2U<=?CIRBR2V2BC<=<QBCID@F2.@2<=2T?UITI<@P?2R<2Q?PBCID@2
C?@2Q<>Z<CP?2B2L@2<t<2yIt?J2P?RB>2=B>2ZBQP[CL=B>2R<=2>D=IR?2kIQB@2R<>CQIWI<@R?2PQBV<CP?QIB>2CIQCL=BQ<>2C?@2
=B2TI>TB2U<=?CIRBR2B@kL=BQ2C?@2Q<>Z<CP?2B=2<t<2R<2kIQ?F
5.1 Generalidades

7BQB2R<>CQIWIQ2<=2T?UITI<@P?2R<2L@2>D=IR?2Q[kIR?2><2LPI=IKBQ]2R?>2>I>P<TB>2R<2C??QR<@BRB>\2L@2>I>P<TB2
yIt?26J2V2L@2>I>P<TB2TDUI=2R<2C??QR<@BRB>2dOdJ2dMVJ2deKJ2<=2CLB=2<>P]2=IkBR?2B=2CL<QZ?2V2<>2ZBQP[CIZ<2
R<2>L2T?UITI<@P?F
7BQB2 <==?2 <>2 C?@U<@I<@P<2 P?TBQ2 <=2 ?QIk<@2 R<2 C??QR<@BRB>2
R<=2>I>P<TB2TDUI=2<@2<=2C<@PQ?2R<2TB>B2R<=2CL<QZ?2C?T?2><2
?W><QUB2<@2=B2yIkLQB2_FO2R<2T?R?2iL<\

r
r
r
rj = RCM + rj

^cFO`22

:B2 C?@RICID@2 R<2 >D=IR?2 Q[kIR?2 <dIk<2 iL<2 =?>2 U<CP?Q<>2

"
R
><B@2C?@>PB@P<>2<@2<=2PI<TZ?J2R<2?PQ?2T?R?2 C M 2@?2><Q[B2
r
RCM = 0
C?@>PB@P<2BL@2CLB@R?2

Figura 5.1 Slido rgido

8@2U?=LT<@2<>P]2<>Z<CIyICBR?2Z?QJ2B=2T<@?>J2PQ<>2ZL@P?>2@?2C?Z=B@BQ<>2#2<dI>P<@2B=2T<@?>2eF2^e`22m2
kQBR?>2R<2=IW<QPBR2ZBQB2L@2CL<QZ?F25I2<=2CL<QZ?2<>2L@2>D=IR?2Q[kIR?2<dI>P<@2PBTWIS@2=B>2=IkBRLQB>\

7BQB2L@2>D=IR?2Q[kIR?2hBV2

2kQBR?>2R<2=IW<QPBRF

:B>2 UBQIBW=<>2 ^C??QR<@BRB>2 k<@<QB=IKBRB>`2 ZBQB2 <=2 <>PLRI?2 RI@]TIC?2 R<=2 >D=IR?2 Q[kIR?2 >?@2 R<2 =IWQ<2
<=<CCID@F28@B2l?QTB2>ITZ=<2C?@>I>P<2<@2<>C?k<Q\
143

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e2Z?>ICI?@<>\2=B>2C??QR<@BRB>2R<=2U<CP?Q2R<=2C<@PQ?2R<2TB>B>2-/32R<=2>D=IR?
e2]@kL=?>\2iL<2ZQIUI=<kIBRBT<@P<2<>C?k<Q<T?>2C?T?2=?>2]@kL=?>2R<2.L=<Q

;@P<>2R<2<>PLRIBQ2=?>2]@kL=?>2R<2.L=<Q2<>2@<C<>BQI?2hBC<Q2L@2Q<ZB>?2R<23BPQIC<>2R<2-?PBCID@F
8@B2PQB@>l?QTBCID@2R<2L@2>I>P<TB2R<2C??QR<@BRB>2CBQP<>IB@B>2B2?PQ?2C?QQ<>Z?@R<2B2L@B2Q?PBCID@2R<2
=?>2<t<>2<@2<=2Z=B@?2V2RIChB2Q?PBCID@2ZL<R<2iL<RBQ2<>Z<CIyICBRB2Z?Q2L@B2>?=B2CB@PIRBR\2<=2]@kL=?2 + 2:B2
PQB@>l?QTBCID@2=I@<B=2iL<2==<UB2<=2>I>P<TB2dOdM2B=2>I>P<TB2dOxdMx2<>\
22222222222222222222222222222

222222222222222222222^cFM`

+?@R<\

cos
M =
sen
222222 222222222

sen

cos 22222222222222222222^cFe`

:B2 TBPQIK2 R<2 Q?PBCID@ M ><2 ZL<R<2 C?@>IR<QBQ2

C?T?2 L@2 ?Z<QBR?Q2 iL<2 BZ=ICBR?2 B=2 >I>P<TB2 dOdM2
=?2 PQB@>l?QTB2 <@2 <=2 >I>P<TB2 dOxdMxF2 .>P?2 ZL<R<2
Q<ZQ<><@PBQ><2 Z?Q2 L@B2 <CLBCID@2 TBPQICIB=2 R<2 =B2
l?QTB\

x 8 M x

Figura 5.2 wQB@>l?QTBCID@2?QP?k?@B=2R<2Q?PBCID@2R<2<t<>F

l?QTB\

-?PBCID@2Q<>Z<CP?2B2d\22 2

-?PBCID@2Q<>Z<CP?2B2V\22 2

22

-?PBCID@2Q<>Z<CP?2B2K\222 2

22

.@2 k<@<QB=2 =B>2 TBPQIC<>2 R<2 Q?PBCID@2 >?@2 R<2 =B2

222222222222222^cF_`

222222222222222^cFc`

222222222222222^cFa`

5<B2M2L@B2TBPQIK2R<2Q?PBCID@J2<>2l]CI=2U<QIyICBQ2RIQ<CPBT<@P<2=B>2>IkLI<@P<>2ZQ?ZI<RBR<>\
144

NELSON FALCN V.

.=2R<P<QTI@B@P<2R<2M2<>2IkLB=2B2OF
.=2ZQ?RLCP?2R<2M2Z?Q2>L2I@U<Q>B2^M-1`2k<@<QB2=B2TBPQIK2IR<@PIRBRF2M.M-12= I
M2V2M-12>?@2C?@TLPBW=<>F27?Q2=?2PB@P?2M-1.M = I
:B2TBPQIK2I@U<Q>B2><2IR<@PIyICB2C?@2=B2TBPQIK2PQB>ZL<>PB2M-1 = Mt 2
.=2C?TZ=<t?2C?@tLkBR?2R<2=B2TBPQIK2PQB>ZL<>PB2><2=<2==BTB2TBPQIK2BRtL@PB\2M22^Mt`v2
5<2RIC<2<@P?@C<>2iL<2M2<>2L@B2TBPQIK2L@IPBQIBF

;=2<>Z<CIyICBQ2=B2?QI<@PBCID@2R<2L@2CL<QZ?2Q[kIR?2=B2TBPQIK2R<2Q?PBCID@2R<W<2><Q2Q<B=F2.@P?@C<>2@?2hBWQ]2
RI>PI@CID@2<@PQ<2=B2?QP?k?@B=IRBR2V2=B2ZQ?ZI<RBR2L@IPBQIB2?2<@PQ<2=B>2TBPQIC<>2PQB>ZL<>PB2V2BRtL@PBF28@B2
TBPQIK2iL<2><B2IRS@PICB2B2>L2BRtL@PB2><2R<@?TI@B2BLP?BRtL@PB2?2h<QT[PICBF2
:B>2Q?PBCI?@<>2R<2U<CP?Q<>2<@2e2RIT<@>I?@<>2l?QTB@2=B2<>PQLCPLQB2B=k<WQBICB2R<2grupo.
8@2kQLZ?2<>2L@2C?@tL@P?2r2R?PBR?2R<2L@B2?Z<QBCID@2WI@BQIB2I@P<Q@B\

wB=2iL<2><2U<QIyICB@2=B>2>IkLI<@P<>2ZQ?ZI<RBR<>\

2 L@2<=<T<@P?2@<LPQ?2 e PB=2iL<\222

;>?CIBPIUIRBR\2RBR?>2e2<=<T<@P?>2R<=2kQLZ?2

7BQB2P?R?2<=<T<@P?2 2<dI>P<2?PQ?2<=<T<@P?2^>L2I@U<Q>?`2

5I2BR<T]>2<=2kQLZ?2CLTZ=<2=B2ZQ?ZI<RBR2C?@TLPBPIUB\

2><2CLTZ=<2iL<\

2PB=2iL<\

5<2==BTB2C?@TLPBPIU?2B2BW<=IB@?F

24PQ?>2C?@C<ZP?>2W]>IC?>2R<2=B2P<?Q[B2R<2kQLZ?>2>?@2<=2R<2subgrupo2V2<=2R< homomor!ismoF25LWkQLZ?\2
><B2r2L@2kQLZ?2V282L@2>LWC?@tL@P?2R<2<>P<F25<2RIC<2iL<282<>2L@2>LWkQLZ?2>I2=B>2?Z<QBCI?@<>2R<2kQLZ?2
CI<QQB@2R<@PQ?2R<28\

2j?T?T?QyI>T?\2RBR?>2M2kQLZ?>2r2V2rx2><2RIC<2iL<2L@B2BZ=ICBCID@2
>I2ZQ<><QUB2=B2<>PQLCPLQB2R<2kQLZ?F

2<>2L@2h?T?T?QyI>T?J2

145

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+?@R<2
2>?@2=B>2?Z<QBCI?@<>2C?QQ<>Z?@RI<@P<>2B2=?>2kQLZ?>2r2V2rxF25I2=B2BZ=ICBCID@2<>2WIV<CPIUBJ2><2
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:B>2TBPQIC<>2h<QT[PICB>2V2L@IPBQIB>2>?@2L@2>LWkQLZ?2R<=2kQLZ?2R<2Q?PBCI?@<>
:B>2 TBPQIC<>2 R<2 =B2 PQB@>l?QTBCID@2 <@2 =?>2 <>ZBCI?>2 ZBQB2 =B>2 Q?PBCI?@<>2 PI<@<@2 =B>2 ZQ?ZI<RBR<>2 R<2
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TBPQIC<>2R<2Q?PBCID@2<@2

2F

Ejemplo 5.1 .2:<TB2R<2/hB>=<>

w?R?2T?UITI<@P?2R<2L@2>D=IR?2Q[kIR?2ZL<R<2R<>CQIWIQ><2C?T?2L@B2PQB>=BCID@2V2Q?PBCID@2C?@U<@I<@P<F

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>?=BT<@P<2 C?@2 <=2 T?UITI<@P?2 R<2 PQB>=BCID@2 R<=2 CL<QZ?J2 V2 <=2 ?PQ?2 C?@2 >L2 T?UITI<@P?2 R<2 Q?PBCID@F2
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ZBQB2 R<>CQIWIQ2 <=2 T?UITI<@P?2 hB@2 >IR?2 VB2 <>PBW=<CIRB>2 <@2 M2 kQLZ?>2 R<2 BCL<QR?2 C?@2 PB=2 RIUI>ID@\2 =B>2
PQ<>2 C??QR<@BRB>2 CBQP<>IB@B>2 R<2 L@2 ZL@P?2 yIt?2 <@2 <=2 CL<QZ?2 Q[kIR?2 ZBQB2 R<>CQIWIQ2 <=2 T?UITI<@P?2 R<2
PQB>=BCID@J2V2=?>2PQ<>2]@kL=?>2R<2.L=<Q2ZBQB2<=2T?UITI<@P?2B=Q<R<R?Q2R<=2ZL@P?F
5I2<=2?QIk<@2R<=2>I>P<TB2><2P?TB2<@2<=2C<@PQ?2R<2TB>B2R<=2CL<QZ?J2<=2T?T<@P?2B@kL=BQ2V2=B2<@<Qk[B2CI@SPICB2
ZL<R<@2 ><ZBQB><2 <@2 R?>2 ZBQP<>2 Q<>Z?@>BW=<>2 R<=2 T?UITI<@P?2 R<=2 C<@PQ?2 R<2 TB>B2 V2 R<=2 T?UITI<@P?2
B=Q<R<R?Q2R<=2C<@PQ?2R<2TB>BF2/LB@R?2=B2<@<Qk[B2Z?P<@CIB=2><B2PBTWIS@2><ZBQBW=<J2=B2:BkQB@kIB@B2><Q]2
B2>L2U<K2><ZBQBW=<J2V2<=2ZQ?W=<TB2<@P<Q?2><2RIUIR<2C?@U<@I<@P<T<@P<2<@2R?>2ZBQP<>F2
7BQB2U<QIyICBQ=?2R<W<2ZQ?WBQ><2iL<\

EB=<2R<CIQ2R<W<2ZQ?WBQ><2iL<2

m =1

(1 = m ) 2<>2L@2BLP?UB=?QF

2/?T?2<=2<>ZBCI?2<>2PQIp<LC=IR<?2=B2<CLBCID@2CBQBCP<Q[>PICB2PI<@<2e2BLP?UB=?Q<>\

146

m1 m2 m3 ] m1 = m2

mM

2.>2L@IPBQIBF

NELSON FALCN V.

m C

m1 m 2 m3 ] m1 = m 2

mM

2.>2L@IPBQIB

1?2<>2Z?>IW=<2>I2

m C

.>2C=BQ?2iL<232<>2L@IPBQIB2<2,2?W=IkB2B2iL<232b,2><B2PBTWIS@2L@IPBQIB2V2Z?Q2=?2PB@P?2 detM ; 0 .I 8 g1 2
iL<2C?TZ=<PB2=B2R<T?>PQBCID@F
2
5.2 ngulos de Euler
.=2ZB>?2R<2L@2Q<l<Q<@CIB=2 B2?PQ?2 ' 2^T]>2ZQ<CI>BT<@P<2R<2L@2
>I>P<TB2R<2C??QR<@BRB>2B2?PQ?`2ZL<R<2Q<ZQ<><@PBQ><2Z?Q\2
22222222222222222222222222222222

[]= [ ][]2222222222222222222222222222^cFn`2
m

R<>CQIW<2 Z?Q2 C?TZ=<PB2 =B2 ?QI<@PBCID@2

:B2 TBPQIK2 R<2 kIQ?2
Q<=BPIUB2<@PQ<2BTW?>2>I>P<TB>\2R<W<@2<>PBQ2ITZ=[CIP?2e2]@kL=?>2
I@R<Z<@RI<@P<>F2:?>2]@kL=?>2iL<2L@[U?CBT<@P<2==<UB@2B=2>I>P<TB2

xi ' B=2>I>P<TB2 xi ><2R<@?TI@B@2ngulos de EulerF2.@2=B2yIkLQB2

B@<dB2>?@2=?>2]@kL=?>2J2J2F

5<2 ZL<R<2 <l<CPLBQ2 =B2 PQB@>l?QTBCID@2 R<2 L@2 >I>P<TB2 R<2

C??QR<@BRB>2 CBQP<>IB@B>2 B2 ?PQ?2 Z?Q2 T<RI?2 R<2 e2 Q?PBCI?@<>2
>LC<>IUB>2<l<CPLBRB>2<@2L@2?QR<@2C?@CQ<P?F

Figura 5.32{@kL=?>2R<2.L=<Q

ngulos de Euler

OF2-?PBCID@2B@PIph?QBQIB2B=Q<R<R?Q2R<2KF
.=2ZQIT<Q2kIQ?2<>2R<2]@kL=?2

B=Q<R<R?Q2 R<=2 <t<2

x3 '

<@2><@PIR?2B@PIh?QBQI?2

V2 PQB@>l?QTB2 =B>2

xi '

<@2 =B>2

xi ' '

F/?T?2=B2Q?PBCID@2?CLQQ<2<@2<=2Z=B@?2 x1 ' x 2 ' J2=B2TBPQIK2

R<2CBTWI?2<>\

2222222222222

cos

= sen
0

sen

cos

22222222222^cFo`

147

MECNICA CLSICA

2. -?PBCID@2B@PIh?QBQIB2B=Q<R<R?Q2R<=2Z=B@? x 2 ; x1 .

.=2><kL@R?2kIQ?2<>2R<2]@kL=?2 ' <@2><@PIR?2B@PIh?QBQI?2

B=Q<R<R?Q2R<=2<t<2 x1 ' ' 2V2PQB@>l?QTB2=B>2

F/?T?2=B2Q?PBCID@2?CLQQ<2<@2<=2Z=B@?2
R<2CBTWI?2<>\

222222222222

cos

sen

xi ' ' <@2=B>2 xi ' ' '

x 2 ' ' x3 ' '

J2=B2TBPQIK2

sen
cos
2222222222222^cFm`

x 8 x3
3. -?PBCID@22B@PIh?QBQIB2B=Q<R<R?Q2R< 3

.=2 P<QC<Q2 kIQ?2 <>2 R<2 ]@kL=?2 2 <@2 ><@PIR?2 B@PIh?QBQI?2

x '''

B=Q<R<R?Q2R<=2<t<2 3 V2PQB@>l?QTB2=B>2
:B2TBPQIK2R<2CBTWI?2<>\

222222222222222

cos

= sen
0

sen

cos
0

0
1

xi ' ' ' <@2=B>2 xi F2

222222222^cFON`

Figura 5.4 ngulos de Euler

:B2Q<CPB2R<yI@IRB2Z?Q2=B2I@P<Q><CCID@2R<2Z=B@?>2 x1 x 2 2V2 x1 ' x 2 ' 2><2==BTB2=[@<B2R<2@?R?>F

;RUISQPB><2iL<2=B>2Q?PBCI?@<>2>LC<>IUB>2@?2>?@2C?@TLPBPIUB>J2<>2

mi m j m j mi

"

.>2C=BQ?2iL<J2ZBQB2CLB=iLI<Q2U<CP?Q2 r ><2>IkL<@2=B>2Q<=BCI?@<>\

"
"
r 8 ml. r

222

"
"
"
r 8 m'. r 8 m'. ml . r

22

"
"
"
"
r 8 m E.r 8 mE.m' .ml. r 8 m .r
.=2Q<>L=PBR?2yI@B=2R<2=B>2PQ<>2PQB@>l?QTBCI?@<>2^Q?PBCI?@<>`\
22222222222222222222222222222222222222222222222222222222222222222222222
148

m 8 mE .m' .ml

2222222222222222222222222222222222222222222222222222222222222222^cFOO`22

NELSON FALCN V.

.dZ=[CIPBT<@P<\2222

D cosE
B
m 8 B ; sinE
B 0
C

sinE
cosE
0

0
0
1

AD
?B
?.B
?B
@C

1
0
0

0
cos'
; sin '

wQIUIB=T<@P<2Q<>L=PB\2^.t<QCICI?\23L=PIZ=IiL<2=B>2TBPQIC<>2

D cos E . cos l ; senE .senl . cos'

B
m 8 B ; senE . cosl ; cosE senl . cos'
B
senl ..sen'
C

0
sin '
cos'

A D cos l
?B
?.B ; sin l
?B 0
@C

mE .m' .ml

cosE .senl g senE . cosl cos'

; senE .senl g cosE . cos'
; cosE .sen'

:B>2TBPQIC<>2R<2Q?PBCID@2R<2=?>2]@kL=?>2R<2.L=<Q2U<QIyICB@\

mi & det mi 8 1

mi t mi 8 mi mi t

senE .sen'
cosE .sen'

0
0
1

A
?
?
?
@

A
?
?
?
@

cos'

8 I

mi 2?QP?k?@B=J2L@IPBQIBJ2PQB@>l?QTBCID@2h<QTSPICB\
i 8 E ,' , l

`2

sin l
cos l
0

^cFOM`

2222

222

.>2 l]CI=2 R<T?>PQBQ2 ^<t<QCICI?`J2 iL<2 =B>2 TBPQIC<>2 R<2 =B2 PQB@>l?QTBCID@2 <@2 =?>2 <>ZBCI?>2 2 ZBQB2 =B>2
Q?PBCI?@<>2PI<@<@2=B>2ZQ?ZI<RBR<>2R<2kQLZ?2^@?2BW<=IB@?`2V2iL<2=B2Q<ZQ<><@PBCID@2R<2=?>2]@kL=?>2R<2
.L=<Q2<@2=B>2TBPQIC<>2 mi , (i 8 E ,' , l ) 2>?@2L@2>LWkQLZ?F

Ejemplo 5.2 /?TZQLSW<><2iL<2<=2]@kL=?2R<2kIQ?2 2<@2lL@CID@2R<2=?>2]@kL=?>2R<2.L=<Q2<>P]2RBR?2Z?Q2

.CFOF\
22

D 2 gE A D ' A
DA
cosB ? 8 cosB
? cosB ?
C 2 @ C2@
C2@

222222222222222222222222222222222222222222222222^cFOe`

:B2TBPQIK2R<2Q?PBCID@2k<@<QB=J2<@2lL@CID@2R<2=?>2]@kL=?>2R<2.L=<Q2<>P]2RBRB2Z?Q2^cFOM`\

sen(2 ) cos(E ) g cos(' ) cos(2 ) sen(E ) sen(E ) sen(' )

cos(E ) cos(2 ) ; cos(' ) sen(2 ) sen(E )
8 ; sen(E ) cos(2 ) ; sen(2 ) cos(' ) cos(E ) ; sen(E ) sen(2 ) g cos(' ) cos(2 ) cos(E ) cos(E ) sen(' )

sen(2 ) sen(' )
; sen(' ) cos(2 )
cos(' )

^cFO_`
149

MECNICA CLSICA

:B2TBPQIK2=2ZL<R<2B>?CIBQ><2B2L@B2TBPQIK2A Z?Q2T<RI?2R<2L@B2PQB@>l?QTBCID@2R<2><T<tB@KBJ2R<=2PIZ?2

T ( A ) 8 C ;1 A C

C?T?\

J2 >LZ?@kBT?>2 iL<2 AJ2 ><2 ZL<R<2 <>CQIWIQ2 <@2 lL@CID@2 R<2 L@2 @L<U?2 ]@kL=?2 R<2 kIQ?2 J2

222

cos( ) sen( ) 0
A 8 ; sen( ) cos( ) 0

0
0
1

222222222222222222222222222222222222222222222222222222222^cFOc`

:B2 PQBKB2 R<2 L@B2 TBPQIK2 <>2 =B2 >LTB2 R<2 =?>2 <=<T<@P?>2 R<2 >L2 RIBk?@B=2 ZQI@CIZB=2 ?2 =B2 >LTB2 R<2 >L>2
BLP?UB=?Q<>J2 <>PB2 Z<QTB@<C<2 I@UBQIBW=<2 WBt?2 PQB@>l?QTBCI?@<>2 R<2 ><T<tB@KBJ2 <>2 R<CIQ2 =B2 PQBKB2 R<2 =B2
TBPQIK2PQB@>l?QTBRB2<>2IkLB=2B2=B2PQBKB2R<2=B2TBPQIK2B>?CIBRBF

5<2ZL<R<2R<P<QTI@BQ2=B2PQBKB2R<2=B2TBPQIK2<dZL<>PB2<@2^cFOc`J2R<P<QTI@B@R?2>L>2BLP?UB=?Q<>J2<>2R<CIQ2
Q<>?=UI<@R?2>L2Z?=I@?TI?2CBQBCP<Q[>PIC?F2:?>2PQ<>2BLP?UB=?Q<>2R<2=B2TBPQIK2>?@\
2

m1 8 1

22

m 2 8 cos( ) g cos 2 ( ) ; 1
m2 8 cos( ) ; cos 2 ( ) ; 1

2222222222222^cFOa`

22

2222222222222^cFOn`

22222222222222222222222222222222222222222222222^cFOo`2

7?Q2 =?2 iL<2 =B2 PQBKB2 wQ^A` <>2 1 g 2 cos( ) F2 :B2 PQBKB2 R<2 wQ^=`= Tr (m ) 8 1 g cos(' )cos(E g 2 ) g cos(' )
F2 ,kLB=B@R?2 BTWB>2 PQBKB>2 ><2 ZL<R<2 ?WP<@<Q2 ^cFOe`J2 R<2 L@B2 l?QTB2 ><@CI==B2 <TZ=<B@R?2 IR<@PIRBR<>2
PQIk?@?TSPQICB>\2

1 g 1 g cos(' )cos(E g 2 ) g cos(' ) 8 1 g 2 cos( ) g 1

22222

222222222222222222222222222222

D' A
DE g 2 A
2D A
cos 2 B ? cos 2 B
? 8 cos B ?
C2@
C 2 @
C2@

DA
D ' A DE g 2 A
cosB ? cosB
? 8 cosB ?
C2@
C2@ C 2 @

22

2222222222222222222222222222222222222^cFOm`
2

2222222222222^cFMN`

222222222222222222222222222222222222222222222222222222^cFMO`

Ejemplo 5.328@B2WBQQB2R<2TB>B2m V2=?@kIPLR 2l2<>P]2>L>Z<@RIRB2Z?Q2L@2<dPQ<T?2T<RIB@P<2L@2Q<>?QP<2

R<2C?@>PB@P<2R<2QIkIR<K2K. :B2WBQQB2>?=?2ZL<R<2?>CI=BQ2=IWQ<T<@P<2<@2L@2Z=B@?2U<QPICB=2V2<=2Q<>?QP<2>?=?2
ZL<R<2T?U<Q><2<@2RIQ<CCID@2U<QPICB=F27=B@P<BQ2=B>2<CLBCI?@<>2R<2T?UITI<@P?2<@2=B2l?QTL=BCID@2R<2=B2
T<C]@ICB2R<2:BkQB@k<F2
150

NELSON FALCN V.

Solucin:
+<2=B2yIkLQB2cFc2^USB><`2><2PI<@<2iL<\
222222222222222222222222222222 X cm = lsen

Ycm = l cos + s 2222222222222222222222^cFMM`22

5I<@R?2 >2 =B2 UBQIBCID@2 R<2 RI>PB@CIB2 ^<=?@kBCID@2 V2 C?TZQ<@>ID@`2 R<=2

Q<>?QP<F2+<2T?R?2iL<\

:B2.@<Qk[B2/I@SPICB2UI<@<2RBRB2Z?Q\
2
2
/?T?\

T =

2
2
w<@<T?>\

2222222222222

2222222

Y cm = lsen + s 222222222222222^cFMe`22

222222222222222222222222 X cm = l cos

Figura 5.52?>CI=BCI?@<>2R<2L@B2WBQQB2
>Lt<PB2B2L@2Q<>?QP<F

1
1
2
2
m X& cm + Y&cm + I& 2
2
2
2222222222222222222222222222222222222222222222222222222222222^cFM_`22

2
2
X& cm + Y&cm = & 2 + s& 2 2ls&&sen( ) 2222222222222222222222222222222222222222222222222222^cFMc`22

T =

1 &2 1 2
1
m + ms& mls&&sen( ) + I& 2
2
2
2
22222222222222222222222222222222222222222222222222^cFMa`22

:B2<@<Qk[B2Z?P<@CIB=2I@C=LV<2=B2<@<Qk[B2R<=2Q<>?QP<2V2=B2B=PLQB2R<2=B2TB>B2T2R<=2>I>P<TB\
2

2222

U =

1 2
Ks mg (l cos( ) + s )
2
22222222222222222222222222222222222222222222222222222222222222^cFMn`

7?Q2<=2CLB=2<=2=BkQB@kIB@?2R<=2T?UITI<@P?2C?QQ<>Z?@R<2B\

L = T U =

1 &2 1 2
1
1
m + ms& mls&&sen( ) + I& 2 Ks 2 + mg (l cos( ) + s )
2
2
2
2
222222222222222222^cFMo`2

2
2
L<2RB2=LkBQ2B2=B>2<CLBCI?@<>2R<2T?UITI<@P?\

d L L
=0

dt &

d L L
=0

dt s& s

ml 2&& mlsen(&)&s& + I&& + mglsen( ) = 0

m&s& mlsen( )&& mgl cos( )& 2 + Ks mg = 0

2
-<>L=PB@2B>[J2R?>2<CLBCI?@<>2RIl<Q<@CIB=<>2BC?Z=BRB>F

^cFMm`22
^cFeN`2

151

MECNICA CLSICA

'=

ml

sen(' ) s ; g
2
ml + I

s = l sen(' )' + gl cos(' )' ;

Ks
+g
m

^cFeO`2

222

5.3. Velocidad angular y ngulos de Euler.

5<2 ZL<R<2 <dZQ<>BQ2 =B>2 C?TZ?@<@P<>2 R<=2 U<CP?Q2

U<=?CIRBR2B@kL=BQ2/>2?WQ<2=?>2<t<>2TDUI=<>2dJ2VJ2K2<@2
lL@CID@2R<2=?>2]@kL=?>2R<2.L=<Q2V2R<2>L>2R<QIUBRB>F

2.@2k<@<QB=2

x
x

Figura 5.6 E<CP?Q2U<=?CIRBR2B@kL=BQ2V2]@kL=?>2R<2.L=<QF

.@2<l<CP?
2

&
cos

0 = sen

2222222

;@]=?kBT<@P<2P<@<T?>\

x cos

y = sen

0
z

0 cos . cos sen .sen . cos

0 = sen . cos + cos . cos.sen
&
sen . cos

152

5<2@<C<>IPB2<dZ=ICIPBQ2

sen
cos

0
0

sen
cos
0

0
0
1

. y

z

&

. 0
0

r
= &. cos ( x ) + &.sen ( y )

sen . cos cos . cos.sen

sen .sen + cos . cos . cos
cos .sen

2<@2PSQTI@?>2R<

2222222222222222222222222222222^cFeM`

2222222222222222222222222222222222222222^cFee`

2222222222222222222222222222222222222222222222222^cFe_`

sen .sen
sen . cos
cos

x

y

z

^cFec`

NELSON FALCN V.

wQB@>Z?@I<@R?2V2Q<>?=UI<@R?\
2

r
= & .sen .sen ( x ) & .sen . cos ( y ) + & . cos ( z )

V2R<2=B2yIkLQB2cFa2J2<>2l]CI=2U<Q2iL<\22

r
= (z )

"

222222222222222222222222^cFea`

2^cFen`

AI@B=T<@P<2=B>2<dZQ<>I?@<>2R<2 $ <@2PSQTI@?>2R<2=?>2]@kL=?>2R<2.L=<Q2>?@\

x = &. cos + & .sen .sen

y = &.sen & .sen . cos
2

z = & + & . cos

22222222222222222222222222222222222222222222222222222222^cFeo`

Ejemplo 5.42 .TZ=<BQ2 =?>2 ]@kL=?>2 R<2 .L=<Q2 ZBQB2 <dZQ<>BQ2 <=2 U[@CL=?2 iL<2 Bl<CPB2 =B2 Q?RBRLQB2 R<2 L@B2
<>l<QBF2
Solucin:

:B2Q?RBRLQB2C?@>PIPLV<2L@2U[@CL=?\2=B2<CLBCID@2R<=2
Z=B@?2iL<2R<W<2><Q2>BPI>l<ChB2Z?Q2=B>2C??QR<@BRB>2
R<=2 C<@PQ?F2 .==?2 Q<RLC<2 B2 c2 =?>2 kQBR?>2 R<2 =IW<QPBRJ2
PBTWIS@2=B2Q?RBRLQB2<>PBW=<C<2L@2U[@CL=?2<@PQ<2=B2
U<=?CIRBR2R<=2C<@PQ?2V2=B2U<=?CIRBR2B@kL=BQ\22

r
r r
V = RS k

2222

d
x = R Z
dt

EIT?>2B@P<>2iL<\

d
y = R x
dt
222222^cFem`

Figura 5.72E[@CL=?>2R<2L@B2<>l<QB2Q?RB@P<

x = &. cos + & .sen . cos

= &.sen + ()&.sen . cos
y

z = & . cos + &

2

2222222

dx = R.sen .d R.sen . cos .d

22222222222222222222222222222222222222^cF_N`
153

MECNICA CLSICA

22222222222

dy = R. cos .d R. sin .sen .d

222222222222222222222222222222222^cF_O`

5?@2R?>2<CLBCI?@<>2R<2U[@CL=?>J2<CLBCI?@<>2RIl<Q<@CIB=<>2iL<2>?=?2ZL<R<@2I@P<kQBQ><2CBRB2U<K2iL<2><2
2V2 2^t`2UB=<2R<CIQ2>?=?2>?@2I@P<kQBW=<>2=L<k?2R<2Q<RLCIQ2<=2ZQ?W=<TBF2
C?@?KCB@2=B>2lL@CI?@<>2 l (t ), ' (t ) d
/B>?2<>Z<CIB=2R<2U[@CL=?2@?2h?T?kS@<?F

5. 4 Velocidad y aceleracin en un sistema en rotacin

:B2yIkLQB2cFo2TL<>PQB2R?>2>I>P<TB>2R<2<t<>2C??QR<@BR?>J2<@2<=2CLB=2L@?2><Q]2<=2>I>P<TB2yIt?2V2<=2?PQ?2
><Q]2<=2>I>P<TB2kIQBP?QI?2iL<2ZL<R<2<@C?@PQBQ><2<@2T?UITI<@P?2C?@2Q<=BCID@2B=2B@P<QI?QF25I2<=2>I>P<TB2
kIQBP?QI?2>LlQ<2L@B2Q?PBCID@J2<=2T?UITI<@P?2R<=2ZL@P?272ZL<R<2iL<RBQ2R<>CQIP?2Z?Q\

222222222222222222222222222222222

(drr )fijo = d' rr

62=B2UBQIBCID@2P<TZ?QB=2R<2 2<>\
22222222222222222222222222222222222

222 2222222222222^cF_M`

r
r
d' r
D dr A
B ? = r
C dt @ fijo dt

22

2222222222222^cF_e`

222

2222222222222^cF__`

5I2 <=2 ZL@P?2 72 PI<@<2 Bh?QB2 L@B2 U<=?CIRBR2 Q<>Z<CP?2 R<=2

>I>P<TB2kIQBP?QI?F
Figura 5.8 E<=?CIRBR2<@2>I>P<TB>2Q?PB@P<>

.@2k<@<QB=J2ZBQB2P?R?2U<CP?Q2 2><2CLTZ=<\

22222222222222222222222222222222222222

r
r r
D dr A
B ? =Sr
C dt @ fijo

22

r
r
d
d
r r

dt

fijo dt giratorio
222222222222222222222222222222222222222222222222222^cF_c`

r r
d r
d r
+r
r = r
dt fijo dt giratorio
22222
2222222222222222222222222222222222222222222222222222222222222^cF_a`

+<2^cF_c`2><2ZL<R<2?WP<@<Q2=B2U<=?CIRBR2R<=2ZL@P?2<@2<=2>I>P<TB2R<2C??QR<@BRB>2yIt?\2

154

r
r
r r
V fijo = V g + r

22222222222222222222222222222222222222222222222222222222222222222^cF_n`

NELSON FALCN V.

;@]=?kBT<@P<2ZBQB2=B2BC<=<QBCID@\
r r
d r
d r
a fijo = V
= V
+ V
dt fijo
dt giratorio
2
2
2
2222222222222222222222222222222222222222222222^cF_o`
2
2

2
2

2
222222

2222

a fijo =

r r
d r r r r
Vg + r + (Vg + r )
dt
222222222222222222222222222222222222222222222222222^cF_m`

d r r r dr r r r r r
d r
+ r + r + V + r
a fijo = V
dt
d t g ira to rio d t
2222222222222222222222222222222222222222^cFcN`

.@P?@C<>\
2
2
+?@R<\
2

r r
r r r
r r
r
a f = ag + r + 2 V + ( r )

r r
| r &

22;C<=<QBCID@2B@kL=BQ

r r
2S V &

22;C<=<QBCID@2R<2/?QI?=I>

r r r
S (S r ) &

2222222222222222222222222222222^cFcO`

2;C<=<QBCID@2C<@PQ[Z<PBF

Ejemplo 5.5: :B@KBTI<@P?2 R<2 L@2 ZQ?V<CPI=2 R<>R<2 L@2

>I>P<TB2@?pI@<QCIB=

5<2 RI>ZBQB2 h?QIK?@PB=T<@P<2 L@2 ZQ?V<CPI=2 >?WQ<2 =B2

>LZ<QyICI<2 P<QQ<>PQ<F2 +<TLS>PQ<><2 iL<2 <@2 ZQIT<QB2
BZQ?dITBCID@2 =B2 R<>UIBCID@2 B@kL=BQ2 Q<>Z<CP?2 B2 =B2
RIQ<CCID@2R<2RI>ZBQ?J2R<WIRB2B2=B2BC<=<QBCID@2R<2/?QI?=I>J2
UBQIB2 =I@<B=T<@P<2 C?@2 <=2 PI<TZ?2 <@2 =B2 ZQ?Z?QCID@2
C?>2>I<@R?22=B2U<=?CIRBR2B@kL=BQ2R<2=B2wI<QQB2V22<=2
]@kL=?2R<2C?=BPIPLRF
Solucin:

5<B2 2 <=2 ]@kL=?2 R<2 RI>ZBQ?2 ^@?2 C?@lL@RIQ2 C?@2 =B2

BC<=<QBCID@2B@kL=BQJ2iL<2<@2<=2CB>?2P<QQ<>PQ<2<>2@L=B`
Figura 5.9 +<>UIBCID@2R<=2T?UITI<@P?2R<2L@2ZQ?V<CPI=2Z?Q2
=B2Q?PBCID@2P<QQ<>PQ<

222

r
V = v0 . cos ( x ) + v0 .sen ( y )
r
r r r r r
r
a f = aG + Tierra r + 2. V + r

rad

;5
| Tierra \ 0 S t R 7 10 s
2
2.@2<=2CB>?2P<QQ<>PQ<2

222^cFcM`

222
155

MECNICA CLSICA

+<2=B2k<?T<PQ[B2R<2=B2yIkLQB2cFm2<>2l]CI=2U<Q2iL<\22
2

:L<k?2

x
r
a = 2. .sen

r
S = ;S sin ' ( x ) + S cos ' ( z )

2222222222222222222222^cFce`

. cos = 2..v0 [( sen (x )+ cos (y ). cos sen .sen (z ))]

v0 . cos

2222222222222222222222222222222

r
S = S. cos ' ( z ) + S.sen ' (; x )

v0 .sen

r
r (t ) = .v0 . cos .t 2 ( sen (x )+ cos(y )) .v0 .t 2 sen .sen (z )

2^cFc_`

r
(t ) = .v0 . cos ( sen (x )+ cos (y )).t 2 22222222222222222222222222222222222222^cFcc`
d
:B2R<>UIBCID@2=BP<QB=2222222222222
r
.v . cos sen (x )+ cos (y ) .t 2
d
(t ) = 0
= cos t
dt
v0 .t

2
2
222222222
222222222222222222222222222222^cFca`
2
1$%(2'$#&&H%(*"(\25LZ?@kBT?>2Bh?QB2iL<2<=2=B@KBTI<@P?2R<=2ZQ?V<CPI=2<>2PB=2
2

1L<UBT<@P<\

22

22222
2

22222222222

r
S = ;Ssen' x + S cos ' z

2 2

22

2222222222222222222222222222^cFcn`
2

2222222222222^cFco`

2222222222222222222222222222^cFcm`

2222222^cFaN`

222222222

2222222^cFaO`

,@P<kQB@R?2?WP<@<T?>\

156

NELSON FALCN V.

2:B2R<>UIBCID@2=BP<QB=2><Q]\
2222222222222222222
2

22222222222222

222222222222222

222222222222222^cFaM`
222

2222222222222^cFae`

2222222222222^cFa_`

2222222222222^cFac`

5I22
2

Ejemplo 5.6:2 +<>UIBCID@2 =BP<QB=2 R<2 L@B2 ZBQP[CL=B2 iL<2 CB<2 =IWQ<T<@P<2 <@2 <=2 CBTZ?2 kQBUIPBP?QI?2
P<QQ<>PQ<F

/?T?2<@2^cFce`2=B2U<=?CIRBR2B@kL=BQ2<>22 = sin ( x) + cos ( z ) ^cFaa`

2
:B2U<=?CIRBR2R<2=B2ZBQP[CL=B2<>\

2
2
2
2
2
2222222222 v = gt z 2222222222222222222222222222222222222222222222222222222222222222222222222222^cFan`
2
:B2BC<=<QBCID@2R<2/?QI?=I>2ZQ?RLCIQ]2U<=?CIRBR2<@2=B>2C?TZ?@<@P<>2d2<2V2Z<Q?2><2ZL<R<@2R<>ZQ<CIBQ2
lQ<@P<2B2=B2C?TZ?@<@P<2U<QPICB=2R<2=B2U<=?CIRBR\

222222222222

2
2

22222222222

2222222222222^cFao`

2222222222222222 22222222222222222222222222222222222222222222^cFam`

1
z (t ) = gt 2 + z0
2
,@P<kQB@R?2=B2U<=?CIRBR2^cFan`\22222222222222222222
2222222222222222222222222222222222222222222222222222222222222222222^cFnN`
157

MECNICA CLSICA

5I2=B2ZBQP[CL=B2CB<2R<>R<2L@B2B=PLQB2
2

J2>L2PI<TZ?2R<2CB[RB2><Q]\

t=

222222222

2h
g 222222222222222222222222222222222222222222222222222222222222222222222222222222^cFnO`

5L>PIPLV<@R?2^cFnO`2<@2^cFnN`2Q<>L=PB2iL<2=B2R<>UIBCID@2hBCIB2<=2<>P<2R<2L@B2ZBQP[CL=B2iL<2
CB<2B2ZBQPIQ2R<=2Q<Z?>?2R<>R<2L@B2B=PLQB2h2<>\
2
2
2
2
2
Ejemplo 5.7 7S@RL=?2R<2A?LCBL=P

1
8h 3
d = sen
g 222222222222222222222222222222222222222222222222222222222222222222^cFnM`
3

.=2 <dZ<QIT<@P?2 R<=2 ZS@RL=?2 R<2 A?LCBL=P2 C?@>I>P<2 <@2

Z?@<Q2<@2T?UITI<@P?2L@2=BQk?2ZS@RL=?2<@2L@2ZL@P?2
R<2=B2>LZ<QyICI<2R<2=B2wI<QQBJ2<>PB@R?2>L2T?UITI<@P?2
C?@P<@IR?2I@ICIB=T<@P<2<@2<=2Z=B@?2U<QPICB=2R?@R<2<>P]2
PBTWIS@2=B2W?=IPB2V2<=2ZL@P?2R<2>L>Z<@>ID@2R<=2ZS@RL=?F2
+<TLS>PQ<><2iL<2<=2T?UITI<@P?2>LW>IkLI<@P<2ZL<R<2
R<>CQIWIQ><2 RICI<@R?2 iL<2 <=2 Z=B@?2 R<2 ?>CI=BCID@2 kIQB2
L@Il?QT<T<@P<2 2% cos(' ) 2 QBRIB@<>2 Z?Q2 R[BJ2 >I<@R?2

' 2 =B2 C?=BPIPLRF2 /L]=2 <>2 =B2 RIQ<CCID@2 R<2 Q?PBCID@2

5I2 ><2 R<><BJ2 LPI=[C<><2 =B2 BZQ?dITBCID@2 R<2 Z<iL<qB>2

?>CI=BCI?@<>F

.@2=B2yIkLQB2cFON2><2TL<>PQB2<=2RIBkQBTB2R<=2ZS@RL=?2
R<2 A?LCBL=PF2 5<2 C?@>IR<QB2 <=2 >I>P<TB2 R<2 CL<QZ?2
RI>ZL<>P?2R<2l?QTB2PB=2iL<2><2<UIR<@CIB2=B2ZQ<><@CIB2
"

R<2 =B2 C?=BPIPLR2 ' J2 <=2 <t<2 K2 @?2 <>2 ZBQB=<=?2 B2 $ 2 V2 <>P<2
=PIT?2><2<@CL<@PQB2<@2<=2Z=B@?2dpKF

Fig.5.10.27S@RL=?2R<2A?LCBL=PF

7BQPIT?>2R<2=B2^cFcO`2iL<2Q<=BCI?@B2=B2BC<=<QBCID@2R<=2?Wt<P?2<@2<=2>I>P<TB2R<2C??QR<@BRB>2yIt?2C?@2=B2
BC<=<QBCID@2<@2<=2>I>P<TB2<@2T?UITI<@P?F
2

"
a

22222222

r r
r r
r r r
r
r
aF = aG + r + 2( vG ) + ( r ) 22222222222222222222222222222222222222222222^cFne`

5I2><2Q<>L<=U<2ZBQB2 G J2><2R<>ZQ<CIB2=B2BC<=<QBCID@2C?@2<=2Q<>Z<CP?2B=2>I>P<TB2yIt?2V2><2C?@>IR<QB2iL<2=B2
BC<=<QBCID@2B@kL=BQ2R<2Q?PBCID@2R<2=B2wI<QQB2^ZQIT<Q2lBCP?Q2<@2<=2><kL@R?2PSQTI@?2<@2^cFne`2<>2C<Q?2VB2
iL<2>L2U<=?CIRBR2R<2Q?PBCID@2<>2C?@>PB@P<J2><2?WPI<@<\
2
158

r r
r r r
r
aG 2( vG ) ( r )222222222222222222222222222222222222222222222222222222222222^cFn_`

NELSON FALCN V.

22.>2l]CI=2RBQ><2CL<@PB2iL<2<=2><kL@R?2PSQTI@?2<@2^cFn_`2<>2=B2BC<=<QBCID@2C<@PQIlLkB2=B2CLB=2><2C?QQ<>Z?@R<2
B2=B2>LTB2R<2=B2BC<=<QBCID@2kQBUIPBP?QIB2C?@2=B2BC<=<QBCID@2R<WIRB2P<@>ID@2>?WQ<2=B2Z=?TBRB\
2

r
r r
r
r T
aG g + 2( vG )
m
222222222
222222222222222222222222222222222222222222222222222222222222222^cFnc`

2222 = sen( )i + cos( ) j 222222222222222222222222222222222222222222222222222222222222^cFna`

)
r r
2( vG ) = 2 cos( ) y& i 2 cos( ) x&j + 2sen( ) y& k 22222222222222222222222222222222222222^cFnn`

r
T
T x T y T

i
j+ k
mL
mL
m 222222222222222222222222222222222222222222222222222222222222^cFno`
2222 m

.=2U<CP?Q2U<=?CIRBR2B@kL=BQ2><2ZL<R<2<>CQIWIQ2C?T?2<@2^cFce`J2U<Q2<t<TZ=?2cFc2

:B2C?TZ?@<@P<2<@2K2R<=2T?UITI<@P?2R<=2ZS@RL=?2><2ZL<R<2R<>ZQ<CIBQJ2BR<T]>2C?@>IR<QBT?>2BiL[2=B2
BZQ?dITBCID@2R<2T?UITI<@P?2C?@2BTZ=IPLR2Z<iL<qBJ2C?@2<>PB2BZQ?dITBCID@2><2R<P<QTI@B2=B2BC<=<QBCID@2
R<2/?QI?=I>2^ZQIT<Q2PSQTI@?2<@2^cFn_``2<>\
2

.@2WL<@B2BZQ?dITBCID@2Z?R<T?>2C?@>IR<QBQ2=B2BC<=<QBCID@2R<WIRB2B2=B2lL<QKB2R<2P<@>ID@2<@2=B2Z=?TBRB2
C?T?\
2

.TZ=<B@R?2^cFnc`J2^cFnn`2V2^cFno`J2><2ZL<R<@2<>CQIWIQ2=B>2C?TZ?@<@P<>2R<2=B2BC<=<QBCID@2<@2<=2>I>P<TB2

kIQBP?QI?J2<@2<=2Z=B@?2dbVJ2C?@>IR<QB@R?2BR<T]>2iL<2ZBQB2R<>Z=BKBTI<@P?>2Z<iL<q?>2
Z?Q\2
2

T R mg

J2RBRB>2

g
&x& + x 2[ cos( )]y&
L
222222222222222222222222222222222222222222222222222222222222^cFnm`
222222222

g
&y& + y 2[ cos( )]x&
L
222222222222222222222222222222222222222222222222222222222222^cFoN`
222222

L<2l?QTB@2L@2>I>P<TB2R<2<CLBCI?@<>2RIl<Q<@CIB=<>2BC?Z=BRB>F2.>P<2>I>P<TB2><2ZL<R<2Q<>?=U<Q2R<yI@I<@R?2
L@B2lL@CID@2C?TZ=<tB2R<2UBQIBW=<2Q<B=\

2222222222222222222

r (t ) = x(t ) + iy (t )

J2V2><2<>CQIW<2

DgA
&r& + i 2 [S cos(' )]r& + B ? r R 0
CL@

22222222222222222222222222222222222222222222222222222^cFoO`

.@2^cFoO`J2Z?R<T?>2IR<@PIyICBQ2R?>2lQ<CL<@CIB>2R<2I@P<QS>2Z?Q2=B>2>IkLI<@P<>2R<yI@ICI?@<>\

159

MECNICA CLSICA

22222222222

2222

O2

g
L 222222222222222222222222222222222222222222222222222222222222222222222222222222^cFoM`

C cos( )

22222222222222222222222222222222222222222222222222222222222222222222222^cFoe`

;h?QB2 @DP<><2 iL<2 >I2 <=2 >I>P<TB2 Q?PBP?QI?2 <>PLUI<><2 yIt?2 ^=?2 iL<2 <iLIUB=<2 B2 R<P<@<Q2 <=2 T?UITI<@P?2 R<2
Q?PBCID@2P<QQ<>PQ<`J2><2?WP<@RQ[B2=B2<CLBCID@2R<2L@2ZS@RL=?2>ITZ=<2CLVB2lQ<CL<@CIB2R<2?>CI=BCID@2<>PBQ[B2
RBRB2 Z?Q2 ^cFoM`J2 Z<Q?2 ?WUIBT<@P<2 <>P<2 @?2 <>2 @L<>PQ?2 CB>?F2 :B2 lQ<CL<@CIB2 C?@>IR<QBRB2 <@2 ^cFoe`J2 <>2
=B2 lQ<CL<@CIB2 R<2 Q?PBCID@2 R<=2 ZS@RL=?J2 T]>2 <dZ=[CIPBT<@P<J2 ><2 ZL<R<2 C?@>IR<QBQ2 C?T?2 =B2 lQ<CL<@CIB2
B@kL=BQ2R<=2Z=B@?2U<QPICB=2iL<2C?@PI<@<2<=2T?UITI<@P?2R<=2ZS@RL=?F2.=2Z<QI?R?2R<2Q?PBCID@2P<QQ<>PQ<2<>2
R<2O2R[BJ2Z?Q2=?2PB@P?2=B2lQ<CL<@CIB2R<2?>CI=BCID@2^cFoe`2<@2QBRIB@<>2Z?Q2R[B2><2ZL<R<2<>CQIWIQ2C?T?\

SC = 2~ cos(' )

:B2>?=LCID@2R<2^cFoO`2<>2B@]=?kB2B2=B2>?=LCID@2R<2L@2?>CI=BR?Q2BQTD@IC?2BT?QPIkLBR?2V2<>P]2RBRB2Z?Q2<=2
Z?=I@?TI?2CBQBCP<Q[>PIC?2<@2PSQTI@?>2R<=2BLP?UB=?Q2\
2

2
2
:L<k?2ZBQB\2

2
2

22222222

160

g
=0
L
2222222222222222222222222222222222222222222222222222222222222222^cFo_`

2222222222222222222222222222222222222^cFoc`

2
2
2
42<iLIUB=<@P<T<@P<\

4W>SQU<><2iL<2
2222222222

2 + i 2 z +

z (t ) = x(t ) + i y (t )

2222222222222^cFoa`

2222222222222^cFon`

2 2

J2C?@2=?2CLB=2?WP<@<T?>\

2222222222222

22222222222222222222 2

22222

222222222

222

2222222222222222222222222222^cFoo`

2222222222222^cFom`

NELSON FALCN V.

22

222222222222

2 22222222222222222222222222222222222222222222222222222222222^cFmN`

.=2Z=B@?2R<2?>CI=BCID@2Q?PB2C?@2U<=?CIRBR2B@kL=BQ2

S z = 2~ cos ' rad/dias

S z = S cos'

J2R?@R<2

2>I<@R?2 2=B2C?=BPIPLR2R<=2=LkBQ\

2222

2222222222222^cFmO`

2222

2222222222222^cFmM`

2222222222222222

5<2ZL<R<2?W><QUBQ2iL<2<@2<=2<CLBR?Q2mN2@?2?>CI=B2<=2ZS@RL=?2R<2A?LCBL=PF

r (t ) exp( C t ) A cos( C2 + O2 t ) + Bsen( C2 + O2 t )

]22222222222222222222222222222222^cFme`

rQBCIB>2B=2ZS@RL=?2R<2A?LCBL=P2><2=?kQD2R<T?>PQBQ2=B2Q?PBCID@2R<2=B2PI<QQB2V2=B2BC<=<QBCID@2R<2/?QI?=I>2
V2 U<QIyICBQ2 =B>2 R<T?>PQBCI?@<>2 R<2 =B2 <CLBCID@2 R<2 T?UITI<@P?2 BQTD@IC?2 >ITZ=<2 iL<2 R<>CQIW<2 RICh?2
l<@DT<@?F

5.5 Ecuaciones de movimiento y tensor de inercia

7?R<T?>2CB=CL=BQ2=B2<@<Qk[B2CI@SPICB2R<=2>D=IR?2C?T?2=B2>LTB2B=k<WQBICB2R<2=B>2<@<Qk[B>2CI@SPICB>2R<2
P?R?>2=?>2ZL@P?>2R<=2TI>T?\2
2

1
2
T = mnVn
2
n
2222222222222222222222222222222222222222222222222222222222222222222222222^cFm_`

/?T?2<@2^cF_n`2=B>2U<=?CIRBR<>2<>P]@2RBRB>2Z?Q\
2
2
2
2

2222222222222

222222222222222222222222222222222222222222222222222222222222222222^cFmc`

r r r
r r r r
1
1
1
2
T = mnV + mn ( r ).( r ) + 2 mnV .( r )
n 2
n 2
n 2
2222222222222222
222222222222222222222222^cFma`

:L<k?\2

r
r
r r
Vn = V + r

161

MECNICA CLSICA

.@2<=2><kL@R?2TI<TWQ?2R<2^cFma`2P<@<T?>J2iL<2<=2ZQIT<Q2>LTB@R?2@?>2RB2=B2T]>2P?PB=232^E2<>2IRS@PIC?2
ZBQB2CBRB2ZL@P?2R<=2>D=IR?`2B>[\

T=

2222222222

r r r r
r
1
1

2
MV + mn ( r ).( r ) + V mn r
2
n 2
n
22222222222222222222222222222222^cFmn`

.=2=PIT?2PSQTI@?2Q<ZQ<><@PB2=B2Z?>ICID@2R<=2C<@PQ?2R<2TB>B>J2iL<2><2B@L=B2>I2<=<kIT?>2<=2?QIk<@2R<=2
Q<l<Q<@CIB=2tL>PBT<@P<2<@2<=2C<@PQ?2R<2TB>B>J2WBt?2<>B2C?@RICID@2P<@<T?>\

T=

2222222

r r r r
1
1
2
MV + mn ( r ).( r )
2
n 2
222222222222222222222222222222222222222222222222222^cFmo`

7L<R<2R<T?>PQBQ><2^U<Q2<t<TZ=?2cFo`2iL<2<=2ZQ?RLCP?2PQIZ=<2R<=2=PIT?2PSQTI@?2R<2^cFmo`2C?@==<UB2B\

T=

1
1
2
MV + 5 mn ij r 2 ; ri r j S i S j
2
n 2

222222222222222222222222222222222222222222222222^cFmm`

.=2PSQTI@?2<@PQ<2ZBQS@P<>I>2<>2L@B2CB@PIRBR2R<2R?W=<2[@RIC<J2L@B2TBPQIKJ2<@2k<@<QB=2><2RIC<2iL<2<>2<=2
tensor de inerciaJ2R<@?PBR?2L>LB=T<@P<2C?T?2Iij JCBQBCP<Q[>PIC?2R<2=B2k<?T<PQ[B2R<2L@2>D=IR?2RBR?J2
V2 Q<ZQ<><@PB2 =B2 I@<QCIB2 R<2 =B2 Q?PBCID@J2 C?@2 =?2 CLB=2 <>CQIWIT?>2 =B2 energa cintica del slido2 rgido2
C?T?\
2

222222222222

T =

1
1
2
MV + i I ij j
2
2
22222222222222222222222222222222222222222222222222222222222^cFONN`

4W><QUBT?>2iL<2=B2<@<Qk[B2CI@SPICB2P?PB=2R<2L@2>D=IR?2Q[kIR?2<>2=B2>LTB2R<2=B2<@<Qk[B2CI@SPICB2R<2=B2
PQB>=BCID@2R<=2C<@PQ?2R<2TB>B>2T]>2=B2<@<Qk[B2CI@SPICB2Q?PBCI?@B=J2<@2C?@C?QRB@CIB2C?@2<=2=<TB2R<2/hB>=<>2
^<t<TZ=?2cFO`F2/?T?2><kLQBT<@P<2<=2=<CP?Q2Q<C?QRBQB2R<2=B2A[>ICB2<=<T<@PB=J2=B2<dZQ<>ID@2^cFONN`2<>2
L@B2U<Q>ID@2T]>2ZQ<CI>B2V2k<@<QB=2R<2=B2l?QTB2<=<T<@PB=2ZBQB2>D=IR?>2h?T?kS@<?>2V2>ITSPQIC?>2^C?@2
P<@>?Q<>2R<2I@<QCIB2RIBk?@B=<>`2ZBQB2=?>2CLB=<>2><2<>CQIW<J2C?T?2<@2=?>2CLQ>?>2R<2A[>ICB2W]>ICBJ2iL<\
2

2222222222222

T =

1
1
2
MV + I 2
2
2i
22222222222222222222222222222222222222222222222222222222222222^cFONO`

Ejemplo 5.8 +<TLS>PQ<>< ^cFmm`2L>B@R?2<=2tensor de Levi-Civit

Solucin:

7L<R<2hBC<Q><2C?@2<=2]=k<WQB2L>LB=J2>I@2<TWBQk?J2<>2=B2ZQ<P<@>ID@2R<2<>P<2<t<TZ=?J2<TZ=<BQ2L@2B=k<WQB2
WB>BRB2 <@2 <=2 >[TW?=?2 ?2 P<@>?Q2 R<2 :<UIp/IUIPB2 R<2 L>?2 lQ<CL<@P<2 <@2 A[>ICB2 w<DQICBF2 7BQB2 <==?2 hBQ<T?>2
ZQIT<Q?2L@B2WQ<U<2I@PQ?RLCCID@2>?WQ<2<=2TI>T?F
+<yI@IT?>2<=2>[TW?=?2

162

ijk

2C?T?2L@2P<@>?Q2R<2QB@k?2PQ<>2==BTBR? tensor de Levi-Civit2PB=2iL<

NELSON FALCN V.

ijk
2

si dos indices son repetido

0

= 1 transposicion par de los indices ijk

1 transposicion impar de los indices ijk

2222222222222222222222222222222222222^cFONM`

/?T?2<>2?WUI?2PI<@<2ededeMn2C?TZ?@<@P<>J2PQ<>2R<2<==?>2>?@2IkLB=<>2B2OJ2?PQ?>2PQ<>2R<2<==?>2>?@2IkLB=<>2
B2pO2V2<=2Q<>P?2>?@2@L=?>F
.=2R<P<QTI@B@P<2R<2L@B2TBPQIK2;2><2<>CQIW<2<@2PSQTI@?>2R<2RICh?2P<@>?Q2C?T?\2

22222222222222222222222

2 2222222222^cFONe`

R?@R<2 ><2 L>B2 =B2 @?PBCID@2 BWQ<UIBRBJ2 TLV2 C?T@2 <@2 Q<=BPIUIRBRJ2 R<2 ?WUIBQ2 <=2 >[TW?=?2 R<2 >LTBP?QIB2
CLB@R?2=?>2[@RIC<>2>?@2Q<Z<PIR?>F2.>2l]CI=2U<QJ2<@2C?@><CL<@CIB2iL<\2
2

222222222222

222222222

22

62ZBQB2CBRB2C??QR<@BRB2><2ZL<R<2<dZQ<>BQ2l]CI=T<@P<2C?T?\2
222222222222222

.=2 ZQ?RLCP?2 R<2 R?>2 P<@>?Q<>2 R<2 :<UIp/IUIPB2

>[TW?=?2R<=PB2R<2zQ?@<C~<Q2It2C?T?\

ijk lmn

22222222222222222222222222^cFON_`

2222222222^cFONc`

2222222222^cFONa`

><2 <>CQIW<2 R<2 l?QTB2 C?TZBCPBJ2 <@2 PSQTI@?>2 R<=2

ijk imn = ii ( jm kn ; jn km )+ im jn k i + in ji km ; im ji kn ; in jm k i

5I2I=2><2PI<@<222
2

ijk imn = 3( jm kn ; jn km )+ km jn + jn km ; jm ji kn ; kn jm
2

2222222

ijk lmn = jm kn ; jn km

=L<k?2R<2^cFmo`2><2C?TZ=<PB2=B2R<T?>PQBCID@\

2222222222^cFONn`

163

MECNICA CLSICA

r r r r
1
1
2
MV + 5 m n (S r ).(S r )
2
n 2
1
1
2
L = MV + 5 m n ijk S j rk iml S m rl
2
n 2
1
1
2
L = MV + 5 m n ( jm kl ; jl km )S j rk S m rl
2
n 2
T=

2222

222222

L=

1
MV
2

L=

1
MV
2

1D
A
B 5 m n ( jm kl rk rl ; jl km rk rl )? S j S m
2C n
@
1D
A
+ B 5 m n jm r 2 ; kl rk rl ? S j S m
2C n
@
+

+<2^cFmm`2V2^cFONN`2<>2C=BQ?2iL<2h<T?>2R<yI@IR?2B=2tensor de inercia2C?T?\
2222masas discretas2

222222222222222222222222222222^cFONo`

22222222222222222222222222^cFONm`

EIT?>2<@2^cFONN`2iL<2=B2<@<Qk[B2CI@SPICB2R<=2T?UITI<@P?2R<=2>D=IR?2Q[kIR?2iL<RB2<dZQ<>BRB2<@2lL@CID@2
R<2L@2P<@>?Q2R<2@L<U<2C?TZ?@<@P<>2R<2=B2l?QTB2^cFONM`J2iL<2l]CI=T<@P<2><2ZL<R<2k<@<QB=IKBQ2ZBQB2=B2
l?QTB2C?@PI@LBJ2<>2R<CIQ2CLB@R?2><2P?TB2<=2=ITIP<2R<2=B2>LTBP?QIB2ZBQB2L@2kQB@2@LT<Q?2R<2ZBQP[CL=B>\
2

222222

2222distribuciones continuas2222222222222222222222222222222^cFOON`

.>P<2P<@>?QJ2iL<2><2R<@?TI@B2P<@>?Q2R<2I@<QCIB2R<=2>D=IR?J2?2WI<@J2P<@>?Q2R<2=?>2T?T<@P?>2R<2I@<QCIB2R<=2
>D=IR?J2ZQ<><@PB2L@B2<>PQLCPLQB2>ITSPQICBF2:?>2<=<T<@P?>2@?2>ITSPQIC?>J2<>2R<CIQ2lL<QB2R<2=B2RIBk?@B=2R<2
=B2TBPQIK2CLB@R?2i0j2><2==BTB@2PBTWIS@2productos de inerciaF2:B2l?QTB2<dZ=[CIPB2R<2>L>2C?TZ?@<@P<>2
<>J2L>B@R?2=B2<dZQ<>ID@2RI>CQ<PB\2

22^cFOOO`
8>B@R?2=B2<dZQ<>ID@2C?@PI@B\2

164

NELSON FALCN V.

222^cFOOM`
:B2TBPQIK2C?QQ<>Z?@RI<@P<2<>J2ZL<>J2L@B2TBPQIK2>ITSPQICBJ2V2C?T?2PB=J2RIBk?@B=IKBW=<J2<>P?2<>J2Q<RLCIW=<2
B2=B2l?QTB2RIBk?@B=2<=IkI<@R?2C?@U<@I<@P<T<@P<2=?>2<t<>2R<2Q<l<Q<@CIB\
2

2222

222222222222222222222222222222222222222222222222222222222222222222222

22

2222222222^cFOOe`

.dI>P<@J2Z?Q2PB@P?J2<@2<=2T?UITI<@P?2R<=2>D=IR?2Q[kIR?J2L@?>2<t<>2R<2Q<l<Q<@CIB2C?@2?QIk<@2<@2<=2/<@PQ?2
R<2TB>B>2V2iL<2PI<@<@2RIQ<CCI?@<>2PB=<>2iL<2<=2w<@>?Q2R<2,@<QCIB2BRiLI<Q<2=B2l?QTB2RIBk?@B=F2.>P?>2<t<>2
><2R<@?TI@B@2ejes principales de inercia y2=B>2RIQ<CCI?@<>2R<2=?>2TI>T?>J2RIQ<CCI?@<>2ZQI@CIZB=<>2R<2
I@<QCIBF2:B>2C?TZ?@<@P<>2@?2@L=B>2R<=2P<@>?QJ2iL<2l?QTB@2=B2RIBk?@B=2R<=2TI>T?J2>?@2=?>2T?T<@P?>2
ZQI@CIZB=<>2R<2I@<QCIBJ2CLVB>2<dZQ<>I?@<>2>?@\2
22222222222^cFOO_`

222222222222222

.>2I@T<RIBP?2iL<2=B2>LTB2R<2R?>2CLB=<>iLI<QB2R<2=?>2PQ<>2T?T<@P?>2ZQI@CIZB=<>2R<2I@<QCIB2<>2TBV?Q2?2
IkLB=2B=2P<QC<Q?\

22222222222222222222222^cFOOc`

Ejemplo 5.9 7BQPI<@R?2 R<2 =B2 R<yI@ICID@J2 R<TLS>PQ<><2 iL<2 >I2 L@2 <t<2 <>2 ZBQB=<=?>2 B=2 C<@PQ?2 R<2 TB>BJ2
<@P?@C<2 >L2 T?T<@P?2 R<2 I@<QCIB2 Q<>Z<CP?2 B2 <>P<2 <t<2 <>2 <=2 T?T<@P?2 R<2 I@<QCIB2 Q<>Z<CP?2 B=2 C<@PQ?2 R<2
TB>B>2TB>23RMJ2>I<@R?2R2=B2RI>PB@CIB2R<2><ZBQBCID@2<@PQ<2BTW?>2<t<> ^teorema de steiner o de los
ejes paralelos`
165

MECNICA CLSICA

Solucin:
+<2^cFONm`2P<@<T?>2ZBQB2<=2<t<2ZQITBR?J2iL<2<>2ZBQB=<=?2B=2<t<2R<=2C<@PQ?2R<2TB>B>\

2
I ij 8 5 mn DB 1 ij ur v ; ri r j A?
C
@ 2>I@2ZSQRIRB2R<2k<@<QB=IRBR2><2>LZ?@<2iL<2=?>2<t<>2>?@2PB=<>2iL<\
n
dxdRJ2Z<Q?2VxV2V2dx2dF

2
2

2
2

2
2

222222222222

I xx = 5 mn x 2 + y 2 + z 2 ; x x

ZBQB2=?>2<t<>2ZBQB=<=?>2><2PI<@<\

2222222222222222222222222222222222222222222222^cFOOa`

22222222222222222222222222222222222222222222222222222222222^cFOOn`

I zz = 5 mn x 2 + y 2 + z 2 ; y ' y '

22222222

22

2222222222222222

22222222222222222222222222222222222222

I xx = 5 mn y 2 + z 2 = I xx
n

I zz = 5 mn x 2 + z 2 + d 2 + 2 x.d
n

222222222222222222222222222222222222222222^cFOOo`
222222222222222222222222222222222222222222222^cFOOm`

I zz = mn x 2 + z 2 + mn d 2 + mn 2 x.d = I xx + Md 2
n

222222222222222222222222222222222222222222222222222222

( CM )

I zz = I xx
+ Md 2

Teorema de Steiner

222222222222222222222222^cFOMN`
^cFOMO`

+?@R<2><2hB2L>BR?2iL<2<=2=PIT?2PSQTI@?2R<=2><kL@R?2TI<TWQ?2><2B@L=B2<@2<=2C<@PQ?2R<2TB>B>2V2iL<2=B2
>LTB2R<2=B>2T@2TB>B>2<>2tL>PBT<@P<23F
;@]=?kBT<@P<2C?@2=?>2ZQ?RLCP?>2R<2I@<QCIBJ2ZBQB2=?>2CLB=<>2^><2R<tB@2=?>2R<PB==<>2B=2<>PLRIB@P<`\2
22222222222222222222222222222222222222222222222222222222222222222222222

Ejemplo 5.10

I xy = mn ( x y ') = I xy
n

22222222222222222222222222222222222222222222222222222222222^cFOMM`

wQ<>2ZL@P?>2R<2IkLB=2TB>B2<>PB@2>IPLBR?>2<@2^B2N2N`2^N2B2MB`^N2MB2B`F2j]==<><2=?>2T?T<@P?>2R<2
I@<QCIB2Q<>Z<CP?2B=2?QIk<@2V2L@2C?@tL@P?2R<2<t<>2ZQI@CIZB=<>F
166

NELSON FALCN V.

Solucin\
3?T<@P?>2ZQI@CIZB=<>2R<2I@<QCIB\
2

2222

22222222222

22222222222222222222222222^cFOMe`

222222222222^cFOM_`

/?T?2Z?R<T?>2?W><QUBQ2P?RB>2=B>2d2><2CB@C<=B@2iL<RB@R?2>?=?2V2V2K2P<@<T?>2iL<2=B>2TB>B>2>?@2IkLB=<>2
<>2R<CIQ2TO22TM22Te2@?>2iL<RB\

2
2
2
22
;h?QB2hBC<T?>2<=2C]=CL=?2ZBQB2V\

22

2222222222^cFOMn`
22222222^cFOMo`

222222222222222222222222222222222222222

2222222222^cFOMc`
22222222^cFOMa`

2
222222222222222222222222222222222
;@]=?kBT<@P<2ZBQB2K\

2222222222222222222222222222222222222222222222^cFOMm`

2 2

22222222222222222222222222222222222222222^cFOeN`

2 2

22222222222222222222222222^cFOeO`
167

MECNICA CLSICA

2
2
2
C?@2=?2CLB=2iL<RB\

22222222222

222222222^cFOeM`

0
10 0

I = ma 2 0 6 4 = 0
0 4 6

2222222222222222222222222222222222222222222222222222222222222^cFOee`
222222222222

C?T?2<=2P<@>?Q2R<2I@<QCIB2@?2<>2RIBk?@B=2ZBQB2RIBk?@B=IKBQ2=B2TBPQIKJ2hB==BT?>2<=2R<P<QTI@B@P<\
22222222222222222222222222222222222222222222222222222222222222222222222222

2
2
2
2
/LV?>2BLP?UB=?Q<>2>?@\

2222222222

2222222222

0
0
10

det 0
6 4 = 0
0
4 6

2222222222222222222222222222222222222222222222222222222222^cFOe_`
2

2222222222^cFOec`

22222

22222222222222222222222222222222222222222^cFOea`

C?T?222M2<@P?@C<>2V22KF2;R<T]>2C?T?2<=2<t<2R<2Q?PBCID@2<>2dJ2P?TBT?>2C?T?2L@2]@kL=?2_c\
2

168

2
2

2222222222^cFOen`

22222222222222222222222222^cFOeo`

2 22222222222222222222222222^cFOem`

NELSON FALCN V.

;Z=ICB@R?2=B2R<yI@ICID@2R<2,2ZBQB2=B>2@L<UB>2C??QR<@BRB>2P<@<T?>\

22222222222^cFO_N`

2222222

222222222

222222222222

222222222222222222

22222

22222

2 2

2222222222^cFO_O`

2222222222^cFO_M`

22

22222222222222222222222222^cFO_e`

2222222222^cFO__`

2222222222^cFO_c`

2222222222^cFO_a`

2222222222^cFO_n`

2222222222^cFO_o`

169

MECNICA CLSICA

-<>LTI<@R?2=?>2Q<>L=PBR?>J2P<@<T?>2yI@B=T<@P<\
2
10ma 2

I = 0
0

5 0 0

= 2ma 2 0 1 0
0 0 5
10ma 2

2222222222222222222222222222222222222^cFO_m`

2ma

0
0

Ejemplo 5.11 /B=CL=<2=?>2T?T<@P?>2ZQI@CIZB=<>2R<2,@<QCIB2R<2L@B2

=BTI@B2PQIB@kL=BQ2R<2TB>B23J2RI>ZL<>PB2C?T?2<@2=B2yIkLQB2cFOOF
Solucin:
+<2=B2yIkLQB2<>2C=BQ?2iL<2=?>2><kT<@P?>2CLTZ=<@2=B>2<CLBCI?@<>\
;/\2

/9\22

Figura 5.1127=BCB2ZBQB2hB==BQ2=?>2
T?T<@P?>2ZQI@CIZB=<>2R<2I@<QCIB

2
y 8 ;x g a
3

y 8 ;x g

2
a
3

/?T?2=B2R<@>IRBR2>LZ<QyICIB=21 =M/a22<>2C?@>PB@P<2V2r2=x2+y2J2><2PI<@<\
2

2
2
2
;@]=?kBT<@P<

2
222

I 11 =

2222222222

I11 = r 2 x 2 dxdy

222222222222222222222222222222222222222222222222222222222222^cFOcN`

2
dy = 3 a 4 = Ma
y
dx

y 2a / 3 54
18
a / 3

22222222222222222222222222222222222222222^cFOcO`
2 a / 3 y

2a / 3

2 a / 3 x
Ma 2
1
I 22 = x dy dx = a 4 =
6
6
a
a / 3
2222222222222222222222222222222222222222222^cFOcM`
2
2
2
22222
2
2
I 33 = I 11 + I 22 = Ma
9
22222222222222222222222222222222222222222222222222222222222^cFOce`
62PBTWIS@222222222222222222222222222222222222222222222222222222
a

Ejemplo 5.12

:?>2 <dPQ<T?>2 R<2 L@B2 UBQI==B2 L@Il?QT<2 R<>=IKB@2 >?WQ<2 L@B2

CIQCL@l<Q<@CIB2 U<QPICB=F2 5I2 =B2 UBQI==B2 >LWPI<@R<2 L@2 ]@kL=?2 R<2
OMN2R<>R<2<=2C<@PQ?2R<2=B2CIQCL@l<Q<@CIBJ2R<TLS>PQ<><2iL<2<=2
ZS@RL=?2>ITZ=<2<iLIUB=<@P<2PI<@<2L@B2=?@kIPLR2IkLB=2B=2QBRI?2R<2
=B2CIQCL@l<Q<@CIBF

Solucin:
5BWI<@R?2iL<\

:2wp8

62>BWI<@R?2Z?Q2=B2k<?T<PQ[B2R<=2>I>P<TB2V2LWIC]@R?@?>2<@2<=2
C<@PQ?2R<2TB>B\2
170

Figura 5.1229BQQB2?>CI=B@R?2R<@PQ?2R<2L@2BQ?

NELSON FALCN V.

2
2
+?@R<\
2
2

m r2
I & 2
T = VCM
+
2
2 2222222222222222222222222222222222222222222222222222222222222222222^cFOc_`
22222222222222

222222 U = mg ( a d cos( )) 2222222222222222222222222222222222222222222222222222222222222222^cFOcc`

2222222222222222222222222222222222222222222222

l/2

20 3
I 8 2 ! 0x dx 8
x
3
0

+<2=B2k<?T<PQ[B2<>2PQIUIB=2iL<2

u v

l/2
0

l 8 2 a sen 60 8 a 3

l 3 ml 2
80
8
12 12

V2

22222222222222222222222222222222222222222222222^cFOca`

d 8 a cos 60 8

a
22

r
RCM = d cos( )i + dsen ( ) j
r&
RCM = d&(cos( ) j dsen ( )i)
r&
2
2 &2
2222222222222222222222222222222222222222222222222222^cFOcn`
222222222222222222222222222222222 ( R CM ) = d

2
2
.@P?@C<>2<=2=BkQB@kIB@?2iL<RB2R<2=B2l?QTB\
2

222

L=

m 2 & 2 ml 2& 2
d +
+ mg (a d cos( ))
2
24
222222222222222222222222222222222222222222222222^cFOco`

:B2<CLBCID@2R<2.L=<Qp:BkQB@k<2Q<>Z<CP?2B2 ' \

d L L
=0

dt &

^cFOco`

l2
&&(d 2 + ) gdsen( ) = 0
12
2222222222222222222222222222222222222222222222222222222^cFOcm`
22222222

l2
&&(d 2 + ) gd = 0
12
222222222222222222222222222222222222222222222222222222222222222^cFOaN`
2222222222

7BQB2?>CI=BCI?@<>2TLV2Z<iL<qB>2<=2 sen(' ) R ' 2<@P?@C<>2=B2<CLBCID@2RIl<Q<@CIB=2><2PQB@>l?QTB2<@\

2
2
+?@R<\
2

2 = 2 =
222222

gd

(d 2 +

l
)
12

ga / 2
g
=
2
a
3a
a
+
4 12
2222222222222222222222222222222222222222222222222^cFOaO`
2

171

MECNICA CLSICA

.@P?@C<>\2
2

&&
22222 = 0 2222222222222222222222222222222222222222222222222222222222222222222222222^cFOaM`
2

L<2<iLIUB=<2B2=B2lQ<CL<@CIB2R<2?>CI=BCID@2R<2L@2ZS@RL=?2>ITZ=<2R<2=?@kIPLR2IkLB=2B=2QBRI?2B2R<2=B2
CIQCL@l<Q<@CIBF

Ejemplo 5.13

2222222222

g
a 222222222222222222222222222222222222222222222222222222222222222222222222222^cFOae`

8@2BLP?TDUI=2BQQB@CB2C?@2L@B2R<2=B>2Z?QP<KL<=B>2@?QTB=2B2S=F25I2=B>2WI>BkQB>2<>P]@2TIQB@R?2B=2lQ<@P<2R<=2
C?Ch<J2=B>2Z?QP<KL<=B>2><2C<QQBQ]@2B=2BC<=<QBQ2<=2C?Ch<F24WPS@kB><2L@B2lDQTL=B2R<=2PI<TZ?2iL<2PBQRBQ]@2

V2<=2C<@PQ?2R<2kQBU<RBR2<>P]2B2L@B2

<@2C<QQBQ><2>I2=B2BC<=<QBCID@2l2<>2C?@>PB@P<J2<=2QBRI?2R<2kIQ?2<>2
RI>PB@CIB2a2R<2=B>2WI>BkQB>F
Solucin:

J2 2;@kL=?2<@PQ<2=B2Z?>ICID@2I@ICIB=2V2yI@B=2
8>BQ<T?>2=B2>IkLI<@P<2@?PBCID@\2 {@kL=?2<@PQ<2 2V2 2
R<2=B2ZL<QPBJ2 2E<CP?Q2U<=?CIRBR2B@kL=BQ2k<@<QBR?2B=2C<QQBQ><2=B2ZL<QPBF

.=2ZQ?W=<TB2ZQ<><@PBR?2ZL<R<2I@P<QZQ<PBQ><2R<2R?>2l?QTB>\

^I`;Z=ICB@R?2L@2kIQ?2 2RIQ<CP?2^C?@PQBQI?2B=2R<2=B>2BkLtB>2R<=2Q<=?t`2B=2>I>P<TB2R<2C??QR<@BRB>F242WI<@2
^II`2;Z=ICB@R?2B=2U<CP?Q2Z?>ICID@2L@2kIQ?2I@U<Q>?2^<@2<=2><@PIR?2R<2=B>2BkLtB>2R<=2Q<=?t`
;TW?>2><2C?QQ<>Z?@R<@J2<>2R<CIQJ2>?@2<iLIUB=<@P<>F2;2C?@PI@LBCID@2><2P?TBQB2=B2I@P<QZQ<PBCID@2Q<l<QIRB2
B=2kIQ?2R<2L@2]@kL=?

2RIQ<CP?2>?WQ<2<=2>I>P<TB2R<2C??QR<@BRB>F2;=2hBC<Q2kIQBQ2=?>2<t<>2R<=2>I>P<TB2R<2

L@2>I>P<TB2R<2Q<l<Q<@CIB2L@2]@kL=?2 2<@2P?Q@?2B=2<t<2K2V2<@2l?QTB2RIQ<CPBJ2><2ZQ?RLC<2L@B2TBPQIK2R<2
Q?PBCID@J2B2=B2CLB=2==BTBQ<T?>2;F2.>P?2<>\
2

3BPQIK2R<2PQB@>l?QTBCID@\
2

22222222

2222222222

22222

2222222222222222222222222222222222222222222222222222222222222^cFOa_`2

22

2222222222^cFOac`

;=2ZQ?RLCIQ><2=B2Q?PBCID@2R<2=B2TBPQIK2;2><2k<@<QB2<=2U<CP?Q2 2C?QQ<>Z?@RI<@P<2B2=B2U<=?CIRBR2B@kL=BQF2
;h?QB2WI<@2R<P<QTI@<T?>2=B2<CLBCID@2R<2.L=<QF26B2iL<2<=2>I>P<TB2R<2<t<>2kIQB2L@2]@kL=?2 2<@2P?Q@?2B2K2
<@P?@C<>\
172

NELSON FALCN V.

2222

222222222

22

22222222222222222222222222^cFOan`

222222222

22

;>[\

222222222

2222222222

22

22222222222222222222222222^cFOaa`

2222222222^cFOao`

2222222222^cFOam`

2222222222^cFOnN`

+<WIR?2B2iL<2 2<>2L@2U<CP?Q2yIt?2Q<>Z<CP?2B=2CL<QZ?J2=B2U<=?CIRBR2 2Q<>Z<CP?2B=2>I>P<TB2<>ZBCIB=2R<2<t<>2

><2R<W<Q]2@ICBT<@P<2B=2T?UITI<@P?2R<2Q?PBCID@2R<=2>?=IR?2B=Q<R<R?Q2R<=2ZL@P?2yIt?F25<k@2=B2<CLBCID@2
^cF_c`J2P<@<T?>2iL<\

+?@R<2

2Z?Q2=?2PB@P?2

2C?@>PB@P<F2+<2=?2CLB=\2

2222222222

2222222222222

.@P?@C<>\2

222222222222222222222222

22

22222222222222222222222222222222222222222222222222222^cFOnO`

5L>PIPLV<@R?2^cFOam`2<@2^cFOnO`2@?>2iL<RB\

6B2iL<\

22222222222

5L>PIPLV<@R?2^cFOnM`2<@2^cFOn_`2?WP<@<T?>\2
2

222222

2 2

22222222222222222222222222^cFOnM`

22

22222222222222222222222222^cFOne`

222222222222222222222222222222222222222222222222222222222222222222222222222222^cFOn_`

22

22222222222222222222222222^cFOnc`
173

MECNICA CLSICA

2222222222

22222222222222222222222222222222222222222222222222222^cFOna`

4WP<@<T?>2 <=2 PI<TZ?2 <@2 <=2 CLB=2 ><2 CI<QQB@2 =B>2 Z?QP<KL<=B>2 B=2 BC<=<QBQ2 <=2 C?Ch<2 C?@2 BC<=<QBCID@2
C?@>PB@P<\

t=

222222222

a
f 22222222222222222222222222222222222222222222222222222222222222222222222222^cFOno`

Ejemplo 5.14. 28@B2QL<RB2kIQB2>?WQ<2L@B2>LZ<QyICI<2Z=B@B2iL<2l?QTB2L@2]@kL=?2 + C?@2=B2h?QIK?@PB=F2:B2

QL<RB2hB2R<2Z<QTB@<C<Q2<@2L@2Z=B@?2Z<QZ<@RICL=BQ2B=2I@C=I@BR?J2Z<Q?2ZL<R<2kIQBQ2B=Q<R<R?Q2R<2L@2<t<2
Z<QZ<@RICL=BQ2B2=B2>LZ<QyICI<F2j]==<@><2=B>2<CLBCI?@<>2I@P<kQBRB>2R<=2T?UITI<@P?2WIRIT<@>I?@B=2R<2=B2
QL<RBJ2LPI=IKB@R?2=B>2<CLBCI?@<>2R<2:BkQB@k<2V2<=2TSP?R?2R<2=?>2TL=PIZ=ICBR?Q<>2R<2:BkQB@k<F

Fig.5.13.2+I>C?2h?T?kS@<?2iL<2R<>CI<@R<2>I@2R<>=IKBQ2Z?Q2L@2Z=B@?2I@C=I@BR?

.=2 ?Wt<P?2 ZQ<><@PB2 R?>2 Q?PBCI?@<>2 L@B2 <@2 P?Q@?2 B2 L@2 <t<2 ZBQB=<=?2 B=2 <t<2 d2 V2 ?PQ?2 <@2 P?Q@?2 B2 L@2 <t<2
Z<QZ<@RICL=BQ2B=2Z=B@?2>LZ<QI?Q2R<2=B2CLqBF227BQB2Q<>?=U<Q2<>P<2ZQ?W=<TB2Q<iL<QIT?>2ZQIT<QBT<@P<2R<2
R?>2C?>B>\2<=2P<@>?Q2R<2I@<QCIB2R<2L@2RI>C?2<2IR<@PIyICBQ2=?>2]@kL=?>2R<2.L=<Q2iL<2UBT?>2B2<TZ=<BQF

5<2 ZL<R<2 CB=CL=BQ2 C?@2 lBCI=IRBR2 iL<2 <=2 P<@>?Q2 R<2 I@<QCIB2 R<2 L@2 RI>C?2 h?T?kS@<?2 C?@2 Q<>Z<CP?2 B2 >L2
C<@PQ?2R<2TB>B2<>2^=?>2R<PB==<>2ZL<R<@2U<Q><2<@2=?>2=IWQ?>2R<2y[>ICB2<=<T<@PB=`\

1
2
mR
4
I = 0

0
222222222

1
mR 2
4
0

1
2
mR
2
2222222222222222222222222222222222222222222222222222222222222^cFOnm`
0

EIT?>2iL<2=B2U<=?CIRBR2B@kL=BQ2<@2<=2>I>P<TB2yIt?2<@2PSQTI@?>2R<2=?>2]@kL=?>2R<2.L=<Q2><2ZL<R<2<>CQIWIQ2
C?T?2<@2^cFee`J2C?@2=B2RIl<Q<@CIB2iL<2BiL[2CBTWIBT?>2=B2@?PBCID@\2 ' % & 2V2UIC<U<Q>BF
174

NELSON FALCN V.

22222222

] [

] [

r
= & cos( ) + &sen( ) sen( ) e1 + &sen( ) &sen( ) cos( ) e2 + & + & cos( ) e3

2222222^cFOoN`

.@2<>P<2CB>?2C?T?2@?2hBV2Q?PBCID@2<@2P?Q@?2B2L@2<t<2ZBQB=<=?2B=2VJ2# N2V2=B2U<=?CIRBR2B@kL=BQ2><2ZL<R<2
Q<<>CQIWIQ2C?T?\
2

r
= & cos( )e1 + &sen( )e2 + &e3

2222222222222222222222222222222222222222222222222222^cFOoO`

.>2C=BQ?2iL<2=B>2<@<Qk[B>2R<=2>I>P<TB2^CI@SPICB2V2Z?P<@CIB=`2><2<>CQIW<2C?T?\

T =

2
2
2

1
1 r r 1
1
1

mVcm2 + = m( x& 2 + y& 2 ) + mR 2 &2 + & 2

2
2
2
2
2
2222222222222222222222222222222^cFOoM`22
22222222222222222222222

62=B2lL@CID@2R<2:BkQB@k<2<>\
2

U = mgycm = mgysen( ) 2 2

2222222222^cFOoe`22

&2

L = m x& 2 + y& 2 + R 2 + & 2 gysen( )

2

222222222222222222222222222222222222^cFOo_`

:B>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<2C?@2TL=PIZ=ICBR?Q<>2>?@\
2

d L L
G

= K K

dt q& j qJ
K q J

/?T?2<=2RI>C?2QL<RB2>I@2R<>=IKBQ2

v 8 R 2!

x! 8 vsen(' )

2V2
ZL<R<@2<>CQIWIQ2C?T?\2
iL<2<@2l?QTB2RIl<Q<@CIB=2<>P]2RBRB2Z?Q\

2222222222222222222222222222222222222222222222222222222222^cFOoc`2

2J2C?@>IR<QB@R?2iL<2=B>2C?TZ?@<@P<>2R<2=B2U<=?CIRBR2><2

y! 8 ;v cos(' )

J2<@P?@C<>2><2ZL<R<2<>CQIWIQ2L@B2>?=B2=IkBRLQBJ2

222

222222222222222222 dG = dx + dy + R[cos( ) sen( )]d = 0 2222222222222222222222222222222222222222222222^cFOoa`2

62=B>2<CLBCI?@<>2R<2T?UITI<@P?\2
2

2222222222 m&x& = 22222222222222222222222222222222222222222222222222222222222222222222222222222^cFOon`

&&
22222222222222 my + mgsen( ) = 222222222222222222222222222222222222222222222222222222222222222^cFOoo`

175

MECNICA CLSICA

&&
2222222 mR = 0 2 222222222222222222222222222222222222222222222222222222222222222222222222^cFOom`
2

5.6 Ecuaciones de Euler

1
mR 2&& = (cos( ) sen( ))
2
2222
222222222222222222222222222222222222222222222222222222^cFOmN`

-<C?QRB@R?2iL<2ZBQB2<=2T?UITI<@P?2R<2L@2>D=IR?2Q[kIR?2^cF_c`J2BZ=ICBR?2B=2T?T<@P?2B@kL=BQ2
2

r
r
dL
dL
r r
r

=
+ L
f
dt fijo dt giratorio
2222222222222222222222222222222222222222222222222^cFOmO`

+?@R<2h<T?>2L>BR?2iL<2<=2P?QiL<2?2T?T<@P?2R<2lL<QKB2<>2
V2R<>BQQ?==B@R?2<=2><kL@R?2TI<TWQ?2R<2=B2<dZQ<>ID@2^cFOmO`\

x
y
r r
x L = 1 2

L1

L2

z
3

(r x L ) =
i

L3
r
r
Li = I ij j

r
r
L
5BW<T?>2iL<\22 222222222222222222222222222 i = I ij j
2

2
ijk

j Lk
222222222222222222222222^cFOmM`

2222222222222222222222222222222222222222222222^cFOme`

r
r
r r
r
=
+
L 22222222222222222222222222222222222222222222222^cFOm_`

fijo = L giratorio
222222222222

/?@>IR<QB@R?2Bh?QB2iL<2@?>2<@C?@PQBT?>2<@2<=2C<@PQ?2R<2TB>BJ2<=2P?QiL<2B>?CIBR?2B2lL<QKB>2<dP<Q@B>2
^
22N`2V2iL<2<=2P<@>?Q2R<2T?T<@P?2R<2,@<QCIB2^,`2<>2RIBk?@B=\

r
r r
0 = L giratorio + L

(
)
22222222222222222222222222222 L1 = (2 L3 3 L2 ) L 2 = (3 L1 1 L3 ) L 3 = 1 L2 2 L1 222222222222222222^cFOmc`

/?TWI@B@R?2 ^cFOme`2 V2 =B>2 C?TZ?@<@P<>2 ^cFOmc`J2 V2 BkQLZB@R?2 ?WP<@<T?>2 =B>2 ecuaciones de Euler
del slido rgido\

I1 1 = 2 3 ( I2 I3 )

I 2 2 = 1 3 ( I 3 I 1 )

2
176

22222222

I 3 3 = 2 1 ( I 1 I 2 )

2222222222222222222222222222222222222222222222222222222222222^cFOma`

NELSON FALCN V.

E<Q<T?>2<@2><kLIRBJ2CDT?2<>PB>2Q<=BCI?@<>2ZQ?U<<@2=B>2C?@RICI?@<>2ZBQB2R<>CQIWIQJ2R<2l?QTB2k<@<QB=J2<=2
T?UITI<@P?2Q?PBCI?@B=2R<2L@2>D=IR?2Q<>Z<CP?2B2=?>2<t<>2R<2>IT<PQ[B2R<=2TI>T?F
+<W<2><Q2C=BQ?2Bh?QB2iL<2>I2<=2>D=IR?2<>2PB=2iL<2>L2P<@>?Q2R<2I@<QCIB2^cFOON`2<>2RIBk?@B=J2UB=<2R<CIQ2R<2=B2
l?QTB2^cFOOe`2<@P?@C<>2Z?R<T?>2<>CQIWIQ2=B2<@<Qk[B2CI@SPICB2C?T?2<@2^cFONN`2?2T<t?Q2C?T?2^cFONO`F
5.7 Girscopos, trompos y peonzas

:B2Z<?@KBJ2PQ?TZ?2?2kIQD>C?Z?J2>?@2>D=IR?>2Q[kIR?>J2ZBQB2=?>2CLB=<>2I1,
I2, I3 >?@2=?>2@IC?>2<=<T<@P?>2@?2@L=?>2R<=2P<@>?Q2R<2,@<QCIB2,F2w?R?2
>D=IR?2 Q[kIR?2 C?@2 P<@>?Q2 R<2 ,@<QCIB2 >ITSPQIC?2 BRTIP<2 L@2 <=IZ>?IR<2
<iLIUB=<@P<2 iL<2 =?2 C?@PI<@<J2 V2 Z?Q2 <@R<2 ZL<R<2 Q<ZQ<><@PBQ><2 >L>2
kIQ?>2Q<>Z<CP?2B2L@2<t<2R<2>IT<PQ[B2C?T?2<=2R<2L@2>D=IR?2?2Z<?@KBF
Peonza:28@B2Z<?@KB2<>2L@2CL<QZ?2iL<2ZL<R<2kIQBQ2>?WQ<2L@B2ZL@PB2
>?WQ<2=B2iL<2>IPB2>L2C<@PQ?2kQBUIPBP?QI?2R<2l?QTB2Z<QZ<@RICL=BQ2B=2
<t<2 R<2 kIQ?J2 <iLI=IWQ]@R?><2 >?WQ<2 L@2 ZL@P?2 kQBCIB>2 B2 =B2 U<=?CIRBR2
B@kL=BQJ2iL<2Z<QTIP<2<=2R<>BQQ?==?2R<=2<l<CP?2kIQ?>CDZIC?F

Girscopo:2 .=2 kIQ?>C?ZI?2 ?2 kIQD>C?Z?2 <>2 L@2 RI>Z?>IPIU?2 T<C]@IC?2

l?QTBR?2<><@CIB=T<@P<2Z?Q2L@2CL<QZ?2C?@2>IT<PQ[B2R<2Q?PBCID@2iL<2
kIQB2B=Q<R<R?Q2R<2>L2<t<2R<2>IT<PQ[BF2/LB@R?2><2>?T<P<2<=2kIQ?>C?ZI?2
B2L@2T?T<@P?2R<2lL<QKB2iL<2PI<@R<2B2CBTWIBQ2=B2?QI<@PBCID@2R<=2<t<2
R<2 Q?PBCID@2 >L2 C?TZ?QPBTI<@P?2 <>2 BZBQ<@P<T<@P<2 ZBQBRDtIC?2 VB2 iL<2 <=2 <t<2 R<2 Q?PBCID@J2 <@2 =LkBQ2 R<2
CBTWIBQ2R<2RIQ<CCID@2C?T?2=?2hBQ[B2L@2CL<QZ?2iL<2@?2kIQB><J2CBTWIB2R<2?QI<@PBCID@2<@2L@B2RIQ<CCID@2
Z<QZ<@RICL=BQ2B2=B2RIQ<CCID@2I@PLIPIUBF
Figura 5.14 rIQD>C?Z?2
R<2R<T?>PQBCID@2R<2C]P<RQB

.=2kIQ?>C?ZI?2lL<2I@U<@PBR?2<@2OocM2Z?Q2:<D@2A?LCBL=PJ2iLI<@2PBTWIS@2=<2RI?2<=2@?TWQ<J2T?@PB@R?2L@B2
TB>B2Q?PBP?QIB2<@2L@2>?Z?QP<2R<2/BQRB@?2ZBQB2L@2<dZ<QIT<@P?2R<2R<T?>PQBCID@2R<2=B2Q?PBCID@2R<2=B2
PI<QQBF
:?>2 kIQ?>C?ZI?>2 ><2 hB@2 LPI=IKBR?2 <@2 kIQ?C?TZB><>2 V2 kIQ?ZI=?P?>F2 :?>2
kIQ?>C?ZI?>2PBTWIS@2><2hB@2LPI=IKBR?2ZBQB2RI>TI@LIQ2<=2WB=B@C<?2R<2@BU[?>J2
ZBQB2=B2@BU<kBCID@2<@2BUI?@<>2<2I@k<@I?>2<>ZBCIB=<>F
Movimientos del girscopo

+<2BCL<QR?2C?@2=B2T<C]@ICB2R<=2>D=IR?2Q[kIR?J2BR<T]>2R<2=B2Q?PBCID@2B=Q<R<R?Q2
R<2 >L2 <t<2 R<2 >IT<PQ[BJ2 L@2 kIQD>C?Z?2 ZQ<><@PB2 <@2 k<@<QB=2 R?>2 T?UITI<@P?>2
ZQI@CIZB=<>\2=B2ZQ<C<>ID@2V2=B2@LPBCID@F2.>P<2h<Ch?2><2R<RLC<2RIQ<CPBT<@P<2
R<2=B>2<CLBCI?@<>2R<2.L=<QF
Precesin
Figura 5.15
-?PBCID@2^-`J2ZQ<C<>ID@2^7`2
V2@LPBCID@2^1`2R<2L@2>D=IR?2
T?UIS@R?><2C?T?2Z<?@KB

/LB@R?2 ><2 BZ=ICB2 L@2 T?T<@P?2 2 B2 L@2 CL<QZ?2 <@2 Q?PBCID@2 CLV?2 T?T<@P?2
B@kL=BQ2 <>2 J2 =B2 RIQ<CCID@2 R<=2 <t<2 R<2 Q?PBCID@2 R<=2 CL<QZ?2 ><2 B@ITB2 R<2 L@2
T?UITI<@P?2 R<2 Q?PBCID@2 R<2 U<=?CIRBR2 B@kL=BQ2 F2 .>PB2 U<=?CIRBR2 B@kL=BQJ2
==BTBRB2U<=?CIRBR2R<2ZQ<C<>ID@2UI<@<2RBRB2Z?Q\2
177

MECNICA CLSICA

.@2TDRL=?J2=B2U<=?CIRBR2R<2ZQ<C<>ID@2<>2IkLB=2B22=3/L.2.>2R<CIQJ2Z?Q2L@2TI>T?2T?T<@P?J2=B2U<=?CIRBR2R<2
7Q<C<>ID@2<>2PB@P?2T]>2Z<iL<qB2CLB@P?2<=2T?T<@P?2B@kL=BQ2<>2kQB@R<F262C?T?2<=2T?T<@P?2B@kL=BQ2<>2
<=2ZQ?RLCP?2R<2=B2U<=?CIRBR2R<2Q?PBCID@2R<=2kIQ?>C?ZI?2TL=PIZ=ICBRB2Z?Q2>L2T?T<@P?2R<2I@<QCIBJ2><2ZL<R<2
Q<RLCIQ2=B2U<=?CIRBR2R<2ZQ<><>ID@2BLT<@PB@R?2<=2T?T<@P?2R<2I@<QCIB2V2=B2U<=?CIRBR2R<2Q?PBCID@F
Nutacin.

/LB@R?2<=2T?T<@P?2iL<2CBL>B2=B2ZQ<C<>ID@2CBTWIB2R<2UB=?QJ2=B2U<=?CIRBR2R<2ZQ<C<>ID@2PBTWIS@2CBTWIB2
R<2UB=?QF27<Q?2<><2CBTWI?2@?2>LC<R<2I@>PB@P]@<BT<@P<F2jBV2L@2Z<QI?R?2R<2PQB@>ICID@2RLQB@P<2<=2CLB=2
<=2kIQ?>C?ZI?2C<R<2L@2Z?C?2B=2T?T<@P?2<@2=B2TI>TB2RIQ<CCID@2iL<2L@2?Wt<P?2iL<2@?2kIQBF2+<>ZLS>2
<=2 kIQ?>C?ZI?2 Q<C?WQB2 =?2 iL<2 hBW[B2 C<RIR?J2 ?>CI=B@R?2 <@2 =B2 RIQ<CCID@2 R<=2 T?T<@P?2 B=Q<R<R?Q2 R<2 =B2
PQBV<CP?QIB2R<2ZQ<C<>ID@2yI@B=F2.>P<2T?UITI<@P?2R<2?>CI=BCID@2PQB@>IP?QI?2><2==BTB2@LPBCID@F

5I2<=2CBTWI?2R<2UB=?Q2R<2=?>2T?T<@P?>2><2ZQ?=?@kBJ2=B2@LPBCID@2ZL<R<2RLQBQ2TLCh?F2.>2<=2CB>?2R<2=B2
PI<QQBF2:B2BPQBCCID@2R<2=B2:L@B2V2R<=25?=2>?WQ<2<=2hI@ChBTI<@P?2R<2=B2wI<QQB2<@2<=2<CLBR?Q2<>2RIl<Q<@P<2
<@PQ<2<=2=BR?2ZQDdIT?2V2<=2=BR?2=<tB@?2Q<>Z<CP?2B=2B>PQ?F2.>B2RIl<Q<@CIB2R<2BPQBCCID@2CQ<B2L@2T?T<@P?J2<=2
CLB=2CBL>B2=B2ZQ<C<>ID@2R<2=?>2<iLI@?CCI?>F27<Q?J2C?T?2@I2<=25?=2@I2=B2:L@B2<>P]@2<@2<=2Z=B@?2R<=2<CLBR?Q2
P<QQ<>PQ<J2<=2T?T<@P?2ZQ?RLCIR?2Z?Q2<>P?>2B>PQ?>2CBTWIB2Z<QIDRICBT<@P<2V2<=2T?UITI<@P?2R<2@LPBCID@2
R<2=B2wI<QQB2@?2><2BT?QPIkLBF
.dI>P<@2RIl<Q<@P<>2kIQD>C?Z?>J2><k@2>L2T?T<@P?2R<2I@<QCIB2ZL<R<@2><Q\
5<2RIC<2iL<2<>2L@2girscopo esfrico2>I22

I1 8 I 2 8 I 3

5<2RIC<2iL<2<>2L@2girscopo simtrico2>I2

I1 8 I 2 I 3 2

5<2RIC<2iL<2<>2L@2girscopo asimtrico2>I22

I1 I 2 I 3 2

Ejemplo 5.16 7<?@KB2>ITSPQICB2V2ZQ<C<>ID@

8PI=IKB@R?2=B>2<CLBCI?@<>2R<2.L=<QJ2C?@2=B2C?@RICID@2iL<2 I 1 8 I 2 F24WP<@<T?>\

22222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222

I 1 1 = 2 3 ( I 1 I 3 )

I 2 2 = 1 3 ( I 3 I 1 )

1 = 2 3

2 = 1 3

( I1 I 3 )
I1
22222222222222222222222222222222^cFOmn`

( I 3 I1 )
I2
222222222222222222222222222222222^cFOmo`

I = 21 ( I 1 I 2 ) = 0 3 = const 22222222222222222222222222222222222^cFOmm`
2222222222222222222222222222222222222222222222222 3 3

/?T?2eC?@>P22R<yI@IT?>2L@B2@L<UB2lQ<CL<@CIB\

178

NELSON FALCN V.

=
222222222222222222222222222222222222222222222222222222222222222222222222

I1 I 3
= const
I1
222222222222222222222222222222222222222222222222222222222222222^cFMNN`

62><2PI<@<2iL<\2222222222222222222222222222222222222222222 1 = 2

;=2U?=U<Q2B2R<QIUBQJ2?WP<@<T?>\2222222222 1 = 2

2 = 1 22222222222222222222222222222222222222222222222222222222222^cFMNO`

2 = 1 222222222222222222222222222222222222222222222222222222222^cFMNM`

7?R<T?>2Q<<TZ=BKBQ2^cFMNO`2<@2^cFMNM`2J2ZBQB2?WP<@<Q\222

2
2222222222222222222222222222222222222222222222222222222222222222222222222222222222 1 + 2 = 0 22222222222222222222222222222222222222222222222222222222222222222222^cFMNe`

/?@2>?=LCID@2<@2=B2l?QTB\
2

22222222222222222222222222222222222222222222222221 = A cos t

2 = A sent 2222222222222222222222222222222222222222^cFMN_`

.>2C=BQ?2iL<22V22ZQ<C<>B@J2UB=<2R<CIQ2Q?PB@2B=Q<R<R?Q2R<=2<t<2U<QPICB=2^U<Q2yIkLQB2cFO_2`2C?@2lQ<CL<@CIB2
F2.>2?WUI?2iL<2L@B2<>l<QB2Z<Ql<CPB2<>2PB=2iL<2

I1 8 I 2 8 I 3

2V2?WUIBT<@P<2@?2ZQ<C<>BQ[B2Z?QiL<2NF2

Figura 5.162 7Q<C<>ID@2 R<2 L@2 >D=IR?2 Q[kIR?2 >ITSPQIC?J2 B=Q<R<R?Q2 R<=2 <t<2 R<2 B>IT<PQ[BF2 :B2 Q?PBCID@2 ><2
<l<CPB2Q<>Z<CP?2B2>L2ZQ?ZI?2<t<2de2V2=B2ZQ<C<>ID@2=?2hBC<2kIQBQ2Q<>Z<CP?2B=2<t<2dexJC?T?2=?2R<TL<>PQB@2
=B>2<CLBCI?@<>2R<2.L=<Q2R<=2>D=IR?2Q[kIR?F
179

MECNICA CLSICA

:B2 wI<QQB2 @?2 <>2 Z<Ql<CPBT<@P<2 <>lSQICBJ2 <>P]2 BWL=PBRB2 <@2 <=2
<CLBR?Q2V2BChBPBRB2<@2=?>2Z?=?>J2>L2T?T<@P?2R<2I@<QCIB2,e2<>2
RIl<Q<@P<2B2=?>2T?T<@P?>2ZQI@CIZB=<>2,M,O2VJ2Z?Q2<@R<J2ZQ<C<>B2
C?@2<=2Z<QI?R?2R<22McoNN2Bq?>2V2L@2]@kL=?2R<2I@C=I@BCID@2R<2
2MeJcF

.>PB2 I@C=I@BCID@2 <>2 =B2 CBL>BJ2 C?T?2 <>2 C?@?CIR?2 Z?Q2 =?>2
=<CP?Q<>J2R<2=B>2<>PBCI?@<>F262<=2Z<QI?R?2R<2ZQ<C<>ID@2?CB>I?@B2
=B2UBQIBCID@2BZBQ<@P<2R<2=B2WDU<RB2C<=<>P<J2R<2>L<QP<2PB=2iL<2<=2
<t<2P<QQ<>PQ<2h?V2R[B2BZL@PB2B2=B2<>PQ<==B2Z?=BQJ2Z<Q?2hBC<2PQ<>2
TI=2Bq?>2=?2hBC[B2hBC<2=B2<>PQ<==B2whLWB@2R<2=B2C?@>P<=BCID@2R<=2
+QBkD@2V2R<@PQ?2R<2McNN2Bq?>2ZBQ<C<Q]2BZL@PBQ2B2=B2<>PQ<==B2
E<kB2<@2=B2C?@>P<=BCID@2R<2:IQBF
2
22
Ejemplo 5.17:

Figura 5.1727Q<C<>ID@2R<2=B2wI<QQB

7L<R<2 R<T?>PQBQ><2 iL<2 <@2 <=2 CB>?2 k<@<QB=J2 R<=2 kIQD>C?Z?2

B>ITSPQIC?2 @?2 ZL<R<2 Q<>?=U<Q><2 <@2 PSQTI@?>2 R<2 lL@CI?@<>2
<=<T<@PB=<>F

Solucin:

.>2C=BQ?2iL<2=B>2<CLBCI?@<>2R<2.L=<Q2^cFOma`2iL<RB@\

22222222222222222

I 1 1 = 2 3 ( I 2 I 3 ) I 2 2 = 1 3 ( I 3 I 1 )

I 3 3 = 2 1 ( I 1 I 2 )

+<2=B2C?@><QUBCID@2R<2<@<Qk[B2V2R<=2T?T<@PLT2B@kL=BQJ2Z?R<T?>2R<CIQ\
2

22222222222222222222222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222222222222222222222222222

2222222222222^cFMNc`

I 11 + I 2 2 + I 3 3 = 2 E 2222222222222222222222222222222222222222222222222222222^cFMNa`
2

I 1 1 + I 2 2 + I 3 3 = L2 22222222222222222222222222222222222222222222222222222^cFMNn`

;=2R<QIUBQ2=B2ZQIT<QB2R<2=B>2<CLBCI?@<>2R<2.L=<Q2^cFMNc`J2?WP<@<T?>\

I 1 1 = 2 3 + 2 3 ( I 2 I 3 )

222222222222222222222222222222222222222222222222222^cFMNo`
222222222222222222222222222222222222222222222222222222222222

5L>PIPLV<@R?2<@2^cFMNo`2=B>2?PQB>2R?>2<CLBCI?@<>2R<2.L=<Q2RBRB>2<@2^cFMNc`2?WP<@<T?>\

180

NELSON FALCN V.

22222222222222222222222222222222222222222

==
D
2 I ;I
2 I ;I A
I 1 $ 1 8 BB $1$3 3 1 g $1$ 2 1 2 ??( I 2 ; I 3 )
I2
I3 @
C

3L=PIZ=ICB@R?2B2^cFMNa`2Z?Q2,e2V2>L>PQBVS@R?=B2C?@2^cFMNn`\
2

22222222222222222222222222222222222222222222

2 EI 3 ; L2 8 ( I 1 I 3 ; I 1 )$1 g ( I 2 I 3 ; I 2 )$ 2

3L=PIZ=ICB@R?2B2^cFMNa`2Z?Q2,M2V2>L>PQBVS@R?=B2C?@2^cFMNn`\
2

222222222222222222222222222222222222222222222222222

222222222222222222222222222222222222222^cFMNm`

22222222222222222222222222222222222222222^cFMON`

2 EI 3 ; L2 8 ( I 1 I 3 ; I 1 )$1 g ( I 2 I 3 ; I 2 )$ 2

+<>Z<tBT?>2R<2MM2V2eM2Q<>Z<CPIUBT<@P<2R<2=B>2R?>2<CLBCI?@<>2B@P<QI?Q<>2V2?WP<@<T?>\
2

$2 8

22222

2 EI 3 ; L2
I I ; I1
2
$1
; 1 3
2
2
I2 I3 ; I2
I2 I3 ; I2

$3 8

2 EI 2 ; L2
I2 I3 ; I3

I1 I 2 ; I1

I2I3 ; I3

$1

2222222222^cFMOO`

2222222222222222^cFMOM`

-<<TZ=BKB@R?2=B>2<dZQ<>I?@<>2B@P<QI?Q<>2<@2=B2<CLBCID@2^cFMNo`2V2R<>BQQ?==B@R?2?WP<@<T?>\

2
==
D
uI ; I vA
2 EI 2 ; L2 uI 3 ; I 1 v
3 I I ;I
; $1 1 2 1 3 1 ?? g
I 1 $ 1 8 BB $1
I1 I 2 I 3
I1 I 2 I 3
C
@

2222222222222222222222222222222222222

2
D
uI ; I 2 vA?
2 EI 3 ; L2 uI 1 ; I 2 v
3 I I ;I
; $1 1 3 1 1
%%% BB $1
?
I1 I 2 I 3
I1 I 2 I 3
C
@

;kQLZB@R?2PSQTI@?>J2hBCI<@R?2<iLIUB=<@CIB>2V2R<>BQQ?==B@R?J2Z?R<T?>2R<CIQ\
==

2222222222222222222222222222222222222222222222222222222222222222222222222222222

$ 1 8 A$1 g B$1

+<>BQQ?==B@R?2<=2ZQIT<Q2PSQTI@?2V2L>B@R?2=B2IR<@PIRBR\

222222222222222222222222^cFMOe`

22222222222222222222222222222222222222222222222222222222222222222^cFMO_`

==

222222222222222222222222222222222222222222222222222222222222222222222
5I2R<CIT?>2iL<\22

d $ 1 d$1
3
8 A$1 g B$1
d$1 dt

22222222222222222222222 u &

22222222222222222222222222222222222222222222222222222222222^cFMOc`

d$1
3
8 A$1 g B$1 2222222222222222222222222222222222222222222222222222222222222^cFMOa`
dt

181

MECNICA CLSICA

,@P<kQB@R?2=B2<dZQ<>ID@2B@P<QI?Q2?WP<@<T?>\
2222222222222222222222222222222222222222222222222222222222222222222222

u 2 = A1 +

B 4
1 + 2C
2
222222222222222222222222222222222222222222222222222222222222^cFMOn`

d1
2
4
= 1 + 1 +

dt
222222222222222222222222222222222222
2222222222222222222222222222222222222222222222222222222222^cFMOo`

42WI<@\222
+?@R<2

+8

B
2 2 A & 2 2- 8 2C F2.@P?@C<>2?WP<@<T?>2L@B2I@P<kQB=2<=[ZPICB\

t=
22222222222222222222222222222222222222222222222222222222222222222222222

d1
2

1 + 1 +

2222222222222222222222222222222222222222222222222222222222222^cFMOm`

2
Ejemplo 5.18:2:BkQB@kIB@?2R<=2PQ?TZ?2>ITSPQIC?2Z<>BR?2C?@2L@2ZL@P?2yIt?F

.@CLS@PQ<><2 <=2 =BkQB@kIB@?2 V2 =?>2 T?T<@P?>2 CB@D@IC?>2 <@2 lL@CID@2 R<2 =?>2 ]@kL=?>2 R<2 .L=<Q2 ZBQB2 L@B2
Z<?@KB2?2PQ?TZ?2>ITSPQIC?J2WBt?2=B2BCCID@2R<2=B2kQBU<RBRJ2V2C?@2L@2ZL@P?2yIt?2B2=B2>LZ<QyICI<F
Solucin:

/?T?2<=2CL<QZ?2<>2>ITSPQIC?2V2PI<@<2L@2ZL@P?2yIt?J2=B2<@<Qk[B2CI@SPICB2<@2lL@CID@2R<2=?>2]@kL=?>2R<2.L=<Q2
<>\
222222222222222222222222222222222222222222222222222222

T=

I
2
I1 & 2 & 2 2
+ sen + 3 &+ & cos
2
2
222222222222222222222222222222222222222222222222^cFMMN`

V2=B2<@<Qk[B2Z?P<@CIB=\2

2222222222222222222222222222222222222222222222222222222222222222222222222222222222 U = mgl cos 222222222222222222222222222222222222222222222222222222222222222222222^cFMMO`

7?Q2=?2PB@P?J2<=2=BkQB@kIB@?2<@2PSQTI@?>2R<2=?>2]@kL=?>2R<2.L=<Q2><2<>CQIW<\

L 8 T ;U 8

2222222222222222222
182

I
I1 ! 2 ! 2 2
' g & sen ' g 3 #! g &! cos' 2 ; mgl cos'
2
2

v u

2222222222222222222222222^cFMMM`

NELSON FALCN V.

:?>2T?T<@P?>2CB@D@IC?>2>?@2<@P?@C<>\

I
L I 1 & 2
= 2sen + 3 2 &+ & cos cos
&
2
2
2
p = I 1&sen + I 3 & + & cos cos

p =

22222

p =

2222222222222222222

p =

222222222222222222222222

p
& =
I1

L
= I 1&
&

L I 3
=
2& + 2& cos
&
2

I 3 cos

I3
2

I 1 sen + I 3 cos

I 3 cos

I 3 cos

I3

2222222222222222222222222222222222222222222222222

& =

p
2

2222222222222222222222222222

I 1 sen 2 + I 3 cos 2

I 3 cos

p
2

I 1 sen + I 3cos

I 3 cos

I 3 cos

I3

& =
22222222222222222222222222222222222222222222222222222

222222222222222222^cFMM_`2

p = I 3 & + & cos

^cFMMc`2

p I 3 p I 3 cos

I 3 I 1 sen + I 3 cos 2 I 3 cos 2

I 3 (p p cos )
p p cos
& =
& =
2
I 1 sen 2
I 3 I 1 sen

22222222^cFMMe`22

!
!
1DP<><2 iL<2 <@2 =B>2 <CLBCI?@<>2 ^cFMMe`2 V2 ^cFMMc`2 # 2 V2 & 2 <>P]@2
BC?Z=BRB>2Q<>?=UI<@R?2<=2>I>P<TB2T<RIB@P<2TBPQIC<>\

Figura 5.1827<?@KB2>ITSPQICB2
C?@2L@2ZL@P?2yIt?

& =

(
(I sen + I

2222222222222222^cFMMa`
2222222222222222222222222222222222222222^cFMMn`

)
) I

p I 1 sen 2 + I 3 cos 2 p I 3cos

I3

cos

p I 1 sen 2 + I 3 cos 2 p I 3cos

I 3 I 1 sen 2

2
3

cos 2
2222222222222^cFMMo`

22222222222222222222222222222222222222222222^cFMMm`

1$%(\2ZBQB2C?TZ=<PBQ2<=2<>PLRI?2R<W<2L>BQ><2=B23<C]@ICB2R<2jBTI=P?@2^U<Q2C=B><2aJ2<t<TZ=?2aFm`F

183

MECNICA CLSICA

)*/# 3(*5'9+(!# )5. "%*)6#'- %,"%'

Leonhard Euler ^OnNnpOnoe`2 1BC<2 <@2 9B>I=<BJ2 5LIKBF2 AL<2

TBP<T]PIC?2V2y[>IC?J2V2<>2C?@>IR<QBR?2L@?2R<2=?>2T]>2kQB@R<>2
TBP<T]PIC?>2R<2=B2hI>P?QIBF2EIUID2<@2-L>IB2V2;=<TB@IB2=B2TBV?Q2
ZBQP<2R<2>L2UIRBF2.=2T]>2ZQ?=[yIC?>2VB2iL<2>L>2?WQB>2C?TZ=<PB>2
Q<L@IRB>2 ZL<R<@2 ?CLZBQ2 <@PQ<2 aN2 V2 oN2 U?=T<@<>F2 7LW=ICDJ2
T]>2 R<2 cNN2 =IWQ?>2 V2 BQP[CL=?>F2 ;ZQ?dITBRBT<@P<2 <=2 _N2 R<2
>L>2 PQBWBt?>2 <>P]@2 R<RICBR?>2 B2 =B2 TBP<T]PICB2 BZ=ICBRBJ2 =B2
y[>ICBJ2=B2T<C]@ICBJ2=B2hIRQ?T<C]@ICBJ2=B2P<?Q[B2R<2=B2<=B>PICIRBRJ2
=B2 WB=[>PICBJ2 =B2 C?@>PQLCCID@2 @BUB=J2 =B2 P<?Q[B2 R<2 T]iLI@B>J2 =B2
DZPICB2 V2 ?PQB>F2 .@2 P?RB>2 =B>2 QBTB>2 R<2 =B>2 TBP<T]PICB>2 hIK?2
R<>CLWQITI<@P?>2@?PBW=<>J2iL<2=?2>IPLBQ?@2<@2<=2ZQIT<Q2=LkBQ2
<@2 <=2 TL@R?F2 .L=<QJ2 <@2 OneNJ2 ?CLZD2 =B2 C]P<RQB2 R<2 yI=?>?y[B2
@BPLQB=J2 <@2 U<K2 R<2 =B2 ><CCID@2 R<2 T<RICI@BJ2 V2 ><2 C?@UIQPID2 <@2
<=2 TBP<T]PIC?2 T]>2 ITZ?QPB@P<2 R<2 =B2 ;CBR<TIB2 B2 =B2 <RBR2 R<2
U<I@PI>SI>2 Bq?>F2 .><2 TI>T?2 Bq?2 ><2 CB>D2 C?@2 3BR<T?I><==<2
r><==J2L@B2RBTB2>LIKBJ2V2C?@2PLU?2PQ<C<2hIt?>F2.@2OneoJ2Z<QRID2
=B2UI>PB2R<2>L2?t?2R<Q<Ch?J2RLQB@P<2=B2Q<B=IKBCID@2R<2L@2TBZB2
k<?kQ]yIC?2R<2-L>IBFF2.@2On_OJ2.L=<Q2Q<CIWID2L@B2I@UIPBCID@2R<2
A<R<QIC?2<=2rQB@R<2R<27QL>IB2ZBQB2I@C?QZ?QBQ><2B2=B2;CBR<TIB2
R<29<Q=[@J2ZB>D2U<I@PICI@C?2Bq?>F
-<kQ<>D2B2-L>IB2<@2OnaaJ2CLB@R?2>LZ?2iL<2<>PBWB2Z<QRI<@R?2
<=2?t?2iL<2=<2iL<RBWBJ2Z?Q2Bl<CCID@2R<2CBPBQBPB>J2V2><2ZQ<ZBQD2
ZBQB2 =B2 C<kL<QB2 ZQBCPICB@R?2 <@2 <>CQIWIQ2 C?@2 PIKB2 <@2 kQB@R<>2
CBQBCP<Q<>2<@2L@B2ZIKBQQB2ZQ<ZBQBRB2B2ZQ?ZD>IP?J2V2RICPB@R?2B2
>L>2hIt?>F2.@2OnnOJ2>LlQID2L@B2?Z<QBCID@2V2U?=UID2B2U<Q2RLQB@P<2
L@?>2R[B>J2Z<Q?2<=2SdIP?2R<2=B2?Z<QBCID@2RLQ?2Z?C?J2V2.L=<Q2UIUID2
=?>2 RI<CI>I<P<2 =PIT?>2 Bq?>2 R<2 >L2 UIRB2 <@2 L@B2 C<kL<QB2 P?PB=F2
wQBk<RIB2 iL<2 @?2 C?@>IkLID2 I@P<QQLTZIQ2 >L>2 I@U<>PIkBCI?@<>2
V2 ZLW=ICBCI?@<>J2 iL<2 C?@PI@LD2 B=2 TI>T?2 QIPT?2 hB>PB2 OnoeJ2
CLB@R?2TLQID2TI<@PQB>2P?TBWB2<=2PS2V2tLkBWB2C?@2>L>2@I<P?>J2B2
=B2<RBR2R<2><P<@PB2V2><I>2Bq?>F
Mejor que de nuestro juicio, debemos 'arnos del clculo algebraico.
Nada ocurrir en el mundo sin que destaque,
de alguna manera, la presencia de una regla mxima o mnima.
Leonhard Euler

184

NELSON FALCN V.

/%.# #0#)1#-* 0. &#2&$"&\2#(2$*(2&2#(2%"&**(

3<RIB@P<2 =B>2 l?P?kQBy[B>2 P?TBRB>2 R<>R<2 <=2 <>ZBCI?2 @?2 ><2 RIl<Q<@CIB2 =B2 B@<>l<QICIRBR2 <dI>P<@P<2 <@PQ<2
<=2 QBRI?2 R<=2 <CLBR?Q2 V2 <=2 QBRI?2 Z?=BQJ2 T<RIB@P<2 TSP?R?>2 C?T?2 <=2 R<2 1<gP?@2 ><2 ZLR?2 P<DQICBT<@P<2
R<RLCIQ2L@B2<dZQ<>ID@2ZBQB2R<P<QTI@BQ2=B2<=IZPICIRBR2R<2=B2wI<QQBJ2<=2TSP?R?2C?@>IR<QB2R?>2C?=LT@B>2
^L@B2Z?=BQ2V2?PQB2<@2<=2<CLBR?Q`2==<@B>2R<2L@2y=LIR?J2>LZ?@I<@R?2<@2<=2C<@PQ?2R<2=B2wI<QQB2L@B2C?@RICID@2
R<2 <iLI=IWQI?2 <@2 =B2 CLB=2 =B2 ZQ<>ID@2 iL<2 <t<QC<@2 <>PB>2 C?=LT@B>2 >?@2 =B>2 TI>TB>J2 R<2 <>PB2 TB@<QB2 V2
TB@IZL=B@R?2B=k<WQBICBT<@P<2=B2<CLBCID@2R<2=B2ZQ<>ID@2ZBQB2CBRB2C?=LT@BJ2><2R<P<QTI@B2=B2<=IZPICIRBR2
R<2=B2wI<QQBF27BQB2R<P<QTI@BQ2=B2l?QTB2R<2=B2wI<QQBJ2R<yI@IT?>2B=2k<?IR<2C?T?2=B2>LZ<QyICI<2y[>ICBJ2<@2
=B2CLB=2<=2Z?P<@CIB=2P?PB=2<>2C?@>PB@P<J2?WP<@I<@R?2=B2<CLBCID@2R<2L@B2<=IZ><2<@2C??QR<@BRB>2Z?=BQ<>J2
Z?Q2iL<2R<CIT?>2iL<2=B2wI<QQB2<>2L@2<=IZ>?IR<2R<2Q<U?=LCID@F2:L<k?2T<RIB@P<2=B2<CLBCID@2R<2:BZ=BC<2
R<P<QTI@BT?>2L@B2<dZQ<>ID@2k<@<QB=2ZBQB2<=2Z?P<@CIB=2kQBUIPBP?QI?2<@2<=2UBC[?F
La Forma de la Tierra

:B2l?QTB2R<2=B2wI<QQB2><2R<>U[B2TLV2Z?C?2R<2=B2R<2L@B2<>l<QB2Z<Ql<CPBF2.>P?2><2R<W<2Z?QiL<2=B2lL<QKB2
R<2kQBU<RBR2PI<@<2>IT<PQ[B2<>lSQICBJ2<>2R<CIQ2R<WIR?2B2iL<2<=2Z<>?2BLT<@PB2C?@2=B2TB>B2TI<@PQB>2iL<2
=B>2lL<QKB>2I@P<Q@B>2@?2V2R<2<>P<2T?R?2><2P?Q@B2R?TI@B@P<2<@2RIChB>2lL<QKB>J2?P?QkB@R?2B>[2=B2>IT<PQ[B2
<>lSQICB2<UIPB@R?2L@2CQ<CITI<@P?2RI>P?Q>I?@BR?2hBCIB2L@B2RIQ<CCID@2R<P<QTI@BRBF
Caractersticas generales de la Tierra

:B2<=IZPICIRBR2^`2R<2=B2wI<QQB2><2R<>CQIW<2CLB@PIPBPIUBT<@P<2C?T?\

22222222222222222222222222222222222222222222222222222222222222222222222222222222222222

ac
a 2222222222222222222222222222222222222222222222222222222222222222222222222222222^EFO`

+?@R<2B2<>2<=2QBRI?2<CLBP?QIB=2V2C2<=2QBRI?2Z?=BQJ2>I<@R?\2B22aenoJOa2~T2V2C22aecaJOo2~T
7?Q2=?2iL<2>L2<=IZPICIRBR2<>\ . R 0,00335

.=2UB=?Q2R<2=B2B=IZPICIRBR2@?>2RIC<2iL<2=B2wI<QQB2<>2ZQ]CPICBT<@P<2<>lSQICBJ2R<WIR?2B2=?2Z<iL<q?2iL<2
<>2RICh?2@LT<Q?F2.>2Z?Q2<==?2iL<2<@2TLChB>2?CB>I?@<>J2<>PB2><2ZL<R<2C?@>IR<QBQ2>I@2@I@k@2PIZ?2R<2
I@C?@U<@I<@P<2C?T?2L@B2<>l<QB2Z<Ql<CPBJ2<@2RICh?2CB>?2<=2QBRI?2T<RI?2R<2=B2wI<QQB2-waeoO2~T2>I<@R?2
<>P<2<=2iL<2P<@RQ[B2L@B2<>l<QB2Z<Ql<CPB2C?@2<=2U?=LT<@2Q<B=2R<2=B2wI<QQBF2
:B2TB>B2R<2=B2PI<QQB2<>23w22cJmnadONMn2kF2:L<k?2=B2R<@>IRBR2T<RIB2<>\22w22cJcOn2kCTe

El mtodo de Newton

1<gP?@2<@2>L2ZQI@CIZIB2LPI=IK?2L@2TSP?R?2><@CI==?2V2<=<kB@P<2ZBQB2R<RLCIQ2P<DQICBT<@P<2=B2<=IZPICIRBR2
R<2=B2PI<QQBF25<2C?@>IR<QB@2M2C?=LT@B>2==<@B>2R<2BkLB2V2R<2><CCID@2;J2L@B2<CLBP?QIB=2V2?PQB2Z?=BQ2^U<Q2
yIkLQB2O`J2ZQ<><@P]@R?><2L@B2C?@RICID@2R<2<iLI=IWQI?2<@2<=2C<@PQ?2R<2=B2wI<QQB2Z?Q2ZBQP<2=B>2ZQ<>I?@<>2
<t<QCIRB>2Z?Q2=B>2C?=LT@B>2<>P?2ITZ=ICB2BLP?T]PICBT<@P<2iL<2=B2C?=LT@B2R<=2<CLBR?Q2<>2TB>2=BQkB2iL<2
=B2C?=LT@B2Z?=BQF
7BQB2=B2C?=LT@B2Z?=BQ2><2PI<@<2iL<2<=2Z<>?2<>PB2RBR?2Z?Q\
185

MECNICA CLSICA

222222222222222222222222222222222222222222222222222222222222222222222222222222222

P=

Gmr dv
r2
222222222222222222222222222222222222222222222222222222222222222222222222222^EFM`

+?@R< dV <>2<=2U?=LT<@2R<=2<=<T<@P?2V2mr <>2=B2TB>B2R<2=B2<>l<QB2R<2QBRI?2rJ2iL<2<>2=B2@ICB2Q<>Z?@>BW=<2

R<=2Z<>?2R<=2<=<T<@P?J2ZBQB2=?2CLB=2PBTWIS@2h<T?>2==BTBR?22=B2R<@>IRBR2R<=2BkLB2V24T2=B2R<@>IRBR2R<2
=B2wI<QQBF2/?T?

4
mr = r 3 T y dV = Adr
3
22222222222222222222222222222222222222222222222222222222222222^EFe`
222222222222222222222222222222222222222222222222222222222222222222
.@P?@C<>2=B2ZQ<>ID@2<@2=B2WB><2R<2=B2C?=LT@B2<>\
2222222222222222222222222222222222222222222222222222222222222222

p1 =

Gp 4 3
2G T 2
c
r T dr =
2
r 3
3
22222222222222222222222222222222222222222222222222^EF_`

;h?QB2ZBQB2=B2C?=LT@B2P<@<T?>2BZBQP<2R<=2Z<>?2=B2lL<QKB2C<@PQ[lLkB2Z?Q2=?2iL<2><2PI<@<2iL<\
222222222222222222222222222222222222222222222222222222222222222222222

F=

7?Q2=?2PB@P?2=B2ZQ<>ID@2R<2=B2C?=LT@B2<>\
2222222222222222222222222222222222222

p1 =

Gmr dv
(dV ) 2 r
2
r
2222222222222222222222222222222222222222222222222222222222222^EFc`

c
2G T 2 1
Gp 4 3
r T dr 2 rdr =
a 2 a 2
2
0
3
2
r 3
22222222222222222222222222222^EFa`

+<2T?R?2iL<2Z?R<T?>2IkLB=BQ2=B>2ZQ<>I?@<>2R<2=B>2C?=LT@B>J2R<WIR?2B2=B2C?@RICID@2R<2<iLI=IWQI?2V2B>[2
?WP<@<Q2=B2>IkLI<@P<2<dZQ<>ID@\

2G T 2 2G T 2 1
c =
a 2 a 2
3
3
2
222222222222222222222222222222222222222222222222222^EFn`
222222222222222222222222222222222222222222222222222222222222
+<2R?@R<2yI@B=T<@P<\

c2
3 2
=

1
a2
4GT 2222222222222222222222222222222222222222222222222222222222222222222222222^EFo`
22222222222222222222222222222222222222222222222222222222222222222222222222222222
.>PB2Q<=BCID@2<>2R<2TLChB2LPI=IRBR2ZBQB2C?@><kLIQ2=B2<=IZPICIRBR2^`2R<2=B2wI<QQB\
222222222222222222222222222222222222222222222222222222222

186

3 2
c
= 1 = 1
a
4GT

3 2
8GT

222222222222222222222222222222222222222222222222222222^EFm`

NELSON FALCN V.

+?@R<2><2BZQ?U<ChB2iL<2<=2PSQTI@?2CB2<>2TLV2Z<iL<q?2ZBQB2<dZB@RIQ2<=2ZBQS@P<>I>2<@2ZQIT<Q2?QR<@2
<@2><QI<2R<2wBV=?QF2:L<k?2>L>PIPLV<@R?222nJMn2d2ONpc2QBR>2V2wcJc2kCTeJ2<@C?@PQBT?>2iL<2<=2UB=?Q2
ZBQB2=B2<=IZPICIRBR2<>2NJNNOnM2>I<@R?2<>P<2=B2TIPBR2R<2=?2?W><QUBR?F
El geoide

.=2 k<?IR<2 <>2 <=2 =LkBQ2 >ITSPQIC?2 R<2 =?>2 ZL@P?>2 ZBQB2 =?>2 CLB=<>2 <=2 Z?P<@CIB=2 P?PB=2 ^C<@PQ[lLk?2 T]>2
kQBUIPBP?QI?`2<>2C?@>PB@P<F25I2>LZ?@<T?>2iL<2=B2wI<QQB2<>2>ITSPQICB2Q<>Z<CP?2B2>L2<t<2R<2Q?PBCID@J2P?R?>2
=?>2Z=B@?>2@?QTB=<>2B=2<CLBR?Q2><Q]@2<iLIUB=<@P<>F23BP<T]PICBT<@P<J2<>?2>Ik@IyICB2iL<2<=2Z?P<@CIB=2
P?PB=2<@2CLB=iLI<Q2ZL@P?2R<2>L2>LZ<QyICI<2R<Z<@R<Q]2>?=BT<@P<2R<2R?>2UBQIBW=<>2^ZL<>2@?2R<Z<@R<Q]2
R<=2 ]@kL=?2 BKITLPB=`F2 .@2 C??QR<@BRB>2 <>lSQICB>J2 <@2 ZBQPICL=BQJ2 <>B>2 UBQIBW=<>2 ><QIB@\2 =B2 RI>PB@CIB2 R<=2
ZL@P?2B=2C<@PQ?2R<2=B2wI<QQB2^r`2V2=B2C?=BPIPLR2$%&F25I@2<TWBQk?J2=?>2ZL@P?>2R<2=B2>LZ<QyICI<2P<QQ<>PQ<2

0 8 (% 2) ; '

>L<=<@2IR<@PIyICBQ><2TB>2WI<@2Z?Q2>L2=BPIPLR2k<?kQ]yICB2
2iL<2Z?Q2>L2C?=BPIPLR2.2J2B2ZBQPIQ2
R<2Bh?QB2L>BQ<T?>2Q2V22ZBQB2R<>CQIWIQ2<=2ZL@P?F2/?@2<>P?J2=B2C?@RICID@2Z?P<@CIB=2P?PB=2C?@>PB@P<2><2
<dZQ<>B2C?T?
22222222222222222222222222222222222222222222222222222222222222222222U (r , ) = constante = Vc + V g 2222222222222222222222222222222222222222222222222222^EFON`

Figura V.1.2.>iL<TB2R<2=B>2C?=LT@B>2V2UBQIBW=<>2L>BRB>2<@2<=2k<?IR<2R<21<gP?@

:B2C?@>PB@P<2><2R<P<QTI@B2@?PB@R?2iL<2r = a2^QBRI?2<CLBP?QIB=`J2CLB@R? 0 = 02V2r = c2^<=2QBRI?2Z?=BQ`2

CLB@R?2 0 8 (% 2) F2 ;h?QB2 R<P<QTI@BQ<T?>2 =?>2 Z?P<@CIB=<>J2 ZQIT<Q?2 R<P<QTI@BT?>2 <=2 Z?P<@CIB=2

C<@PQ[lLk?2Vc22

a 8 $ 2d

:B2BC<=<QBCID@2C<@PQ[lLkB22 c
J2U<Q2yIkLQB2EFOJ2P<@<T?>2iL<

22222222222222222222222222222222222222222222222222222222222222

J2R?@R<2d2<>2=B2RI>PB@CIB2R<=2<t<2R<2Q?PBCID@J2V2C?T?2 d 8 r cos(0 )

r
r
Vc = ac dr = ac dr cos

2222222222222222222222222222222222222222222222222222222^EFOO`
187

MECNICA CLSICA

5L>PIPLV?2<=2UB=?Q2R<2ac2V2d V2P<@<T?>2iL<2Z?P<@CIB=2kQBUIPBP?QI?\

1
Vc = r 2 2 cos 2
2
22222222222222222222222222222222

Vc = 2 r cos 2 dr

222222222222222222222222222^EFOM`

;h?QB2 R<P<QTI@BT?>2 <=2 Z?P<@CIB=2 kQBUIPBP?QI?J2 C?@>IR<QB@R?2 L@2 CL<QZ?2 CJ2 CLB=iLI<QBJ2 V2 L@2 ZL@P?2 7J2
lL<QB2R<2S=J2B2L@B2RI>PB@CIB2Q2R<2>L2C<@PQ?2R<2TB>B2^CM`2^U<Q2yIkLQB2EFM`F2.=2Z?P<@CIB=2kQBUIPBP?QI?2<@2P2
R<WIR?2B2C2><Q]2=B2>LTB2R<2=?>2Z?P<@CIB=<>2kQBUIPBP?QI?>2I@RIUIRLB=<>2iL<2ZQ?RLC<@2<@2P2CBRB2L@?2R<2=?>2
<=<T<@P?>2R<2TB>B2iL<2C?@>PIPLV<@2C2^@?P<2iL<2<>B2>LTB2<>2L@B2I@P<kQB=J2ZL<>2C2<>2L@B2RI>PQIWLCID@2
C?@PI@LB2R<2TB>B`F2.=2Z?P<@CIB=2kQBUIPBP?QI?2<@2P2R<WIR?2B=2<=<T<@P?2dmJ2B2L@B2RI>PB@CIB2s2R<=2CM2V2B2L@2
]@kL=?252C?@2=B2RIQ<CCID@2R<=2CM2B2PJ2<>\2

dV

8;

Gdm
q

Figura V.2. r<?T<PQ[B2R<=2k<?IR<

7?Q2=B2=<V2R<2C?><@?>2hB==BT?>2<=2UB=?Q2R< qJ2V2R<2<>PB2TB@<QB2=?2>L>PIPLIT?>2<@2=B2<CLBCID@2R<=2Z?P<@CIB=2
kQBUIPBP?QI?J2

q 8 r 2 g s 2 ; 2 r s cos#
dV g =

22222222222222222222222222222222222222222222222222222222

Vg =

2222222222222222222222222222222
188

G
r

Gdm
Gdm
=
2
2
q
r + s 2rs cos

dm
s2
s
1 + 2 2 cos
r
r

G
r

2222222222222222222222222222222222222222222222^EFOe`

s2

s
1 + r 2 2 r cos

1 / 2

dm

222222222222222222222222222^EFO_`

NELSON FALCN V.

s
/?T?2r > s2><2ZL<R<2<dZB@RIQ2<=2QBRICB=2<@2Z?P<@CIB>2R<2 r

s2
s
1 + 2 2 cos
r
r

2222222222222222222222222222222222222

1 / 2

s
1 s2 3 s2
1 + cos 2 + 2 cos2
r
2r
2r

5L>PIPLV<@R?2^EFOc`2<@2^EFO_`2><2PI<@<2iL<\

2222222222222222222222222222222222^EFOc`

Vg =

G s
1 s2 3 s2
1
cos
(1 sin 2 )dm
+

2
2

r r
2r
2r

Vg =

G s
s2 3 s2
1
cos
sin 2 dm

+
+

2
2

r r
2r
r

22222222222222222222222222222222222222222

22222222222222222222222222222222^EFOa`

;h?QB2UBT?>2B2PQBWBtBQ2CBRB2L@?2R<2=?>2PSQTI@?>2B>[2Z?R<T?>2U<Q2iL<2>Ik@IyICB2y[>ICBT<@P<2CBRB2L@?2
R<2<==?>F

Vg =

2222222222222222222222222222222

G
s2
s
3 s2
sin 2 dm
dm + 2 dm + cosdm
r
r
r
2r
r

7QIT<Q2P<QTI@?2R<2?QR<@2C<Q?\
222222222222222222222222222222222222222222222222222222222222222222222222

Vg =

2222222222222222222222222222222^EFOn`

G
GM
dm =

r
r 22222222222222222222222222222222222222222222222222222222222222^EFOo`

+?@R<232<>2=B2TB>B2P?PB=2R<=2CL<QZ?F2/LB@R?2>Q2<>2TLV2Z<iL<q?J2CLB@R?2<=2?QR<@2N<>J2ZQ]CPICBT<@P<J2
<=2 @IC?2 P<QTI@?2 ITZ?QPB@P<J2 <=2 Z?P<@CIB=2 kQBUIPBP?QI?2 R<2 CLB=iLI<Q2 CL<QZ?2 <>2 <=2 C?@?CIR?2 Z?P<@CIB=2
R<2 L@B2 TB>B2 ZL@PLB=F2 A[>ICBT<@P<2 <>P?2 >Ik@IyICB2 iL<J2 CLB@R?2 U<T?>2 <=2 CL<QZ?2 R<>R<2 TLV2 =<t?>2
^TBP<T]PICBT<@P<J2CLB@R?2Q2PI<@R<2B2I@yI@IP?2VJ2Z?Q2PB@P?J2>Q2PI<@R<2B2C<Q?`J2U<T?>2iL<2P?RB2=B2TB>B2
><2C?@C<@PQB2<@2L@2ZL@P?2VJ2<@2C?@><CL<@CIBJ2@?2@?>2ITZ?QPB2=B2l?QTB2R<=2CL<QZ?F
.=2PSQTI@?2R<2ZQIT<Q2?QR<@2<>\
22222222222222222222222222222222222222222222222222222

Vg =

G s
G
cosdm = 2 s cosdm

r r
r
222222222222222222222222222222222222222222222222^EFOm`

62><k@2=B2yIkLQB2EFMJ2><2ZL<R<2?W><QUBQ2iL<2>I2C?=?CBT?>2<=2<t<22<@2=B2RIQ<CCID@2R<2=?>2ZL@P?>2472^/32
2N`J2<@P?@C<>J2 s cos# 8 x 2R<=2dm

222222222222222222222222222222222222222222222222222222222

Vg =

G
G
xdm = MX CM = 0

r
r
222222222222222222222222222222222222222222222222222222222^EFMN`

189

MECNICA CLSICA

ZL<>P?2iL<2<=2?QIk<@2<>2<=2C<@PQ?2R<2TB>B2R<=2CL<QZ?F2.@2L@2CB>?2k<@<QB=2<>P?2<>2U]=IR?J2Z?@kB2R?@R<2
><2Z?@kB2=?>2<t<>J2>I<TZQ<2V2CLB@R?2><2C?=?CB2<=2<t<2R<2C??QR<@BRB>2<@2<=2C<@PQ?2R<2TB>B2R<=2CL<QZ?J2<=2
U<CP?Q2Z?>ICID@2R<=2C<@PQ?2R<2TB>B2>I<TZQ<2<>P]2RBR?2Z?Q\2
22222222222222222222222222222222222222222222222222222222222222222222222222222222222

r
r
MR = r dm
c

22222222222222222222222222222222222222222222222222222222222222222222222222^EFMO`

7?Q2<>PB2QBKD@2<>2iL<2<dZB@R<2=B2<dZQ<>ID@2B2><kL@R?2?QR<@J2ZBQB2CLB=iLI<Q2RI>PQIWLCID@2R<2TB>BJ2=B2
C?@PQIWLCID@2R<=2ZQIT<Q2?QR<@2^B=2Z?P<@CIB=2kQBUIPBP?QI?`2>I<TZQ<2<>2C<Q?F
.@2<=2><kL@R?2?QR<@2P<@<T?>2R?>2I@P<kQB=<>F2EBT?>2B2C?@>IR<QBQ2=B2ZQIT<QB\

G s2
G
V g = 2 dm = 3 s 2 dm
r r
r
2222222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222^EFMM`

5LZ?@kBT?>2iL<2Z?@<T?>2L@2>I>P<TB2CBQP<>IB@?2R<2C??QR<@BRB>2^J26J2`2C?@2<=2<t<22C?I@CIR<@P<2C?@2
2

<=2<t<2R<2Q?PBCID@F2.@P?@C<>2 s 8 x g y g z J2<>PS@2=?>2<t<>2R?@R<2<>PS@J2><2ZL<R<2<>CQIWIQ2iL<\
22222222222222222222222222222222222222222222222222222222222222222222

Vg =

G
( x 2 + y 2 + z 2 )dm
3
r
2222222222222222222222222222222222222222222222222222222^EFMe`

1
1
1
( x 2 + y 2 )dm + ( x 2 + z 2 )dm + ( y 2 + z 2 )dm

2
2
2
1
( x 2 + y 2 + z 2 )dm = ( A + B + C )

2
222222222222
2222222222222222^EFMc`

(x

+ y 2 + z 2 )dm =

+?@R<2;J292V2/J2C?@2=?>2T?T<@P?>2R<2I@<QCIB2R<2=B2wI<QQB2Q<>Z<CP?2B2=?>2<t<>2J262V2J2Q<>Z<CPIUBT<@P<F

5<k@2<=2P<?Q<TB2R<2<t<>2ZBQB=<=?>J2>BW<T?>2iL<J2L@2?Wt<P?2iL<2kIQB2<@2<=2Z=B@?2xy2B=Q<R<R?Q2R<=2<t<2
zJ2 V2 C?@>IR<QBT?>2 iL<2 <=2 <=<T<@P?2 dm2 PI<@<2 C??QR<@BRB>2xJ2 yF2 7L<>P?2 iL<2 <>P<2 <=<T<@P?2 <>P]2 B2 L@B2

RI>PB@CIB2

r 8 x 2 g y 2 2R<>R<2<=2<t<2zJ2<=2T?T<@P?2R<2I@<QCIB2<@2P?Q@?2R<=2<t<2K2<>\

2222222222222222222222222222222222222222222222222222222222222222222

I = r 2 dm = ( x 2 + y 2 )dm

22222222222222222222222222222222222222222222222222222222222^EFMa`

1?P<2 iL<2 ><2 >BW<J2 y[>ICBT<@P<J2 =?2 iL<2 >?@2 =B>2 I@P<kQB=<>J2 Z<Q?2 iL<2 @?2 >BW<T?>2 CLB@P?2 UB=<@J2 ZBQB2
CB=CL=BQ=B>2hBV2iL<2C?@?C<Q2=B2RI>PQIWLCID@2I@P<Q@B2R<2TB>B2R<=2CL<QZ?F2/?T?2h<T?>2>LZL<>P?2>IT<PQ[B2
Q?PBCI?@B=2^Q<>Z<CP?2B=2<t<2`J2A = B\
2222222222222222222222222222222222222222222222222222222222222222222222222222
:B2><kL@RB2I@P<kQB=2R<2><kL@R?2?QR<@\
190

Vg =

C
G
A+
3
2 22222222222222222222222222222222222222222222222222222222222222222222^EFMn`
r

NELSON FALCN V.

3G
G
3 s2
sin 2 dm = 3 s 2 sin 2 dm
Vg =
r
2 r
2r
22222222222222222222222222222222222222
22222222222222222222222222222222222222222222222^EFMo`

/?T?2 s sin# <>2=B2RI>PB@CIB2R<2dm B=2<t<2OPJ2U<T?>2iL<2<>PB2I@P<kQB=2<>2<=2T?T<@P?2R<2I@<QCIB2R<2=B2

wI<QQB2B=2<t<2OP2^,J2RIkBT?>`F27<Q?2R<2=B2T<C]@ICB2C=]>ICB2>BW<T?>2iL<2<=2T?T<@P?2R<2I@<QCIB2Q<>Z<CP?2
B2CLB=iLI<Q2<t<2ZL<R<2R<>C?TZ?@<Q><2<@2PSQTI@?>2R<2=?>2T?T<@P?>2R<2I@<QCIB2ZQI@CIZB=<>2C?T?\
2
2
2
222222222222222222222222222222222222222222222222222222222222222222222222222 I = Al + Bm + Cn 2222222222222222222222222222222222222222222222222222222222222222^EFMm`

+?@R<2 l, m2 V2 n2 >?@2 =?>2 C?><@?>2 RIQ<CP?Q<>2 R<2 OPJ2 Q<>Z<CP?2 B2 =?>2 <t<>2 J2 62 V2 J2 Q<>Z<CPIUBT<@P<J2 iL<2
2

Z?Q2PB@P?2><2CLTZ=<2iL<J2 l g m g n 8 1 2F2/?T?2<=2<t<22C?I@CIR<2C?@2<=2<t<2R<2Q?PBCID@2Z?R<T?>2
<dZQ<>BQ2=?2>IkLI<@P<2 n 8 cos ' 8 sin 0
2

/?T?2;229J2V2 l g m 8 cos 0 8 1 ; sin 0

I = Al 2 + Bm 2 + Cn 2
2

222222222222222222222222222222222222222222222222 I = A(l + m ) + Cn = A A sin + C sin 22222222222222222222222222222222222222^EFeN`

22222222222222222222222222222222222222222222222222222222222222

Vg =

3G
A A sin 2 + C sin 2
2r 3
222222222222222222222222222222222222222222222222222^EFeO`

6B2P<@<T?>2P?R?>2=?>2Z?P<@CIB=<>2kQBUIPBCI?@B=<>J2Bh?QB2hBC<T?>2=B2>LTB2R<2CBRB2L@?2R<2=?>2PSQTI@?>2
iL<2hB==BT?>\

C 3G
GM G
3 A + + 3 A A sin 2 + C sin 2
2 2r
r
r
GM
G
+ 3 (C A)(3 sin 2 1)
Vg =
r
2r
222222222222222222222222222222222^EFeM`
22222222222222222222222222222222
Vg =

.@P?@C<>2<=2k<?IR<2<>PBQ[B2CBQBCP<QIKBR?2Z?Q\

G
1
GM

U ( r , ) = Vc + V g = r 2 2 cos 2 +
+ 3 (C A)(3 sin 2 1)
2
r
2
r

1
GM
G
+ 3 (C A)(3 sin 2 1)
U ( r , ) = r 2 2 cos 2
2
r
2r
2222222222222^EFee`
22222222222222222

;>[2?WP<@<T?>2=B2ecuacin de la geoideJ2R?@R<2B=2ZQI@CIZI?2R<CIT?>2iL<2<=2k<?IR<2^B2><kL@R?2?QR<@`2
<>2 U ( r , 0 ) 8 2C?@>PB@P<22

Vc g V g

J2Z?Q2=?2PB@P?2=?2<>CQIWIT?>2C?T?\

191

MECNICA CLSICA

GM
G
1
+ 3 (C A)(3 sin 2 1) 2 r 2 cos 2 = U o = ctte
r
2
2r
222222222222222222222222222222222
22222222222222222222222^EFe_`

.>PB2<dZQ<>ID@2<>2L@B2CLQUB2Z=B@B2<@2C??QR<@BRB>2Z?=BQ<>2 r 8 r (0 ) J2V2<=2k<?IR<2<>2L@B2CLQUB2kIQBRB2M2
B=Q<R<R?Q2R<=2<t<2F2:B2<=IZPICIRBR2P<DQICB2ZQ<RIChB2><2ZL<R<2R<RLCIQ2R<2=B2IkLB=RBR2 U ( a,0) 8 U (c, % / 2) F

GM
G
1
+
(C A)(3 sin 2 (0) 1) 2 a 2 cos 2 (0)
3
a
2
2a
GM
G
1
=
+ 3 (C A)(3 sin 2 ( / 2) 1) 2 c 2 cos 2 ( / 2)
c
2
2c
22222222222222222222222222222222222
222222222222222222222222^EFec`

a c 2 a 2 G (C A) 1
1
=
+
3 + 3
ac
2GM
GM 2a
c
a c 2 a 2 c (C A) c
c
=
+
3 + 3
M 2a
2GM
c 2222222222222222222222222222222222222222222^EFea`
22222222222222222222222222222222222222222222222222222222 a
.&

a;c
a J2<@2<=2ZQDdIT?2ZB>?2UBT?>2hBC<Q2L@B2BZQ?dITBCID@2iL<2

:B2<=IZPICIRBR2<>PB2R<yI@IRB2C?T?2
a = c <@2P?RB>2=B>2?Z<QBCI?@<>2BQIPTSPICB>2<dC<ZP?2=B2RIl<Q<@CIBJ2=B2CLB=2h<T?>2C?@><QUBR?2C?@2>L2UB=?Q2
<dBCP?2a-cF2.>P?2ITZ=ICB2iL<2=B2ZQ<CI>ID@2R<=2Q<>L=PBR?2<>2R<=2?QR<@2

.8

a;c
a J2T<t?Q2iL<2<=2OF

a c 2 a 3 (C A) 1
1
=
+
2 + 2
a
M 2a
2GM
a
2 3
1 a
3(C A)
+
=
2 GM
2a 2 M
222222222222222222222222222222222222222222222^EFen`
22222222222222222222222222222222222222222222222222222
=

/?T?2U<T?>J2=B2<=IZPICIRBR2PI<@<2R?>2C?TZ?@<@P<>\2=B2ZQIT<QB2ZQ?UI<@<2R<2=B2TB@<QB2B>ITSPQICB2V?2
h?T?kS@<BJ2<@2iL<2<>P]2RI>PQIWLIRB2=B2TB>B2^;/`J2V2=B2><kL@RB2R<2=B2Q?PBCID@F27?Q2<>?J222N2@?2ITZ=ICB2
iL<222NF25<2@<C<>IPB2BR<T]>J2iL<2;22/J2iL<2=B2RI>PQIWLCID@2R<2TB>B2><B2>ITSPQICB2V2h?T?kS@<BF2:B2
C?@PQIWLCID@2Q?PBCI?@B=2<>\2
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222

h=

2a3
GM 22222222222222222222222222222222222222222222222222222222222222222222222222222^EFeo`

+?@R<2a = 6378,16 Km = 6378160 mJ2M = 5,976 x 10272kJ22G = 6,67 x 10 -11 Nm2/Kg2J22/ = 7,27 x 10 -11 s-1F2
/?@2<>P?>2UB=?Q<>2><2ZL<R<2R<P<QTI@B2<=2UB=?Q2R<2hJ2h = 3,468 x 10-3. :B2C?@PQIWLCID@2Q?PBCI?@B=2<>2<=2
C?CI<@P<2R<2=B2BC<=<QBCID@2C<@PQIlLkB2B2=B2kQBUIPBCI?@B=2<@2<=2<CLBR?QF25<2R<W<2@?PBQ2iL<2<=2k<?IR<2<>2L@B2
ZQ?ZI<RBR2CBQBCP<Q[>PICB2R<2=B2wI<QQB2^R<2B==[2>L2@?TWQ<`2Z?QiL<2<>2L@B2C?@><CL<@CIB2R<2=B2Q?PBCID@2V2
192

NELSON FALCN V.

=B2RI>PQIWLCID@2I@P<Q@B2R<2TB>B2ZBQPICL=BQ<>2R<2@L<>PQ?2Z=B@<PBF2;h?QB2UBT?>2B2hB==BQ2=B2<CLBCID@2R<=2
k<?IR<2B2ZQIT<Q2?QR<@2<@2lL@CID@2R<22V2hF27BQB2<>P?2R<>Z<tBT?>2(C - A)2R<2^EFen`2V2/22R<2^EFeo`2V2=?2
>L>PIPLIT?>2<@2=B2<CLBCID@2R<=2k<?IR<2^EFe_`

GM
G
1
+ 3 (C A)(3 sin 2 1) 2 r 2 cos 2 = U o = ctte
r
2
2r
2222222222222222222222^EFem`
2222222222222222222222222222222222

62?WP<@<T?>2=?2>IkLI<@P<\

GM
G 2 Ma 2
1 GMh 2
1
2
2
+ 3
h (3 sin 1) 3 r cos = U o = ctte
r
2 a
2
2r 3
2222222^EF_N`

;h?QB2ZBQB2hB==BQ2=B2k<?IR<2R<2ZQIT<Q2?QR<@2>LZ?@<T?>2iL<2

U o 8 U (a,0) J2V2>ITZ=IyICB@R?\

1
1 1 h 2
h h a 2
h

3 (3 sin 2 1)

+ = 3 r cos 2

3a
2 2a 3r
2
r a 2a
222222222222222222222
222222222^EF_O`

5I2P?TBT?>2Q22B2<@2P?RB>2=B>2?Z<QBCI?@<>2<dC<ZP?2<@2=B2RIl<Q<@CIBJ2=B2CLB=2C?@><QUBT?>2C?T?2QpBF2/?T?2
Q2 >I<TZQ<2 <>PB2 <@PQ<2 B2 V2 CJ2 <=2 <QQ?Q2 I@PQ?RLCIR?2 Z?Q2 <>PB2 BZQ?dITBCID@2 <>2 T<@?Q2 B2 OF2 7?Q2 =?2 PB@P?2
BZQ?dITB@R?2=B2<dZQ<>ID@2hB>PB2?WP<@<Q2L@2WL<@2Q<>L=PBR?\

ra h 2
1
h h a 2
h
2
=

a
cos

(3 sin 2 1)
3

2
3

3a
2 2a 3a
2
a
2a
ra

= sin 2
2
a
222222222222^EF_M`
222222222222222 a
222222222222222222222222222222222222222222222222222222222222222222222222222222

r = a (1 sin 2 ) 222222222222222222222222222222222222222222222222222222222222222222^EF_e`

jBV2iL<2@?PBQ2iL<2CLB@R?26 = 0J2r = aJ2V2CLB@R?26 = 7/2J2r = cJ2C?T?2R<W<2><QF25<2ZL<R<2R<T?>PQBQ2iL<2

S>PB2<>2=B2<CLBCID@2R<2L@B2<=IZ><2^l?QTB2Z?=BQ2R<2=B2CD@ICB`2C?@2C<@PQ?2<@2<=2?QIk<@2V2<dC<@PQICIRBR2

1;

c2
a 2 F2:B>2<=IZ><>2PI<@<@2L@B2<dC<@PQICIRBR2C?TZQ<@RIRB2<@PQ<2N2V2OJ2

^B2ZQIT<Q2?QR<@2<@2`2e =
CLB@P?2T]>2ZQDdITB2<>2B2C<Q?2T]>2Q<R?@R<BRB2<>J2V2CLB@P?2T]>2ZQDdITB2B2O2CLB@P?2T]>2B=BQkBRB2^T]>2
<dCS@PQICB`2<>F27?Q2<>?2><2RIC<2iL<2=B2l?QTB2R<2=B2wI<QQB2<>2L@2<=IZ>?IR<2R<2Q<U?=LCID@F2:B2<dC<@PQICIRBR2
R<2=B2wI<QQB2<>2e 8 0,0830..>PB2ZQIT<QB2BZQ?dITBCID@2B2=B2l?QTB2R<2=B2wI<QQB2ZL<R<2T<t?QBQ><2PB@P?2
C?T?2 ><2 R<><<2 P?TB@R?2 TB>2 PSQTI@?>2 R<=2 R<>BQQ?==?2 R<2 =B2 ><QI<2 R<2 VgJ2 Z<Q?2 =B>2 <dZQ<>I?@<>2 =L<k?2
PI<@R<@2B2C?TZ=ICBQ><F27BQB2<>P?J2UBT?>2B2<>PLRIBQ2Bh?QB2L@2TSP?R?2TBP<T]PIC?2k<@<QB=2iL<2Z<QTIP<2
R<P<QTI@BQ2CLB=iLI<Q2Z?P<@CIB=2<@2<=2UBC[?2C?@2=B2BZQ?dITBCID@2iL<2><2R<><<2R<2L@B2TB@<QB2T<@?>2
y[>ICB2Z<Q?2TLCh?2T]>2Q]ZIRB2V2><@CI==BF
193

!"#$% 6. %!,#!(*)%$ -% 6#.("/*)

:B>2<CLBCI?@<>2CB@D@ICB>2^?2R<2jBTI=P?@`2iL<2><2<>PLRIB@2<@2<>PB2C=B><2RIyI<Q<@2R<2=B>2l?QTL=BCI?@<>2
B@P<QI?Q<>2<@2iL<2=?>2>I>P<TB>2><2R<>CQIW<@2C?@2M@2<CLBCI?@<>2RIl<Q<@CIB=<>2R<2ZQIT<Q2?QR<@2^<>2R<CIQJ2
<@2 R<QIUBRB>2 ZQIT<QB>`J2 <@2 =LkBQ2 R<2 @2 <CLBCI?@<>2 R<2 ><kL@R?2 ?QR<@F2 :B>2 <CLBCI?@<>2 CB@D@ICB>2 R<2
jBTI=P?@2Q<ZQ<><@PB@2L@2T?R?2B=P<Q@BPIU?2R<2P?TBQ2=B>2UBQIBW=<>2iL<2R<P<QTI@B@2L@2>I>P<TBF2jBTI=P?@2
ZQ?ZL>?2C?@>IR<QBQ2<@2=LkBQ2R<2=B>2UBQIBW=<>2PJiIJ2RiIRP2^UBQIBW=<>2R<2:BkQB@k<J2C?@2n2<=2@T<Q?2R<2
kQBR?>2R<2=IW<QPBR2R<=2>I>P<TB`2=B>2TBk@IPLR<>2lL@RBT<@PB=<>2PJ2iIJ2ZI2^UBQIBW=<>2R<2jBTI=P?@`2>I<@R?2
ZI2=?>2ITZL=>?>2k<@<QB=IKBR?>2^tambin llamados momentos cannicos conjugados`F2;@]=?kBT<@P<J2=B2
>?=LCID@2k<@<QB=2R<2<>PB>2<CLBCI?@<>2R<Z<@R<Q]2R<2M@2ZBQ]T<PQ?>2C?@>PB@P<>2iL<2><2R<W<@2R<P<QTI@BQ2
T<RIB@P<2=B>2C?QQ<>Z?@RI<@P<>2C?@RICI?@<>2I@ICIB=<>2^Z?>ICI?@<>2V2T?T<@P?>2I@ICIB=<>`F
:B>2<CLBCI?@<>2CB@D@ICB>2V2<@2k<@<QB=2=?>2TSP?R?>2R<2=B2RI@]TICB2hBTI=P?@IB@B2PI<@<@2L@2I@P<Q@<>2
ZQI@CIZB=T<@P<2C?@C<ZPLB=2V2P<DQIC?F25L2BZ=ICBCID@2ZQ]CPICB2PQB>CI<@R<2B2=B2T<C]@ICB2QBCI?@B=J2<>PB@R?2
<@2=B2WB><2R<2=B2l?QTL=BCID@2RI@]TICB2R<2?PQ?>2CBTZ?>J2C?T?2=B2T<C]@ICB2CL]@PICBF27?Q2<=2C?@PQBQI?2
PI<@<@2 L@B2 BZ=ICBWI=IRBR2 ZQ]CPICB2 B2 =B2 Q<>?=LCID@2 R<2 ZQ?W=<TB>2 R<2 T<C]@ICB2 QBCI?@B=2 T<@?Q2 iL<2 =B>2
l?QTL=BCI?@<>2:BkQB@kIB@Bp.L=<Q2?2R<21<gP?@F2.@2?CB>I?@<>2=B2R<>CQIZCID@2T<RIB@P<2M@2<CLBCI?@<>2
R<2ZQIT<Q2?QR<@2<>2U<@PBt?>BJ2VB2iL<2ZL<R<2lBCI=IPBQ2=B2Q<>?=LCID@2T<RIB@P<2TSP?R?>2@LTSQIC?>J2iL<2><2
l?QTL=B@2V2<>PLRIB@2<@2k<@<QB=2ZBQB2>I>P<TB>2R<2<CLBCI?@<>2RIl<Q<@CIB=<>2R<2ZQIT<Q2?QR<@F

6.1 Funcin de Hamilton (hamiltoniano o funcin hamiltoniana)

L L(q1 , q 2 ,..., q n , q 1 , q 2 ,..., q n , t ) 22

/?@>IR<Q<T?>2=B2lL@CID@2R<2:BkQB@k<\2

;=2RIl<Q<@CIBQ2Q<>Z<CP?2B=2PI<TZ?2><2?WPI<@<\
2222222222222222222222222222222222222222222222222222222222222
L<2Z?R<T?>2Q<<>CQIWIQ2C?T?\
222222222
2

2 2

22222222222222222222222222222222222222222222

5<2hB@2>LZL<>P?2U[@CL=?>2h?=D@?T?>J2<@P?@C<>\2 2

2
22 2

22222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
195

22

2222222222222222222222222222222^aFO`

2222222222222222222222222222222^aFM`

222222222222222^aFe`

22222222222222222222222222222222222222222222222222222222222222^aF_`

MECNICA CLSICA

1DP<><2iL<2<=2=PIT?2PSQTI@?2R<2^aFe`2ZL<R<2><Q2Q<>LTIR?2C?T?\
2 2

2222222222222222222222222222222222222

-<C?QRB@R?2iL<2<@2=B2C=B><2M2><2hBW[B@2R<yI@IR?2=?>2T?T<@P?>2CB@D@IC?>\2
22222222222222222222222222222222222222222222222222222222222222222222222222222222222222
/?@2=?2CLB=2P<@<T?>2iL<2^aFc`2iL<RB2C?T?\

22

222222222222222222222222222222222222222222222222222222222222

^aFc`

222222222222222^aFa`

222222222222222^aFn`

222222222222222^aFo`

+?@R<2 h<T?>2 R<yI@IR?2 L@B2 @L<UB2 lL@CID@2 k<@<QBPQIKJ2 R<@?TI@BRB2 funcin de Hamilton2 ?2
hamiltonianoJ2<@2=B2l?QTB\

222222222222222222222222222222222222222222222222222

H H (q1 , q2 ,...qk , p1 , p2 ,... pk , t ) = pi q i L

i

.>2<UIR<@P<J2R<2^aFn`2iL<2<>B2lL@CID@2<>2PBTWIS@2L@B2C?@>PB@P<2R<=2T?UITI<@P?2^T]>2BR<=B@P<2U<Q<T?>2
iL<2<@2<l<CP?J2WBt?2CI<QPB>2C?@RICI?@<>J2BL@iL<2@?2>I<TZQ<J2><2ZL<R<2I@P<QZQ<PBQ2C?T?2=B2<@<Qk[B2R<=2
>I>P<TB`2

6.2 Ecuaciones de Hamilton

/?T?2 =B2 lL@CID@2 R<2 jBTI=P?@2 <>J2 <@2 k<@<QB=J2 R<Z<@RI<@P<2 R<2 M~2 <>ITB>2 UBQIBW=<>2 V2 R<=2 PI<TZ?F2 L<2
C?QQ<>Z?@R<@2B2=B>2~2<>ITB>2C??QR<@BRB>2k<@<QB=IKBRB>\
22222222222222222222222222222222222222222222222222222222222222

H H (q1 , q 2 ,...q k , p1 , p 2 ,... p k , t ) 2

;=2P?TBQ2<=2RIl<Q<@CIB=2P?PB=2P<@<T?>\
22222222222222222222222222222222222222222222222

^aFm`

2222222222222222222222222222^aFON`

7?Q2?PQB2ZBQP<J2Z?R<T?>2P?TBQ2=B2RIl<Q<@CIB=2P?PB=J2ZBQPI<@R?2R<2=B2R<yI@ICID@2^aFo`J2P<@<T?>\
22222222222222222222222222

2222222222222^aFOO`

-<C?QRB@R?2=B2R<yI@ICID@2R<2T?T<@P?>2CB@D@IC?>2^aFa`2J2CB@C<=BT?>2<=2><kL@R?2V2iLI@P?2PSQTI@?2R<2
=B2>LTBJ2B>[2iL<\
196

NELSON FALCN V.

222222222222222222222222222222222222222222222222

2222222222222^aFOM`

22

2222222222222^aFOe`

2222222222222^aFO_`

.=2 ><kL@R?2 >LTB@R?2 ZL<R<2 Q<<>CQIWIQ><2 L>B@R?2 =B>2 <CLBCI?@<>2 R<2 .L=<Qp:BkQB@k<2 ZBQB2 lL<QKB>2 @?2
Q<>I>PIUB>2V2U[@CL=?>2h?=D@?T?>J2ZL<>P?2iL<\

d L L
=0

dt q qi
i
22222222222222222222222222222222222222222222222222222222222222

d
L
= (pi )
qi dt

:L<k?2Q<<TZ=BKB@R?2^aFOe`2e@2^aFOM`\

2 2

2222222222222222222222222222222222222222222222222222

-<>PB@R?2TI<TWQ?2B2TI<TWQ?2^aFOO`2V2^aFO_`2P<@<T?>\
2222222222222222222222222

2 2222222222222^aFOc`

L<2><2U<QIyICBJ2>I<TZQ<2iL<2CBRB2>LTB@R?2><2B@L=<2><ZBQBRBT<@P<J2<>2R<CIQ2?WP<@<T?>2
Mp~2<CLBCI?@<>2RIl<Q<@CIB=<>2R<2ZQIT<Q2?QR<@2^ecuaciones de Hamilton`

H H
= qi
= pi
p
qi
22
22222222222222222222222222222222222222222222222222222222222222222222222222222 i

2222222222222222222222222222^aFOc`

2222222222222222222222222222^aFOa`

62BR<T]>2=B2C?@RICID@\

2222222222222222222222222222222222222222222222222222222222222222222222

H = L = Constante 2

L<2><2>L<=<2U<QIyICBQ2>I2<=2=BkQB@kIB@?2V2<=2hBTI=P?@IB@?2@?2R<Z<@R<@2<dZ=[CIPBT<@P<2R<=2PI<TZ?J2UB=<2
R<CIQ2>I2=B2UBQIBW=<2PI<TZ?2^P`2@?2yIkLQB2<@2>L>2<dZQ<>I?@<>F22
Ejemplo 6.1: 5I>P<TB2R<2T?UITI<@P?2CIQCL=BQ2R<2QBRI?2UBQIBW=<F222

Figura 6.1 5I>P<TB2R<2T?UITI<@P?2

CIQCL=BQ2R<2QBRI?2UBQIBW=<

5<2PI<@<2L@2Z=B@?J2<@2<=2C<@PQ?2R<2S=2><2BWQ<2L@2?QIyICI?2<@2=B2
CLB=2><2hBC<2ZB>BQ2L@B2CL<QRB2I@<dP<@>IW=<2R<2=?@kIPLR2=J2<@2
<=2<dPQ<T?2>LZ<QI?Q2R<2=B2CL<QRB2><2PI<@<2L@B2ZBQP[CL=B2TOJ2=B2
CLB=2><2TL<U<2<@2<>ZIQB=2<@2<=2Z=B@?J2<@2<=2<dPQ<T?2I@l<QI?Q2
<>PB2=IkBRB2L@B2TB>B2TMJ2S>PB2PI<@<2L@B2B=PLQB2V2Z?Q2R<WBt?2
R<=2Z=B@?F2+<>CQIWIQ2=B>2<CLBCI?@<>2R<=2T?UITI<@P?J2L>B@R?2=B2
T<C]@ICB2R<2jBTI=P?@J2TI<@PQB>2=B2TB>B2TO2><2TL<U<2>?WQ<2
<=2Z=B@?2^U<Q2<t<TZ=?2MF_`

197

MECNICA CLSICA

Solucin:

+<=2U[@CL=?\2 l 8 y g r P<@<T?>2 y 8 ; r 2V2<>2l]CI=2U<Q2^U<Q2<t<TZ=?2MF_`2iL<2=B2lL@CID@2R<2:BkQB@k<2<>\

m 2 2 2
M 2
L = (r + r ) +
r + Mg (l r )
2
2
2
222222222222222222222222222222222222222222222222222222

pr =

:?>2T?T<@P?>2CB@D@IC?>\222222222222
;h?QB\2 2

2222222222222222222222222222222222222222222222222222222222

p =

( )

H=

i =1

= mr 2

2222222222222^aFOn`

2222222222222222222222222222^aFOo`

H = pi q i L

2222222222222

= (m + M )r

(m + M )
M 2
r +
r + Mg (l r )
2
2
2

2222222222222^aFOm`

2222222222222222222222222222^aFMN`
2

2222222222222^aFMO`

2222222222222^aFMM`

22

2222222222222222222222222222^aFMe`

jBV2iL<2Q<C?QRBQ2iL<2j2>?=?2ZL<R<2C?@P<@<Q2=?>2T?T<@P?>2ZI2V2=B>2C??QR<@BRB>2iIJ2R<2T?R?2iL<2hBV2
iL<2hBC<Q2=B>2>L>PIPLCI?@<>2R<2=B>2U<=?CIRBR<>2k<@<QB=IKBRB>2<@2=B2<dZQ<>ID@2ZQ<C<R<@P<F

r=

22222222222222222222222222222222222222222222222222

pr
(m + M )

p
mr 2 2

2222222222222222222222222222222222222222222222222222

:B>2<CLBCI?@<>2R<2jBTI=P?@2>?@2<@P?@C<>\
222222222222222222222222222222222222222222222222

H
= pr
r

222222222222222222222222222222222222222222222222222222222

H
= p

22222222222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222222222222222222222
198

mr + Mg = p r

p = constante

pr
H
=r
=r
p r
m+M
2

p
H

= 2 =
p
mr
2

2222222222222^aFM_`

22222222222222222222222222222222222222222222^aFMc`
2

2222222222222^aFMa`

2222222222222^aFMn`

NELSON FALCN V.

+<>Z<tB@R?2ZQ2R<2^aFMa`2V2>L>PIPLV<@R?2<@2^aFM_`2?WP<@<T?>\
2

22222222222222222222222222222222222222222222222222222222222222222222 r ( m + M ) + mr + Mg = 0 2

+<>Z<tB@R?2Z2R<2^aFMn`2V2>L>PIPLV<@R?2<@2^aFMc`2?WP<@<T?>\

2222222222222^aFMo`

2222222222222222222222222222^aFMm`

2
22222222222222222222222222222222222222222222222222222222222222222222222222222222222222 mr = 0 22

+<2=B>2<CLBCI?@<>2R<2T?UITI<@P?2^aFMm`2V2^aFMo`2CB=CL=BT?>2PQIUIB=T<@P<\2

b2
r (m + M ) =
Mg = 0
mr 3
2
222222222222222222222222222222222222222222222222222222222222222222222222

2222222222222^aFeN`

+?@R<2h<T?>2R<>Ik@BR?2C?@2W2B=2T?T<@P?2B@kL=BQJ2iL<2<>2L@B2C?@>PB@P<F25I2T2kIQB2=?2>LyICI<@P<T<@P<2
Q]ZIR?J2=B2BC<=<QBCID@2C<@PQ[Z<PB2R<2T2ZL<R<2<iLI=IWQBQ2=B2BPQBCCID@2R<23J2V2<=2>I>P<TB2ZL<R<2<>PBQ2<@2
<iLI=IWQI?F2

Ejemplo 6.2 j]==<><2<=2jBTI=P?@IB@?2R<=2>I>P<TB2R<>CQIP?2<@2<=2<t<TZ=?2cFe2V2?WPS@kB><2=B>2<CLBCI?@<>2

R<2jBTI=P?@F
Solucin:

-<C?QR<T?>2iL<2><2PQBPBWB2R<2L2@B2WBQQB2R<2TB>B2T2V2=?@kIPLR2M=2
<>PB2>L>Z<@RIRB2Z?Q2L@2<dPQ<T?2T<RIB@P<2L@2Q<>?QP<2R<2C?@>PB@P<2
R<2 QIkIR<K2 zF2 :B2 WBQQB2 >?=?2 ZL<R<2 ?>CI=BQ2 =IWQ<T<@P<2 <@2 L@2 Z=B@?2
U<QPICB=2V2<=2Q<>?QP<2>?=?2ZL<R<2T?U<Q><2<@2RIQ<CCID@2U<QPICB=F2
.>2l]CI=2U<Q2iL<2^R<=2<t<TZ=?2cFeJ2USB><`

K 2
y mg (l cos + y )
2
2 2222222222222222222222222^aFeO`
222222222222222222222222222222
2
2

m
I
T = y + ml y sen
2
2
22222222222222222222222222222
22
222222222^aFeM`
U=

Figura 6.2 ?>CI=BCI?@<>2R<2L@B2WBQQB2

>Lt<PB2B2L@2Q<>?QP<2U<QPICB=F

:L<k?2=B2lL@CID@2R<2:BkQB@k<2<>\
222222222222222222222222222222222222

L=

m 2 I 2
K
y + ml y sen y 2 + mg (l cos + y )
2
2
2
22 2222222222222222222222222222^aFee`

:?>2T?T<@P?>2CB@D@IC?>2>?@2<@P?@C<>\

= p = p + lsen p y

I ml 2 sen 2 2
22222222222222222222222222222222222222222222222222222222222222222

2222222222222^aFe_`
199

MECNICA CLSICA

222222222222222222222222222222222222222222222222222222222

= p s y = I p y + mlsen p
2
2

I ml sen

2222222222222^aFec`

/?T?2 <=2 =BkQB@kIB@?2 <>2 I@R<Z<@RI<@P<2 R<=2 PI<TZ?2 V2 =B2 <@<Qk[B2 CI@SPICB2 <>2 lL@CID@2 CLBRQ]PICB2 R<2 =B>2
U<=?CIRBR<>2Z?R<T?>2CB=CL=BQ2<=2hBTI=P?@IB@?2C?T?2jw82<>\

1 2 1 2
1 2 1 2
H = m + m y ml y sen + I + Ky mg (l cos + y )
2
2
2
2
2 2222222222222^aFea`
22222222222222222222222

;h?QB2V2<@2P?R?>2=?>2CB>?>J2=B2U<QRBR<QB2lL@CID@2R<2jBTI=P?@2?2hBTI=P?@IB@?2R<W<2<>PBQ2<dZQ<>BRB2
<@2 PSQTI@?>2 R<2 =?>2 T?T<@P?>2 CB@D@IC?>2 V2 @?2 ZL<R<@2 BZBQ<C<Q2 <dZ=[CIPBT<@P<2 =B>2 U<=?CIRBR<>2
k<@<QB=IKBRB>J2Q<<TZ=BKB@R?2<>PB>2B2ZBQPIQ2R<2^aFe_`2V2^aFec`
2

m I p y + mlsen p
H =
2 I ml 2 sen 2

p + lsen p y
KK
2
2
I ml sen
2222222222222222

I p + lsen p y
+

2 I ml 2 sen 2

I p + mlsen p
ml y

I ml 2 sen 2

K
sen + y 2 mg (l cos + y )

62=B>2<CLBCI?@<>2R<2jBTI=P?@2>?@\

2222222222222^aFen`

H
2ky mg = p y
y
2 2
2222222222222222222222222222222222222222222222222222222222222222222222222222

2222222222222^aFeo`

2222222222222^aFem`

2222222222222^aF_N`

2222222222222222222222222222222222222222222222222222222222222222

H p sen + (7 / 3)lp y
=
=y
Py
ml 7 / 3 sen 2

p + lsenp y
H
= 2
=
2
P ml 7 / 3 sen
2
222222222222222222222222222222222222222222222222222222222222222222

2
2

H 2lp cos 7 / 3 sen + sen cos p + 2lsenp y p + (7 / 3)l p y

+ mglsen = p
=
2
Py
ml 7 / 3 sen

6.3 Signi8icado 8sico del hamiltoniano (H)

2222222222^aF_O`

.=2hBTI=P?@IB@?2<>2L@B2lL@CID@2iL<2R<>CQIW<2<=2<>PBR?2R<2L@2>I>P<TB2T<C]@IC?2<@2PSQTI@?>2R<2UBQIBW=<>2
Z?>ICID@2V2T?T<@P?J2V2><2R<yI@<2C?T?2

H & H (q1 ,..., q N , p1 ,..., p N , t )

+<>BQQ?==B@R?2=B2<dZQ<>ID@2T<RIB@P<2=B2Q<k=B2R<2=B2CBR<@B2><2?WPI<@<2iL<\

200

NELSON FALCN V.

dH H H H dt

qi +
pi +
dt i qi
pi t dt
2222222222222222222222222222222222222222222222222222222
2 2
=

5<2>BW<2iL<\2

pi 8 ;

=
wH
wH
qi 8

wpi
wqi 22V22
2~p<CLBCI?@<>2R<2jBTI=P?@F2

2222222222222^aF_M`

2222222222222^aF_e`

2222222222222^aF__`

7?Q2=?2PB@P?2><2PI<@<2iL<\

dH H H H H H
+

dt i qi pi pi qi t
22
2222222222222222222222222222222222222222222222222222222222222
H
L
=
t 2
222222222222222222222222222222222222222222222222222222222222222222222222222222222222 t
2
2
H
=0 H
5I2 t
2<>2C?@>PB@P<F222

2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222^aF_c`

L2@?2R<Z<@R<2<dZ=[CIPBT<@P<2R<=2PI<TZ?2V2H2<>2L@B2C?@>PB@P<2R<=2T?UITI<@P?2Z<Q?2@?2@<C<>BQIBT<@P<2
=B2<@<Qk[B2R<=2>I>P<TBF2jBV2TLCh?>2ZQ?W=<TB>2R?@R<2=B>2<dZQ<>I?@<>2R<2=?>2T?T<@P?>2CB@D@IC?>2><2
?WPI<@<@2R<2TB@<QB2?WUIB2T<RIB@P<2C?@>IR<QBCI?@<>2y[>ICB>F25I2?CLQQ<2PBTWIS@2iL<2<=2hBTI=P?@IB@?2<>2
=B2<@<Qk[B2P?PB=2^<@2B=kL@?>2CB>?>`J2ZL<R<2ZQ<>CI@RIQ><2R<2kQB@2ZBQP<2R<=2l?QTB=I>T?2ZBQB2=B2?WP<@CID@2
R<2=B>2<CLBCI?@<>2R<2jBTI=P?@F

5I2 BR<T]>2 82 @?2 R<Z<@R<2 R<2 =B>2 U<=?CIRBR<>J2 =B>2 =IkBRLQB>2 Z?Q2 h?=D@?T?>2 V2 w2 ^<@<Qk[B2 CI@SPICB`2 <>2
L@B2lL@CID@2CLBRQ]PICB2R<2=B>2U<=?CIRBR<>J2<@P?@C<>2 H 8 ctte 8 T g U F25IJ2Z?Q2C?@>IR<QBCI?@<>2y[>ICB>J2
><2ZL<R<2B><kLQBQ2iL<2 H 8 T g U 2<@P?@C<>2<=2l?QTB=I>T?2><2>ITZ=IyICB2<>CQIWI<@R?2RIQ<CPBT<@P<2<=2
jBTI=P?@IB@?2V2Q<>?=UI<@R?2=B>2M@2<CLBCI?@<>2RIl<Q<@CIB=<>2R<2O<Q2?QR<@F

pi +

H
H
= 0 y qi
=0
qi
pi

^aF_a`

Ejemplo 6.3: +<>CQIWIQ2<=2T?UITI<@P?2R<2L@B2ZBQP[CL=B2<@2L@2>I>P<TB2Q?PB@P<2^@?2I@<QCIB=`2>?T<PIRB2B2

L@2Z?P<@CIB=2I@UBQIB@P<2WBt?2L@2]@kL=?2BKITLPB=F
Solucin:

E<Q<T?>2iL<2<@2<>P<2<t<TZ=?2<=2hBTI=P?@IB@?2<>2L@B2C?@>PB@P<2R<=2T?UITI<@P?2Z<Q?2@?2C?QQ<>Z?@R<2
<dBCPBT<@P<2B2=B2<@<Qk[B2><=2>I>P<TBF
.@2<=2>I>P<TB2I@<QCIB=2><2PI<@<2iL<2=B2=BkQB@kIB@B2<>\

m 2 2 2

L = x + y + z U (x , y , z )
2

22222222222222222222222222222222222222222222222222222222222222222
2

22222222222222222222222222222222222222222222^aF_n`
201

MECNICA CLSICA

:B2U<=?CIRBR2<@2L@2>I>P<TB2R<2Q?PBCID@2CLTZ=<2iL<\

222222222222222
V fijo
22222222222

r
r r
= V gira + w r
=

r r r r
V
=V + w r

+?@R<2P<@<T?>2iL<\22 z 8 z 2

Figura 6.325I>P<TB2Q?PB@P<2J6J22J2
Q<>Z<CP?2B=2>I>P<TB2I@<QCIB=2x6xx

2222222222222222222222222222222

x = x y

222222222222222222222^aF_o`

y = y + y

22222222222222222222222222222222222^aF_m`

.@2<=2>I>P<TB2Q?PB@P<2P<@<T?>2iL<2=B2lL@CID@2R<2:BkQB@k<2<>\

m
L = x 2 + y 2 + z 2 U (x, y, z )
2

22222222222222222222222222222222222222222222222222^aFcN`
2222222222222222222222222222222222222222222222222222222222222222222222222222222222

62=B>2U<=?CIRBR<>2><2Q<=BCI?@B@2C?@2<=2>I>P<TB2ZQITBR?2B2PQBUS>2R<2=B>2Q<=BCI?@<>\

x 2 = x 2 + 2wy x + w 2 y 2

y 2 = y 2 2w 2 x y + w 2 x 2
2
2
222222222222222222222222222222222222222222222222222222222222222222222222 z = z

:L<k?2R<2^aFcN`2V2^aFcO`

L=

22222222222222222222222222222222222222222

m 2 2 2
x& + y& + z& + 2wx&y 2w xy& + w 2 y 2 + w 2 x 2 U (x, y, z )
2
2

2222222222222^aFcO`

2222222222222^aFcM`

.=2Z?P<@CIB=2<>2I@UBQIB@P<2Z?Q2=?2PB@P?2 U ux, y , z v 8 U ux , y , z v2V2=?>2T?T<@P?>2C?@tLkBR?>2>?@\
px =

2222222222222222222222222222222222222222222222222222222222222222222222222

py =

222222222222222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222222222222222222222222222222

x
L

pz =

;h?QB2hB==BT?>2=B2<dZQ<>ID@2R<=2hBTI=P?@IB@?\

202

= m x my

= m y + mx

=mz
2

2 2

2222222222222^aFce`

2 2

2222222222222^aFc_`

2222222222222^aFcc`

NELSON FALCN V.

H = pi q i L = x(m x my ) + y (m y + mx ) + z (m z ) L

i
22222222222222222222222222
5L>PIPLV<@R?2BiL[2^aFcM`2V2Q<BkQLZB@R?2PSQTI@?>2P<@<T?>\

22222222222222222222222222222222222222222222222

H=

m 2 2 2
m
(x + y + z ) 2 (x2 + y 2 ) + U
2
2
2 2

22

2222222222222^aFca`

2222222222222222222222222222^aFcn`

;iL[2><2?W><QUB2iL<2=B2<dZQ<>ID@2R<2=B2jBTI=P?@IB@B2@?2<>2R<2=B2l?QTB2w8
/?T?2<=2jBTI=P?@IB@?2><2R<W<2<>CQIWIQ2<@2lL@CID@2R<2=?>2T?T<@P?>2CB@D@IC?>2R<2=B>2<dZQ<>I?@<>2OJ2
M2V2e2R<>Z<tBT?>2=B>2U<=?CIRBR<>\

p x my
p
+
x = x + y
m
m
m

p y mx
py
+
y=
+ x
y=
m
m
m
p
z& = z
m
2
22222222222222222222222222222222222222222222222222222222222222

x=

22
62>L>PIPLIT?>2<>PB>2U<=?CIRBR<>2<@2^aFcn`\

H=

22222222222222222222222222222222222222

2
2
2

p mw2 2
m p x
p
+ yw + y + xw + z2
x + y 2 + U (x, y, z )
2 m
2
m
m

.@2<>P<2CB>?2<=2jBTI=P?@IB@?2<>2R<2=B2l?QTB\
2222222222222222222222222222222222222222222222222222222222222222222

H =T +U

mw 2 2
x + y2
2
2

2222222222222^aFco`

V2<>2RI>PI@PB2R<2=B2<@<Qk[B2R<=2>I>P<TBJ2BL@2CLB@R?2><B2L@B2C?@>PB@P<2R<=2T?UITI<@P?F2

2222222222222^aFcm`

2222222222222^aFaN`

Ejemplo 6.4 7BQP[CL=B2@?2Q<=BPIUI>PB2<@2L@2CBTZ?2<=<CPQ?TBk@SPIC?F

/?@>IR<Q<T?>2 L@B2 ZBQP[CL=B2 CBQkBRB2 >?T<PIRB2 B2 L@2 CBTZ?2 <=<CPQ?TBk@SPIC?J2 ?WPS@kB><2 <=2
jBTI=P?@IB@?F2
Solucin:

/?T?282R<Z<@R<2R<2=B2U<=?CIRBRJ2@?2<>2?WUI?2iL<2<=2jBTI=P?@IB@?2><B2IkLB=2B2=B2<@<Qk[B2>I@2<TWBQk?J2
"
<@2<>P<2CB>?2ZBQPICL=BQ2>I2iL<2=?2<>F
2
-<C?QR<T?>2iL<2<=2Z?P<@CIB=2><2<>CQIW<2<@2PSQTI@?>2R<=2Z?P<@CIB=2<>CB=BQ2 2V2R<=2Z?P<@CIB=2U<CP?Q2 A 2
C?T?\

203

MECNICA CLSICA

2222222222222222222222222222222222222222222222222222222222222222222222222222222222

U = q

2222222222222^aFaO`

m 2
q rr
v q + A. v
c
2
2 2

2222222222222^aFaM`

2222222222222^aFae`

2222222222222^aFa_`

:L<k?2=B2lL@CID@2R<2:BkQB@k<2?2=BkQB@k<B@?2<>\
2222222222222222222222222222222222222222222222222222222222222222222222222
/?@2=?>2T?T<@P?>2CB@D@IC?>\
2222222222222222222222222222222222222222222222222222222222222222222222222
/?@2=?2CLB=\
22222222222222222222222222222222222222222222222222222222222

L=

pi =

L
q
= mvi + Ai
vi
c 2 2

H = pi q i L =
i

q rr
A. v
2
c

m 2
v + q = T + q
2
2

L<2hBV2iL<2<dZQ<>BQ2<@2PSQTI@?>2R<2=?>2T?T<@P?>2CB@D@IC?>2C?T?\
2

q
1
H=
p A + q
c
2m
222222222222222222222222222222222222222222222222222222222222222222222
22
L<2<>2IkLB=2B2=B2<@<Qk[B2R<=2>I>P<TBF

2222222222222222222222222222^aFac`

Ejemplo 6.5. .@2 Oo_aJ2 uI=h<=T2 u<W<Q2 ZQ?ZL>?2 =B2 ZQIT<QB2 P<?Q[B2 R<2 =B2 <=<CPQ?RI@]TICBJ2 B@P<QI?Q2 B2
3Bdg<==J2 ><k@2 =B2 CLB=2 =B2 lL<QKB2 <=<CPQ?TBk@SPICB2 <QB2 ZQ?RLCIRB2 Z?Q2 =B2 lL<QKB2 R<2 /?L=?TW2 T]>2 L@2
Z?P<@CIB=2 R<Z<@RI<@P<2 R<2 =B2 U<=?CIRBRJ2 R<2 T?R?2 iL<2 <=2 Z?P<@CIB=2 <=<CPQ?RI@]TIC?2 lL<QB2 R<2 =B2 l?QTB

U8

1 1 r!
g
r c 2 r 2 /L]=2 <>2 <=2 hBTI=P?@IB@?2 R<2 L@B2 ZBQP[CL=B2 iL<2 ><2 TL<U<2 WBt?2 =B2 I@y=L<@CIB2 R<2 PB=2

Z?P<@CIB=
Solucin:

/?T?2

T8

1
m(r! 2 g r 2'! 2 )
2
22<>2=B2.@<Qk[B2/I@SPICB2<@2C??QR<@BRB>2Z?=BQ<>F

w<@<T?>2iL<2=B2lL@CID@2R<2:BkQB@k<2<>\

L=

222222222222222222222222222222222222222222222222222222222222
jB==BT?>2=?>2T?T<@P?>\

1 1 r&
m 2
(r& + r 2& 2 ) 2
r c r2
2

2r&
L
= mr&
= pr
r&
cr
L
2 &
2222222222222222222222222222222222222222222222222222222222222222222222222222222 & = mr = p 22 2

204

2222222222222^aFaa`

2222222222222^aFan`2

NELSON FALCN V.

L
2r&
= mr&
= pr
r&
cr
2222222222222222222222222222222222222222222222222222222222222222222222222222222
L
= mr 2& = p
&
222
222222222222222222222222222222222222222222222222222222222222222222222222222
.=2hBTI=P?@IB@?2<>PB2R<yI@IRB2R<2=B2>IkLI<@P<2l?QTB2

H 8 5 q! i pi ; L
i

2iL<RB2C?T?\

m
1 1 r& 2
H = r&p r + p & (r& 2 + r 2& 2 ) 2
r c r
2
2
222222222222222222222222222222222222222222222

mr& 2 mr 2& 2 1 r& 2

+ + 2
H = r&p r + p &
r c r
2
2
222222222222222222222222222222222222222222
r!,'!
5L>PIPLV?2=?>2UB=?Q<>2R<2

p
r
H = pr
m 2

c2r

2222222222222222222222222

2
2

2Z?Q2T<RI?2R<2^aFan`2V2P<@<T?>2iL<\2

p m pr

+ p 2

mr 2 m 2

c2r

2222222222222^aFao`2

2222222222222^aFam`

2222222222222222222222222222^aFnN`

mr 2 p 2 1 1 p

+ +

2 mr 2 r c 2 r 2

m 2

c r

-<B=IKB@R?2<=2]=k<WQB2C?QQ<>Z?@RI<@P<2C?@2=?>2PSQTI@?>2>ITI=BQ<>J2P<@<T?>2iL<\

222222222222^aFnO`

2
1
1
1
1
m
+ p + 1

+ 2
H = pr2
2
2
2
2

2
r
2 c r
2 2mr
m c2r
m 2
m 2
c r
c r

2 2
2222222222222222222222222222222222222222222222

222222222222^aFnM`

2222222222222^aFne`

2222222222222^aFnc`

/?@2<=2CBTWI?2R<2UBQIBW=<\
222222222222222222222222222222222222222222222222

x = m 2
c r

A=

;=2>L>PIPLIQ2V2>ITZ=IyICBQ2?WP<@<T?>\2

p2
1
+
2
r 2
2mr

p
2
H = r 2 m 2 + A
cr
2x
2222222222222222222222222222222222222222222222222222222^aFn_`

5L>PIPLV?2<=2UB=?Q2R<2x y A,2V2P<@<T?>2iL<2=B2hBTI=P?@IB@B2<>\

H=

2222222222222222222222222222222222222222222222222222222222222222222

p r2

2 m 2
c r

;h?QB2hB==BT?>2=B>2<CLBCI?@<>2R<2jBTI=P?@\

p2
1
+
2
r
2mr
2

205

MECNICA CLSICA

pr
H
= r&
= r&
2
p r

m 2
c r

2
2
222222222222222222222222222222222222222
2
pr
H
&
= r&
222222222222222222222222222222222222222222222222222222222222222222 p = r
2
r
m 2
c r

2
22222222222222222222222222222222222222222222222222222222222222222222222
2

1
H
r& 2
= p& r = mr mr& 2 2 2 2
r
r
c r

222222222222222222222222222222222222222

2222222222222^aFna`

2222222222222^aFnn`

2 2

2222222222222222222222222222^aFno`

H
1
r& 2
= p& r = mr mr& 2 2 2 2
r
c r 22222222222222222222222222222222222222222222222^aFnm`
222222222222222222222222222222222222222222222222222222222 r
6.4. El principio de mnima accin:

;=2 <@L@CIBQ2 <=2 ZQI@CIZI?2 R<2 jBTI=P?@2 ><2 C?@>IR<QD2 R<>Z=BKBTI<@P?>2 UIQPLB=<>2 C?@2 UBQIBCI?@<>2 2 iL<2
@?2 @<C<>BQIBT<@P<2 C?QQ<>Z?@R[B@2 B2 R<>Z=BKBTI<@P?>2 U<QRBR<Q?>2 ^C?TZBPIW=<>2 C?@2 <=2 >I>P<TB2
y[>IC?`F2 /DT?2 <=BW?QBQ2 L@B2 l?QTL=BCID@2 iL<2 C?QQ<>Z?@RB2 B2 R<>Z=BKBTI<@P?>2 Q<B=<>2 <@2 L@2 PI<TZ?2
I@yI@IP<>ITB=T<@P<2Z<iL<q?2dt
222222222222222222222222222222222222222222222222222222222
+<yI@BT?>2=B2accin:

f
f
d i + t = f + f t
i
t
2

f ( i , t ) =

22222222222222222222222222222222222222222222222222222222222

t2

t1

2222222222222^aFoN`

2222222222222^aFoO`

t2

pi q i dt = ( L + H ) dt
t1

+?@R<2h<T?>2L>BR?2^aFo`2<dZ=[CIPBT<@P<2<@2=B2=PITB2IkLB=RBRF

Principio de mnima accin: La trayectoria real que sigue un sistema es aquella que m4nimiza la
accin, simblicamente:

0 8 K A & K!

t2

t1

iL<2<iLIUB=<2B2=B2ByIQTBCID@\
2222222222222222222222222222222222222222222222222222222222222222222222
206

5p
i

t2

q i d t 8 K! (L g H ) d t
t1

t2

0 = A = ( L + H ) dt
t1

22

2222222222222^aFoM`

NELSON FALCN V.

7Q?WBQ<T?>2<@><kLIRB2iL<2<@2<l<CP?2><2U<QIyICB2=B2@L=IRBR2R<2PB=2UBQIBCID@\
t2

t2

t2

A = L dt + H dt = L dt + Ht

t1
t1
t1
22
22222222222222222222222222222222222222222222222222222222
R?@R<2><2hB2>LZL<>P?2iL<2j2Z<QTB@<C<2C?@>PB@P<2<@2<=2I@P<QUB=?2t2-t12\

t2

A = (L + L t ) dt + Ht

t1
22222222222222222222222222222222222222222222222222222222222222222222
R?@R<2h<T?>2L>BR?2^aFoN`2<dZ=[CIPBT<@P<\
t2

A = (
t1

22222222222222222222222222222222222222222222222222

2222222222222222222222222222^aFoe`2

L
L
qi + qi ) dt + Lt + Ht
qi
qi
2

t2 =

L Kt ) dt \ LKt

2222222222222^aFo_`

2222222222222^aFoc`

J2 =L<k?J2 L>B@R?2 =B>2 <CLBCI?@<>2 R<2 .L=<Qp

7L<>P?2 iL<2 ::^iIJRiIRPJP`2 V2 BR<T]> t1
:BkQB@k<2ZBQB2Q<<>CQIWIQ2<=2ZQIT<Q2P<QTI@?2R<=2><kL@R?2TI<TWQ?2R<2^aFoc`2P<@<T?>\
t2

A = (
t1

2222222222222222222222222222222222222222222

d L
L d
qi +
qi ) dt + ( L + H )t

dt
dt q

q
i
i
2 2222222222222222222222222222^aFoa`

:?>2R?>2ZQIT<Q?>2PSQTI@?>2ZL<R<@2BkQLZBQ><J2ZBQB2<>CQIWIQ=?>2C?T?\

A =

t2

t1

222222222222222222222222222222222222222222222222222222222222
=

d L

( qi + ( L + H )t

i dt
qi

/?T?2 1q 8 Kq ; q Kt J2<@2UIQPLR2R<2^aFoN`2<@P?@C<>\

A =

t2

t1

22222222222222222222222222222222222222222222

2222222222222^aFon`

d L
L
(

i dt i q i t ) dt + ( L + H )t
qi
qi
2 2222222222222222222222222222^aFoo`

.=2>[TW?=?2R<2>LTBP?QIB2ZL<R<2<>CQIWIQ><2lL<QB2R<2=B2I@P<kQB=J2V2Q<>L=PB2iL<\

A =

2222222222222222222222222222222222222222222222222222

qi

qi
i

qi

q i t + ( L + H )t

2222222222222^aFom`

2222222222222^aFmN`

.=2 ZQIT<Q2 PSQTI@?2 R<=2 ><kL@R?2 TI<TWQ?2 ><2 B@L=B2 Z?Q2 =B>2 UBQIBCI?@<>F2 4W><QUBT?>2 iL<2 <=2 ><kL@R?2
PSQTI@?2C?@PI<@<2B2=?>2T?T<@P?>2CB@D@IC?>F

A = pi q i t + ( L + H )t = pi q i L + H t
i

i
2
2222222222222222222222222222

207

MECNICA CLSICA

4WUIBT<@P<2R<2^aFc`2<=2PSQTI@?2<@PQ<2==BU<>2><2B@L=BJ2C?@2=?2CLB=2><2hB2ZQ?WBR?2iL<2=B2BCCID@2<>2<dPQ<TB=J2
UB=<2R<CIQ2><2hB2U<QIyICBR?2iL<\
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222 A = 0 2 2

22222222222222222222222222222222222222222222^aFmO`

.>2l]CI=2U<Q2iL<2<@2=B2BZQ?dITBCID@2@?2Q<=BPIUI>PB2V2C?@2=IkBRLQB>2@?2h?=D@?T?>2<=2ZQI@CIZI?2R<2
T[@ITB2BCCID@2><2ZL<R<2<>CQIWIQ2C?T?\
22222222222222222222222222222222222222222222222222222

0 = A =

t2

t1

p
i

t2

q i dt = 2 T dt
t1

22

2222222222222^aFmM`

2 2

2222222222222^aFme`

7BQB2 L@B2 ZBQP[CL=B2 =IWQ<J2 RIkBT?>2 L@2 l?PD@2 Z?Q2 <t<TZ=?J2 ><2 P<@RQ[B2 8N2 V2 <@2 C?@><CL<@CIB2 jw82
C?@>PB@P<2ITZ=ICB2iL<2w2PBTWIS@2<>2C?@>PB@P<2V2R<2^aJmM`2><2>IkL<2iL<2TI@ITIKBQ2=B2BCCID@2<iLIUB=<2B2
TI@ITIKBQ2<=2PI<TZ?\
22222222222222222222222222222222222222222222222222

t2

t2

t1

t1

0 = A = T dt = T

dt = Tt

t = 0

L<2><2ZL<R<2Q<>LTIQ2<@2<=2<@L@CIBR?2<iLIUB=<@P<2R<=2ZQI@CIZI?2R<2T[@ITB2BCCID@\

Principio de mnima accin: de todas las trayectorias posibles de una partcula, entre dos puntos
dados, compatibles con la conservacin de la energa, el sistema fsico sigue aquella para la cual el
tiempo de transito es mnimo.

/?T?2 ><2 RI>CLPID2 <@2 =B2 C=B><2 eJ2 <=2 T?UITI<@P?2 R<2 =B>2 ZBQP[CL=B>2 =IWQ<>J2 <>2 PB=2 iL<2 >IkL<@2 =B>2 =[@<B>2
k<?RS>ICB>2?2WI<@2<>2?PQB2l?QTB2R<2<@L@CIBQ2<=2ZQI@CIZI?2R<2A<QTBP2>?WQ<2=B2ZQ?ZBkBCID@2R<2=B2=LKJ2
iL<2<>PBW=<C<2iL<2B=2IQ2R<2L@2ZL@P?2B2?PQ?J2=B2=LK2=?2hBC<2Z?Q2<=2CBTI@?2TB>2Q]ZIR?F2/?@2<=2ZQI@CIZI?2R<2
jBTI=P?@2PB=2C?T?2=?2hBW[BT?>2<@L@CIBR?2<@2=B2C=B><2MJ2@L@CB2Z?RQ[BT?>2hBW<Q2?WP<@IR?2L@2Q<>L=PBR?2
C?T?2<=2Z?>PL=BR?2Z?Q2A<QTBPJ2VB2iL<2<=2PI<TZ?2Z<QTB@<C<2I@B=P<QBR?2B=2UBQIBQ2=B>2PQBV<CP?QIB>F
/?@>IR<Q<T?>2L@B2@ICB2ZBQP[CL=B2T?UIS@R?><2<@2L@2CBTZ?2R<2lL<QKB>F2:B2BCCID@2><2<>CQIW<\
22222222222222222222222222222222222222222222222

0 = A =

t2

t1

t2

t2
r r
pi qi dt = p dr = p ds
i

t1

t1

2222222222222^aFm_`2

2222222222222^aFmc`

.@2<=2=PIT?2ZB>?2h<T?>2BZQ?U<ChBR?2iL<2=?>2U<CP?Q<>2p2V2dr2PI<@<@2=B2TI>TB2RIQ<CCID@F2
:L<k?2<=2ZQI@CIZI?2R<2T[@ITB2BCCID@2><2<>CQIW<\
t2

222222222222222222222222222222222222222222222222222222222222222222222222222222222

0 = v ds
t1

.>2CI<QP?2iL<2<>PB2<dZQ<>ID@2kLBQRB2L@B2@?PBW=<2B@B=?k[B2C?@2<=2principio de Fermat.

7<Q?2 iL<2 <>2 <><@CIB=T<@P<2 RIl<Q<@P<2 B2 S=F2 ;h?QB2 Z?R<T?>2 C?TZQ<@R< =B2 C?@lL>ID@2 R<2 +<>CBQP<>J2

208

NELSON FALCN V.

C?QQ<kIRB2Z?Q2A<QTBPJ2B=2>LZ?@<Q2iL<2>L2=<V2R< Q<lQBCCID@2ITZ=ICBWB2iL<2=B2=LK2><2T?U[B2T]>2Q]ZIR?2<@2
<=2T<RI?2T]>2R<@>?F :B2B@B=?k[B2<@PQ<2=B2DZPICB2V2=B2T<C]@ICB2Q<iLI<Q<2R<yI@IQ2<=2[@RIC<2R<2Q<lQBCCID@
R<2L@2T<RI?2C?T?2<=2C?CI<@P<2<@PQ<2=B>2U<=?CIRBR<>2R<2=B2=LK2<@2<=2UBC[?2V2<@2<= T<RI?J2n = c/vF2+<2<>PB2
TB@<QB2Z?R<T?>2<>CQIWIQ2<=2ZQI@CIZI?2R<2A<QTBP2C?T?\
t2

2222222222222222222222222222222222222222222222222222222222222222222222222222222222

0 = n ds
t1

2222222222222^aFma`

2 2

2222222222222^aFmn`

;h?QB2 >IJ2 <>PB2 <dZQ<>ID@2 PI<@<2 =B2 TI>TB2 <>PQLCPLQB2 iL<2 <=2 ZQI@CIZI?2 R<2 T[@ITB2 BCCID@J2 >I<TZQ<2 iL<2
B>?CI<T?>2=B2U<=?CIRBR2R<2=B2ZBQP[CL=B2C?@2<=2[@RIC<2R<2Q<lQBCCID@2R<2=B2=LKF2:B2CB@PIRBR2R<2T?UITI<@P?2
<>P]2=IkBRB2C?@2=B2<@<Qk[B2Z?P<@CIB=2R<=2>I>P<TB2Z?Q2=B2=<V2R<2C?@><QUBCID@2R<2=B2<@<Qk[B2mv2=2 + V = E
V2<@2C?@><CL<@CIB2Z?R<T?>2B>?CIBQ2<=2[@RIC<2R<2Q<lQBCCID@2C?@2=B2<@<Qk[B2Z?P<@CIB=2<@2L@B2RBRB2Q<kID@2
R<=2<>ZBCI?J2Q<<TZ=BKB@R?2<@2^aFmc`2P<@<T?>\
t2

2222222222222222222222222222222222222222222222222222222222222222222222222

0 =

t1

E U
ds
m/2

E<T?>2iL<2=B>2UBQIBCI?@<>2R<=2[@RIC<2R<2Q<lQBCCID@2R<2=B2=LK2<@2L@2T<RI?2@?2h?T?kS@<?2>?@2B@]=?kB>2B2
=B>2UBQIBCI?@<>2R<2<@<Qk[B2Z?P<@CIB=2ZBQB2<=2T?UITI<@P?2R<2L@B2ZBQP[CL=BF2.>2R<CIQ2iL<2B2L@2I@CQ<T<@P?2
R<=2[@RIC<2R<2Q<lQBCCID@2=<2C?QQ<>Z?@R<2L@2I@CQ<T<@P?2R<2=B2<@<Qk[B2Z?P<@CIB=F
Ejemplo 6.6 +<T?>PQBCID@2R<=2ZQI@CIZI?2R<2T[@ITB2BCCID@.

8>B@R?2 <=2 C]=CL=?2 UBQIBCI?@B=J2 k<@<QB=[C<><2 <=2 ZQI@CIZI?2 R<2 jBTI=P?@2 ^U<Q2 C=B><2 eJ2 ><CCID@2 eFO`2 ZBQB2
R<T?>PQBQ2<=2ZQI@CIZI?2R<2T[@ITB2BCCID@F2
Solucin:

/?@>IR<Q<T?>2UBQIBCI?@<>2Q<B=<>2iL<2PI<@<@2=LkBQ2<@2L@2I@P<QUB=?2RPJ2PB=<>2iL<\2UBQIBCI?@<>22iL<2@?2
@<C<>BQIBT<@P<2C?QQ<>Z?@R[B@2B2R<>Z=BKBTI<@P?>2U<QRBR<Q?>F

7?Q2<=2<TZ=<?2R<2<>P<2ZQI@CIZI?2><2ZLR?2R<T?>PQBQ2iL<2=B>2<CLBCI?@<>2R<2T?UITI<@P?2R<2L@2>I>P<TB2
R<QIUBRB>2 B2 ZBQPIQ2 R<2 =B>2 <CLBCI?@<>2 R<2 .L=<Qp:BkQB@k<J2 hBC<@2 iL<2 =B2 BCCID@2 ><B2 L@2 <dPQ<TB=J2 ZBQB2
Q<B=IKBQ2<>PB2R<T?>PQBCID@2><2<TZ=<?2<=2<@l?iL<2R<2=B22pUBQIBCID@J2<@2<=2CLB=2<=2CBTI@?2UBQIBR?2<@2<=2
<>ZBCI?2R<2C?@yIkLQBCID@2<@2=?>2ZL@P?>2<dPQ<T?>2B2=?>2PI<TZ?>2 t1 2V2 t2 2>I<TZQ<2><2hBC[B2C?I@CIRIQ2C?@2<=2
CBTI@?2C?QQ<CP?J2BR<T]>2><2Q<iL<Q[B2iL<2

qi ut1 v 8 qi ut2 v 8 0

2^USB><2yIkLQB2aF_2IKiLI<QRB`F

EBT?>2B2Bh?@RBQ2<@2<>P<2ZQI@CIZI?2C?@>IR<QB@R?2?PQ?2PIZ?2R<2UBQIBCID@J2=B2 K pUBQIBCID@F2.>P<2PIZ?2R<2
UBQIBCID@2<>2T<@?>2Q<>PQICPIUBJ2<@2k<@<QB=2<=2CBTI@?2UBQIBR?2>?WQ<2<=2CLB=2L@B2I@P<kQB=2<>2<UB=LBRB2ZL<R<2
P<QTI@BQ2B2PI<TZ?>2RIl<Q<@P<>2B=2R<=2CBTI@?2C?QQ<CP?J2V2ZL<R<2hBW<Q2L@B2UBQIBCID@2<@2=B>2C??QR<@BRB>2
<@2=?>2ZL@P?>2<dPQ<T?>2^AIkFaF_2R<Q<ChB`F
.@2k<@<QB=2=B2 K pUBQIBCID@2RIyI<Q<2R<2=B22pUBQIBCID@2<@2iL<2<@2=B2ZQIT<QB2><2P?TB@2<@2CL<@PB2UBQIBCI?@<>2
R<2 t J2^aFmo`2>I2C?@>IR<QBT?>2L@B2lL@CID@2 f 8 f u| i , t v J2=B2 K pUBQIBCID@2><2ZL<R<2<>CQIWIQ2C?T?\

209

MECNICA CLSICA

f
f
f =
i + t = f + f&t
t
i i
2222222222222222222222222222222222222222222222222222
2

2222222222222^aFmo`

Fig.6.4.2-<ZQ<><@PBCID@2R<=2<>ZBCI?2R<2lB><F25<2<>iL<TBPIKB2=B2PQBV<CP?QIB2><kLIRB2Z?Q2<=2>I>P<TBJ2
B2=B2IKiLI<QRB2=B>2Z<QPLQWBCI?@<>2C?@>IR<QB@R?2=?>2<dPQ<T?>2yIt?>F2
62B2=B2R<Q<ChB2=B22pUBQIBCID@2T<@?>2Q<>PQICPIUB2>I@2<dPQ<T?>2yIt?>F

5<2R<yI@<2L@B2lBTI=IB2R<2Z?>IW=<>2CBTI@?>2UBQIBR?>2R<2=B2l?QTB\

22222
q ut , + v 8 qi ut ,0 vg + - i ut v
22222222222222222222222222222222222222222222222222222222222222222222 i

2222222222222^aFmm`

2222222222^aFONN`

2222222222^aFONO`

;iL[2=B>2lL@CI?@<>2 i 2@?2@<C<>BQIBT<@P<2PI<@<@2iL<2R<>BZBQ<C<Q2<@2=?>2ZL@P?>2<dPQ<T?>J2P?R?2=?2iL<2
><2Q<iLI<Q<2<>2iL<2<==B>2><B@2C?@PI@LB>2V2RIl<Q<@CIBW=<>F
t2

! Ldt

/?@>IR<Q<T?>2=B2BCCID@2, t1

J2>L2 K pUBQIBCID@2L>B@R?2^aFmo`J2<>P]2RBRB2Z?Q\2

2222222222222222222222222222222222222222222222222222222222222222
4WUIBT<@P<\

t2

t2

t2

t1

t1

t1

K ! Ldt 8 ! KLdt 8 ! u1L g L! Kt v d t

222222222222222222222222222222222222222222222222222222222222222222222222

t2

t2

t1

t1

Ldt = Ldt + Lt t 2
1

22

.=2ZQIT<Q2PSQTI@?2R<=2><kL@R?2TI<TWQ?2<@2^aFmm`2><2ZL<R<2>ITZ=IyICBQ2ZBQB2?WP<@<Q\2

210

NELSON FALCN V.

t2

t2

t1

t1

Ldt = q
i

qi +

L
L
q& i + t dt
q& i
t
t

t2

2
2
L
L
L
qi dt +
q& i dt + t dt
=
&i
t
i t1 q
i t1 q i
t1

2222222222222222222222222222222222222222222222

22 2

2222222222^aFONM`

.=2=PIT?2PSQTI@?2R<=2><kL@R?2TI<TWQ?2<>2@L=?2Z?QiL<2@?2hBV2UBQIBCI?@<>2R<2PI<TZ?F2,@P<kQB@R?2Z?Q2
ZBQP<>2<=2Z<@=PIT?2PSQTI@?J2P<@<T?>\
t2
t2
L
d L
L
t Ldt = i t qi qi dt + i q& i q& i dt t dt q& i
t1
1
1
1

2222222222222222222222222222222

qi dt

t2

t2

t2
L d L
=

dt q& i
i t1 q i

L
qi dt +
qi
&
q

i
i

t2

t1

222222222222222222222222^aFONe`

.=2 C?QCh<P<2 ><2 B@L=B2 ZL<>P?2 iL<2 ><2 U<QIyICB@2 =B>2 <CLBCI?@<>2 R<2 .L=<Qp:BkQB@k<J2 V2 <=2 =PIT?2 PSQTI@?2
p
C?@PI<@<J2Z?Q2R<yI@ICID@J2=?>2T?T<@P?>2CB@D@IC?> i \
t2

22222222222222222222222222222222222222222222222222

L
t Ldt = i q& i qi
1

t2

t1

= pi qi
i

.TZ=<B@R?2^aFmm`V2^aFONN`><2ZL<R<2<>CQIWIQ2<@P?@C<>\
t2

t2

Ldt = Lt + piqi
i

t
t
222222222222222222222222222222222222222222222222222222222222222
/?T?2=B>2UBQIBCI?@<>2>?@2PB=<>2iL<\2

22222222222222222222222222222222222222222222222222222222222222222222222222222

qi = qi + q&i t 2

t2
t1

2222

2 2

22222222222222222222222222^aFON_`

22222222222222222222222222222222222222222^aFONc`
2

/?@>IR<QB@R?2<>P?2V2=B2R<yI@ICID@2R<2jBTI=P?@IB@?2^aFo`2><2ZL<R<2<>CQIWIQ2C?T?\2
2
t2
t

2222222222^aFONa`

2222222222^aFONn`

Ldt = Lt + pi qi pi q& i t =
i
i
t1

t1

t2

= pi q& i L t + pi qi
i

i
t1
t2

222222222222222222222222222222222222222

= Ht + pi qi
i

t1

22

211

MECNICA CLSICA

227BQB2?WP<@<Q2<=2ZQI@CIZI?2R<2T[@ITB2BCCID@J2><2C?@>IR<QB@2=B>2>IkLI<@P<>2Q<>PQICCI?@<>\

5I>P<TB>2<@2=?>2CLB=<>2 L V2Z?Q2=?2PB@P?2 H J2@?2>?@2lL@CI?@<>2<dZ=[CIPB>2R<=2PI<TZ?J2V2<@2C?@><CL<@CIB2

H <>2C?@><QUBRBJ2<>2R<CIQ2<>2C?@>PB@P<2R<=2T?UITI<@P?F2
:B2 K pUBQIBCID@2<>2C?@>IR<QBRB2PB=2iL<2 H 2<>2C?@><QUBR?2PB@P?2<@2<=2CBTI@?2iL<2>IkL<2Q<B=T<@P<2<=2
>I>P<TBJ2C?T?2<@2<=2CBTI@?2UBQIBR?2<@2 K F
.=2CBTI@?2U]=IR?2<>2BR<T]>2=ITIPBR?2Z?Q2<=2Q<iL<QITI<@P?2R<2iL<2 Kq R<>BZBQ<C<2<@2=?>2ZL@P?>2
I@ICIB=2V2yI@B=J2Z<Q?2 Kt @?F

/?@>IR<QB@R?2=?>2PQ<>2B>Z<CP?>J2^aFONc`2><2<dZQ<>B2C?T?\
t2

222222222222222222222222222222222222222222222222222222222222222222222222

;R<T]>2=B2I@P<kQB=2R<2BCCID@2iL<RB\
22222222222222222222222222222222222222222222222222222222222
:B2 K pUBQIBCID@2R<2^aFONn`J2<>\

22222222222222222222222222222222222222222222222222222222222

Ldt = H (t2 t1 )
t1

t2

t2

t1

t1

Ldt = q&
i

t2

t2

t1

t1

2 2

22222222222222222222222222222222222222222^aFONo`

p i dt H (t 2 t1 )
2222222222222222222222222222222222222222222222^aFONm`

Ldt = pi q&i dt H (t2 t1 )

i

2 2

2222222222^aFOON`

2222222222^aFOOO`

/?TZBQB@R?2^aFONo`2V2^aFONc`2><2?WPI<@<2<=2ZQI@CIZI?2R<2T[@ITB2BCCID@\2
2222222222222222222222222222222222222222222222222222222222222222

t2

t2

t1

t1

pi q& i dt = ( H + L)dt =0

Ejemplo 6.7 .TZ=<BQ2<=2ZQI@CIZI?2R<2jBTI=P?@2ZBQB2?WP<@<Q2<=2hBTI=P?@IB@?2C?UBQIB@P<2R<2L@B2ZBQP[CL=B2

<@2L@2CBTZ?2<=<CPQ?TBk@SPIC?F2+<TLS>PQ<><2PBTWIS@2iL<2<>2IRS@PICBT<@P<2@L=?F
Solucin:

5<2R<><B2<=2hBTI=P?@IB@?2R<2L@B2ZBQP[CL=BJ2<@2<=2QSkIT<@2Q<=BPIUI>PBF25L2=BkQB@kIB@?2<>2R<2BCL<QR?2C?@2
^eFOOn`2V2^eFOOo`2^USB><`\
222222222222222222222222222222222222222222222222222222222222222

L = m0 c 2 1

:L<k?2<=2ZQI@CIZI?2R<2jBTI=P?@2ByIQTB2iL<\

212

v2
q rr
q + A.v
2
c
c
2

2222222222^aFOOM`

NELSON FALCN V.

t2

2222222222222222222222222222222222222222222222222222222222

0 = ( m0 c 2 1
t1

v2
q rr
q + A.v ) dt
2
c
c
22

-<C?QRB@R?2iL<2<=2PI<TZ?2ZQ?ZI?22<>P]2Q<=BCI?@BR?2C?@2<=2PI<TZ?2P2C?T?\

8 1 ; 2 dt
2

2222

0 = ( m0 c
1

J2P<@<T?>\
2

q 1 2
1 2

rr
rr
2
A.v
q
A.v
2
(
)) dt = (m0 c
(
)) d
1
c
c
1 2

/?T?2<=2Z?P<@CIB=2ZL<R<2<>CQIWIQ><2<@2=B2l?QTB2C?UBQIB@P<2C?T?\

rr
1 2
A.v

A
=
2
c
c
222222222222222222222222222222222222222222222222222222222222222222222
2
w<@<T?>2yI@B=T<@P<\

2
q
0 = (m0 c 2 + A ) d
1
c
2
22222222222222222222222222222222222222222222222222222222222222
2

22222222222222222222222222222222222222222

0 = (m0 +
1

2222222222^aFOOc`

2222222222^aFOOa`

L<2@?>2Z<QTIP<2R<yI@IQ2<=2:BkQB@kIB@?2C?UBQIB@P<2 L 2<@2=B2l?QTB\
2222222222222222222222222222222222222222222222222222222222222222222

.>2C=BQ?2iL<2<=2jBTI=P?@IB@?2R<W<2C?@>PQLIQ><2<@2=B2l?QTB\
22222222222222222222222222222222222222222222222

q
A
c
2

H = p L = p + m0

7<Q?2<>CQIP?2<@2PSQTI@?>2R<2=?>2T?T<@P?>2CB@D@IC?>2Q<=BPIUI>PB>\

q
L = m + A p

c
2222222222222222222222222222222222222222222222222222222222222222222
2
5L>PIPLV<@R?2<@2=B2<dZQ<>ID@2R<2j2P<@<T?>\

222222222222222222^aFOO_`

2
q
A ) d ( L ) d
1
c

L = m0 +

2222222222^aFOOe`

222222222222222222222222222^aFOOn`

2222222222^aFOOo`

q
A
c
22

2222222222^aFOOm`

q
q

H = m + A + m0 c A
c
c

2
222222222222222222222222222222222222222

2222222222^aFOMN`

2222222222^aFOMO`
213

MECNICA CLSICA

2222222222222222222

H = m 0 + m 0 c = m 0 c + m 0 c = 0

22222222222^aFOMM`

.>P<2<t<TZ=?2<>2I=L>PQBPIU?2Z?QiL<2<UIR<@CIB2iL<2<=2UB=?Q2R<=2hBTI=P?@IB@?2<>J2Z?Q2B>[2R<CIQ=?2IQQ<=<UB@P<J2
<@2PB@P?2iL<2C?@U<@CI?@B=J2=?2ITZ?QPB@P<2@?2<>2<@2>I2<=2UB=?Q2R<2=B2<@<Qk[B2?2R<=2hBTI=P?@IB@?J2>I@?2>L2
R<Z<@R<@CIB2lL@CI?@B=2C?@2=B>2C??QR<@BRB>2V2T?T<@P?>2CB@D@IC?>F
Ejemplo 6.8 +<TLS>PQ<><2 iL<2 B=2 ?WP<@<Q2 <=2 =BkQB@kIB@?2 C?UBQIB@P<2 R<2 =B2 TB@<QB2 B@P<QI?QT<@P<2
R<>CQIPBJ2=B2<CLBCID@2R<2T?UITI<@P?2R<2jBTI=P?@2C?QQ<>Z?@RI<@P<2B2=B2R<QIUBRB2P?PB=2R<2 p4 2Q<>Z<CP?2B2
2><2Q<RLC<2IRS@PICBT<@P<2B2=B2<CLBCID@2^aFee`J2>I@2@<C<>IRBR2R<2Q<CLQQIQ2B2=B>2ZQ?ZI<RBR<>2R<2=B2l?QTB2
<>Z<C[yICB2R<2 H F2
Solucin:

7BQB2L@B2ZBQP[CL=B2Q<=BPIUI>PB2<=2=BkQB@kIB@?2><2ZL<R<2<>CQIWIQ2C?T?\2
222222222222222222222222222222222222222222222222222222222222222222222

62<=2hBTI=P?@IB@?2<TZ=<B@R?2=B2R<yI@ICID@\2j
<@<Qk[B2P?PB=2R<2=B2ZBQP[CL=B\

H=

mi v i v i
1
2

L = mi c 2 1 u

c2

U (qi )

H 8 5 pi vi ; L
i

+ mi c 2 1 2 + U ( q i ) =

mi 2 c 2
1

222

22222222222222222222222222222222222222222^aFOMe`

J2V2><2U<QIyICB2iL<2<>P<2Q<ZQ<><@PB2=B2

+ mc 2 1 2 + U = ...

2222222222222222222 ... = mc + U = (T + mc ) + U = E

222 2222222222^aFOM_`

1DP<><2iL<2><2<TZ=<?2=B2Q<=BCID@2<@PQ<2=B2<@<Qk[B2P?PB=J2=B2<@<Qk[B2CI@SPICB2V2=B2<@<Qk[B2<@2Q<Z?>?\
2222222222222222222222222222222222222222222222222222222222222222222222222222222222

T = mc 2 m0 c 2 22222 222222222222222222222222222222222222222222222222222222222^aFOMc`
pi

:B2<@<Qk[B2CI@SPICB2T ZL<R<2><Q2<dZQ<>BRB2<@2PSQTI@?>2R<2=?>2T?T<@P?>2CB@D@IC?>2
Q<=BCID@2Q<=BPIUI>PB2<@PQ<2=B2TB>B2V2=B2<@<Qk[B\
2

2 4

r r

2B2PQBUS>2R<2=B2

222222222222222222222222222222222222222222222222222222222222222222222222222222 E = m c + p pc 2222 222222222222222222222222222222222222222222222222222222222^aFOMa`

2

2 2

2 4

22222222222222222222222222222222222222222222222222222222222222222222222222222222 T = p c + m c 222

222222222222222222222222222222222222222222222222222222222^aFOMn`

.=2ZQIT<Q2PSQTI@?2R<=2><kL@R?2TI<TWQ?2<@2^aFOMM`2<>2=B2<@<Qk[B2<@2T?UITI<@P?2B=2CLBRQBR?2V2<=2><kL@R?2
PSQTI@?2<>2=B2<@<Qk[B2<@2Q<Z?>?F2.TZ=<B@R?2^aFOM_`2V2^aFOMn`2USB><2?WPI<@<2<=2hBTI=P?@IB@?\
22222222222222222222222222222222222222222222222222222222222222222222222222

H=

p 2 c 2 + m 2 c 4 + U 2222

22222222222222222222222222^aFOMo`2

/?@2 <=2 ZQ?C<RITI<@P?2 Q<B=IKBR?2 B@P<QI?QT<@P<2 ><2 ZL<R<2 <>PLRIBQ2=B2 l?QTL=BCID@2 hBTI=P?@IB@B2 R<2 =B2
T<C]@ICB2Q<=BPIUI>PB2ZBQB2L@B2ZBQP[CL=B2iL<2><2TL<U<2<@2L@2CBTZ?2<=<CPQ?TBk@SPIC?F
214

NELSON FALCN V.

/LB@R?2<=2>I>P<TB2C?@>I>P<2R<2L@B2ZBQP[CL=B2T?UIS@R?><2<@2L@2CBTZ?2<=<CPQ?TBk@SPIC?J2<=2=BkQB@kIB@?2
<>P]2RBRB2Z?Q2^aFOOM`F

" "
2
2
L
8
;
mc
1
;

g
q
A
v ; q2 22
222222222222222222222222222222222222222222222222222222222222

22222222222222222222222222^aFOMm`

:B2 <@<Qk[B2 Z?P<@CIB=2 R<2 =B2 ZBQP[CL=B2 ZBQB2 <>PBW=<C<Q2 <=2 =BkQB@kIB@?2 <@2 ^aFOMm`J2 ><2 ZL<R<2 C?@>PQLIQ2 B2
ZBQPIQ2R<2=B2lL<QKB2R<2:?Q<@PK2V2R<2=B>2<dZQ<>I?@<>2R<2=?>2CBTZ?>2<@2PSQTI@?>2R<2=?>2Z?P<@CIB=2<>CB=BQ2V2
U<CP?QIB=J2C?@>IR<QB@R?2iL<2><2?WP<@RQ]2L@2Z?P<@CIB=2k<@<QB=IKBR?F2.@2<l<CP?\
2222222222
22222222222222222222
222222222222222222222222222

"
" " "
F 8qEg vrB

"
"
"
wA
E 8 ;:2 ;
wt

" " "

B 8 :r A

222222222222222222222^aFOeN`

,@PQ?RLCI<@R?2=?>2CBTZ?>2<@2=B2lL<QKB2R<2:?Q<@PK2V2<TZ=<B@R?2=B2IR<@PIRBR2U<CP?QIB=\

v u v u v

" " #
" " " " " "
A r B r C 8 ; A B C g A C B J2><2?WPI<@<2^aFOeN`J2R<2=B2CLB=2><2ZL<R<2R<P<QTI@BQ2<=2Z?P<@CIB=2

k<@<QB=IKBR?2^aFOeO`F2^:?>2R<PB==<>2=?>2R<tBT?>2B=2=<CP?QJ2Z?Q2@?2Z<QP<@<C<Q2B2=?>2PDZIC?>2R<2=B23<C]@ICB2
/=]>ICBJ2>I@?2B2<=<CPQ?TBk@<PI>T?2<=<T<@PB=`F

"
" " D w " " A "
"
F 8 q : ; 2 g v A ; B g v : ? A
@ 22222222222222 22222222222222222222222222^aFOeO`
C wt

222222222222222222222222222222222222222222222222222222222222
" "
U 8 q2 ; qA v
2222222222222222222222222222222222222222222222222222222222222^aFOeM`

222222222222222222222222222222222222222222222222222222222222222222222222222222222

:?>2T?T<@P?>2CB@D@IC?>J2R<P<QTI@BR?>2B2ZBQPIQ2R<2^aFOMe`J2>?@\2

u v

222222222222222222222222222

u v

" "
" "
mvi
wL
w Av
w Av
8
gq
8 omvi g q
pi 8
8 omvi g qAi
wvi
wvi
wvi
1; 2

2222222222^aFOee`

.=2hBTI=P?@IB@?J2R<2@L<U?2<>2=B2<@<Qk[B2P?PB=2R<2=B2ZBQP[CL=B2C?T?2><2R<TL<>PQB2B2C?@PI@LBCID@
2222222222222222222222222222222222222222222222222222222

" "
H 8 5 pi vi g mc 2 1 ; 2 ; qA v g q2
i

.dZQ<>]@R?=?J2C?T?2R<W<2><QJ2<@2PSQTI@?>2R<2=?>2T?T<@P?>2CB@D@IC?>

22

22222222222222222222222222^aFOe_`

H 8 p1v1 g p 2 v 2 g p3 v3 g mc 2 1 ; 2 ; qv1 A1 ; qv 2 A2 ; qv3 A3 g q2

2222222222222222222

8 ( p ; qA)v1 g ( p ; qA)v 2 g ( p ; qA)v3 g mc 2 1 ; 2 g q2

" "
"
" "
8 p ; qA v g mc 2 1 ; 2 g q2 8 omv v g mc 2 1 ; 2 g q2

2 2222222222^aFOec`

L<2ZL<R<2<>CQIWIQ><2<@2l?QTB2C?TZBCPBJ2=L<k?2R<=2]=k<WQB2<=<T<@PB=J2C?T?\222222222222222222222222222222222222222222222222222222222222
215

MECNICA CLSICA

H 8 om 2 c 2 g mc 2 1 ; 2 g q2
222222222222222222222222222222222222222222222222

D 2
H 8 mc 2 B
g 1; 2
B 1; 2
C
2222222222222222222222222222222222222222222222

A
? g q2 8 T g q2
?
@

2 22222222222222222222222222^aFOea`
:B2<@<Qk[B2CI@SPICB2<@2<>P<2CB>?2><2ZL<R<2<>CQIWIQ2C?T?2<@2^aFOen`2B2ZBQPIQ2R<2^aFOMn`2V2
^aFOee`J2
2222222222222222222222222222222222222222222222222222222222222222222222

"
"
T 8 ( p ; qA) 2 c 2 g m 2 c 4

V2C?@2<>PB2><2<@>BTW=B2<=2hBTI=P?@IB@?2^aFOec`\
22222222222222222222222222222222222222222222222222222222222222222

222

"
"
H 8 ( p ; qA) 2 c 2 g m 2 c 4 g q2

222 2

2222222222^aFOen`

22222222222222222222222222^aFOeo`

.=2hBTI=P?@IB@?2<@2^aFOeo`J2@?2<>P]2<>CQIP?2<@2=B2l?QTB2C?UBQIB@P<J2<dZQ<>BQ=?2<@2l?QTB2C?@>I>P<@P<2C?@2
=B2Q<=BPIUIRBR2k<@<QB=2<>P]2lL<QB2R<=2B=CB@C<2R<2<>PB2?WQBF
2
Ejemplo 6.9 j]==<><2<=2hBTI=P?@IB@?2R<2L@2PQ?TZ?2>ITSPQIC?2Z<>BR?2C?@2ZL@P?2yIt?J2V2B2ZBQPIQ2R<2<==B>J2
=B>2<CLBCI?@<>2R<2jBTI=P?@F2-<=BCID@<@><2<>PB>2C?@2=B>2<CLBCI?@<>2R<=2T?UITI<@P?2<>PLRIBRB>2<@2=B2
C=B><2c2^<t<TZ=?2cFOn`2V2USB><2C?T?2ZL<R<2Q<RLCIQ><2=B2>?=LCID@2B2CLBRQBPLQB>F2
Solucin:

7BQB2L@2PQ?TZ?2>ITSPQIC?J2<=2=BkQB@kIB@?2<>P]2RBR?2C?T?\
22222222222222222222222222222222222

L8

1
1
I1 ('! 2 g 2! 2 sen 2' ) g I 3 (E! g 2! cos' ) 2 ; Mgl cos'
2
2

7BQB2hB==BQ2<=2jBTI=P?@IB@?2L>BT?>2>L2R<yI@ICID@\
222222222222222222222222222222222222222222222222

H 8 5 pi q!i ; L

pi 8

:?>2T?T<@P?>2CB@D@IC?>2>?@\2
2222222222222222222222222222222222222

p2 8

22222

216

p' 8

wL
8 I 1'!
w'!

wL
wq! i

H 8 p' '! g p2 2! g pEE! ; L

22222222222222222222222222^aFOem`

2222222222^aFO_N`

2C?@2<==?>2?WP<@<T?>2iL<\

2R<2BiL[2?WP<@<T?>2iL<2222

p
'! 8 '
I1

222222222222222222222222222222222222^aFO_O`

wL
8 I 12!sen 2' g I 3 cos ' (2! cos ' g E! ) 8 I 12!sen 2' g I 32! cos 2 ' g I 3E! cos '
!
w2

222222^aFO_M`

NELSON FALCN V.

pE 8

wL
8 I 3 (E! g 2! cos' ) 8 I 3E! g I 32! cos'
wE!

22222222222222222222222222222222222222
<@P?@C<>J2<=2hBTI=P?@IB@?2><2?WPI<@<2C?@\

22

2222222222^aFO_e`

H 8 I1'! 2 g I12! 2 sen 2' g I 32! 2 cos 2 ' g I 3E!2! cos' g I 3E! 2 g I 32!E! cos' ; ...

1
1
1
1
... ; I1'! 2 ; I12! 2 sen 2' ; I 3E! 2 ; I 32!E! cos' ; I 32! 2 cos 2 ' g Mgl cos'
2
2
2
2

H 8
22222222

I1 ! 2 ! 2 2
1
1
(' g 2 sen ' ) g I 3 (2!E! cos' g 2! 2 cos 2 ' g E! 2 ) g Mgl cos'
2
2
2

H 8 H (q , p )

2222222222222^aFO__`

'! , 2! y E!

p , p y p

i
i
2
E
ZL<>P?2iL<2
2R<W<T?>2hB==BQ2=?>2UB=?Q<>2R<2
2Q<>Z<CP?2B2 '
F2.=2
ZQIT<Q?2R<2<==?>2<>P]2RBR?2Z?Q2=B2<CLBCID@2^aFO_O`F27BQB2hB==BQ2=?>2?PQ?>J2U<T?>2R<2^aFO_O`2V2^aFO_M`2
iL<2BTWB>2>?@2<CLBCI?@<>2BC?Z=BRB>F

222222222222222222222222

p2 8 2!( I 1 sen 2' g I 3 cos 2 ' ) g I 3E! cos' ] 2! 8

pE 8 I 3E! g I 32! cos' ] E! 8

p2 ; I 3E! cos'

I 1 sen 2' g I 3 cos 2 '

pE ; I 32! cos'

2222222222222222222222222222222222222222222222222

I3

5L>PIPLV<@R?2^aFO_c`2<@2^aFO_M`2P<@<T?>2iL<\

2 2222222222^aFO_c`
2222222222^aFO_a`

p2 ; pE cos'
( I 1 sen 2' g I 3 cos 2 ' )2! 8 p2 ; pE cos' g I 32! cos 2 ' ] 2! 8
I 1 sen 2'
222222222

222222222^aFO_n`

D p cos ' ; pE cos 2 ' A

D p2 cos ' ; pE cos 2 ' A
p
?
? ] E! 8 E ; B 2
I 3E! 8 pE ; I 3 B
2
2
B
?
?
B
I
'
I
sen
I
sen
'
3
1
1
@
C
@
C
2222222222

2222222222^aFO_o`

>L>PIPLV<@R?2^aFO_n`2<@2^aFO_a`2?WP<@<T?>2# \

Bh?QB2LPI=IKBT?>2^aFO_O`J2^aFO_a`2V2^aFO_o`2<@2<=2jBTI=P?@IB@?2^aFO__`J2=L<k?2R<=2]=k<WQB2<=<T<@PB=\

H 8

2
P'2 ( P2 ; cos'PE ) PE
g
g
g mgl cos'
2 I1
2I 3
2 I1 sen 2'

22222222222222222222222222222222222222222222222222222222
/B=CL=B@R?2=B>2<CLBCI?@<>2R<2T?UITI<@P?2R<2jBTI=P?@\2

P2 ; cos'PE
wH
8 2! 8
wP2
I1sen 2'

2 2222222222222222222222222^aFO_m`

2222222222^aFOcN`
217

MECNICA CLSICA

P ; cos'PE
P
wH
- (cos' ) g E
8 E! 8 2
2
I1sen '
I3
wPE

^aFOcO`

P
wH
8 '! 8 '
I1
wP'
2

<>2l]CI=2U<QIyICBQ2iL<2 2<>2C[C=ICBJ2<>2R<CIQJ2

2! 8

2222222222222222222222222222222222222222222222222222

ZBQB2

2Z?R<T?>2U<QIyICBQ2iL<2

P2

I1 sen '

PE 8 I1a

P2 8 I1b 8 const

cos 'PE
2

I1 sen '

2222222222222222222222222222222222222222222222222222222222222222222222

E! 8 a

cos 'PE
b
;
2
sen ' I1 sen 2'

b ; a cos '
2! 8
sen 2'

I1
b - acos'
- (cos' )
I3
sen 2'

ZBQB2' 2^aFOcN`2Z?R<T?>2CB=CL=BQ\

2
2

1 d D P2 ; cos'PE
B
I1'!! 8 ;
2 I1 dt BC
sen'

2222222222222222222222222222222222222222222222222222
=B2=PITB2<CLBCID@2><2Q<>L<=U<2Z?Q2CLBRQBPLQB>\

1 d D P2 ; cos 'PE
B
I1'!!'! 8 ;
2 I 1 dt BC
sen'

22222222222222222222222222222222222222222222222222222

22222222222222222222222222^aFOce`

2222222222^aFOc_`

2222222222^aFOcc`

2
1 d uP& ; cos 'P# v
wH
P!' 8
8
- mglcos'
2 I 1 dt
w'
sen 2'

222222222222222222222222222222222222222222222222222
;kQLZB@R?2PSQTI@?>\

222222222222222222222222222222222222222222222222

2<@2=B2<CLBCID@2^aFOcN`\

J2B>[\

222222222222222222222222222222222222222222222222222222222222222222222222222222222222

=B2<CLBCID@2^aFOcO`2@?>2iL<RB\2

^aFOcM`

A 1
?? g mglcos'
!
@ '
2

A 1
??
g mglcos''!
!
'
@

I D b ; a cos ' A
I1 ! 2
' 8; 1B
? ; mglcos' g E
2
2 C sen' @

2222222222222222222222222222222222^aFOca`

2222222222^aFOcn`

22222222222222222222222222^aFOco`
2

+?@R<2h<T?>2==BTBR?2.x2B2=B2C?@>PB@P<2R<2I@P<kQBCID@F23L=PIZ=ICB@R?2=B2=PITB2<CLBCID@2
Z?Q2 2sen 2' 2@?>2iL<RB\

2222222222^aFOcm`

'

222222222222222222222222222
218

2mgl
2E
2
'! 2 sen 2' 8 ;ub ; a cos' v ;
cos'sen 2' g
sen 2'
I1
I1

22222222222222222222222222222222222222^aFOaN`

NELSON FALCN V.

+<yI@IT?>\222

;>[\

222222222222222222222222222222

222222222222222222222222222222222222222222222222222222222
Z<Q?\22

2J2

2mgl
2E'
&
I1
I1 2J2
22222222222222222222222222222222222222222222222222222^aFOaO`

n! 2 8 ;(b ; an ) 2 ; n sen 2' g |sen 2'

2222222222222222222222222222222222222222222222222222222222

222222222222222222222222222222222222222222222222222222

n & cos '

|&

n! 2 8 ;(b ; an ) 2 g (| ; n )(1 ; n 2 )
2

2 2

D dn A
2
2
? 8 (| ; n )(1 ; n ) ; (b ; an )
B
C dt @

2I@P<kQB@R?2=B2<dZQ<>ID@2B@P<QI?Q2P<@<T?>\

t8

2222222222222222222222222222222222222222222222222222222222
C?@2<>P<2Q<>L=PBR?2=B>2lL@CI?@<>2

n( t )

2(t )

Ejemplo 6.10 7Q?W=<TB2R<2z<Z=<QF

22V2

E (t )

222

2222222222^aFOae`

22222222222222222222222222^aFOa_`2

dn

(| ; n )(1 ; n 2 ) ; (b ; an ) 2

n( 0 )

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22

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H 8

1 2
1
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2

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L8

1
n r! 2 g r 2'! 2 g r 2l! 2 sen 2' ; U (r )
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2 22222222222222222222222222222222222222222^aFOao`
219

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wL
8 nr!
wr!

P' 8
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wL
8 nr 2'!
w'!

Pl 8
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wL
8 nr 2l!sen 2'
wl!

2
2 !2
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1 DB 2 P'2
H 8
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22

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P2 1
1 wU
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. r nsen ' r 3 wr
wr!

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P
wH
8 r! 8 r
.
wPr

Pl2 cos'
wH
8 ;P!' 8 ; 2
w'
.r sen 3'

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nr

P
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8 '! 8 %2
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^aFOna`

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wH
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2><2R<>Z<tB2R<2^aFOnn`\2
2

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nr 8
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22

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NELSON FALCN V.

V2><2I@PQ?RLC<2<@2^aFOn_`2V2^aFOnc`2ZBQB2?WP<@<Q\
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!
; P' 8 ; 2
8
8
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sen 3'

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2

a & Pl

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222^aFOoN`2

P
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P'
d
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D Pl A
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;a

d2
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jBCI<@R?22

& ctg'

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l!!
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l!

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d
l! g
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;>[2 2

z 8 Ax g By

] 22222

d 2 2
l! g l! 2 8 0
dl 2

2 ?2 ><B\2 2

222222222 ] 22222222

d 2 2
l! g 8 0
dl 2

r cos ' 8 Arsen' cos l g Brsen 'senl

222222222222222222222222222222222^aFOoc`

2 <>2 >?=LCID@2 C?@2 =?2 CLB=J2 <=2

T?UITI<@P?2><2<l<CPB2<@2<=2Z=B@?2dVJ2B>[2 ' 8 ~ / 2 J22 P' 8 0 2V2<=2hBTI=P?@IB@?2iL<RB2

/?T?\

H 8

2222222222222222222222222222222222222222222222222222222222222222222222222

P2
Pr2
g l 2 g U (r )
2 n 2 nr

22

2222222222^aFOoa`

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P 2 wU
wH
8 ;P! r 8 ; l3 g
.r
wr
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wH
P
8 r! 8 r
wPr
.

^aFOoo`

wH
8 ;P!l 8 0
wl

^aFOom`

P
wH
8 l! 8 l2
.r
wPl
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l! 8

l
nr 2

;>[2=B22^aFOon`2iL<RB2^R<>ZLS>2R<2L>BQ2^aFOoo`J2>L>PIPLIQ2

; n!r! 8 ;

l2
wU
g
3
nr
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222

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l!

^aFOmO`

r!

2V2TL=PIZ=ICBQ2Z?Q2 `

; n!r!r! 8 ;

l 2 r! wU
g
r!
nr 3 wr

1 2 1 l
g U 8 const. 8 Energa
nr! g
2
2 nr 2

^aFOmN`

222222222222222222222222222222222^aFOmM`
2

2222222222^aFOme`

NELSON FALCN V.

+<>Z<tB@R?2P<@<T?>\

2
1 l
dr
dr
=

= E U
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2
dt
dt

2
r

222222222222222222222222222222
/?T?2<@2=B2C=B><2_2hBC<T?>2<=2CBTWI?J2
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8>B@R?2^aFOmO`2<2I@P<kQB@R?\

dr l
=
d r 2

222222222222222222222

dr d
=
dt d

2
1 l
E U

2 r 2 22

2
1 l
E U

2 r 2
2

2
1 l
E U
=

2 r 2

ldr
r

2
1 l
E U

2 r 2

L<2<>2=B2<CLBCID@2^_FMa`2>B=U?2Z?Q2=?>2CBTWI?>2R<2@?PBCID@2C?QQ<>Z?@RI<@P<>F
22

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223

MECNICA CLSICA

)*/# 3(*5'9+(!# ) 6. >(""(#. '*>#) 6#.("/*)

William Rowan2 Hamilton2 ^OoNcpOoac`F2 3BP<T]PIC?2 V2

B>PQD@?T?2IQ=B@RS>J2;2=?>2RI<CI>SI>2Bq?>2><2lBTI=IBQIKD2C?@2=B2
Mecnica Celeste2 R<2 :BZ=BC<F2 .@2 OoMeJ2 I@kQ<>D2 <@2 <=2 wQI@IPV2
/?==<k<2R<2+LW=[@F2/LB@R?2P<@[B2U<I@PI@2Bq?>2ZQ<><@PD2<@2=B2
;CBR<TIB2-<B=2,Q=B@R<>B2<=2PQBWBt?28@B2P<?Q[B2R<2>I>P<TB>2R<2
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R<2=B>2Z?>ICI?@<>2UBQ[B2tL@P?2B2=B>2C??QR<@BRB>J2><k@2=B2=<V2iL<2
==BTD2R<2UBQIBCID@2R<2=B2BCCID@F2.@2OoMa2lL<2<=<kIR?2;>PQD@?T?2
-<B=2 R<2 ,Q=B@RB2 <@2 <=2 wQI@IPV2 /?==<k<F2 2 .@2 OFoe_J2 I@PQ?RLt?2 <=2
U?CBW=?2R<2U<CP?Q2C?T?2=?2L>BT?>2h?V2R[BF27Q?C<RID2<@P?@C<>2
B2 BZ=ICBQ2 <=2 ZQI@CIZI?2 R<2 TI@ITB2 BCCID@2 B=2 T?UITI<@P?2 R<2
>I>P<TB>2R<2CL<QZ?>J2V2B=2Bq?2>IkLI<@P<2<dZQ<>D2=B>2<CLBCI?@<>2
R<=2 T?UITI<@P?2 <@2 L@B2 l?QTB2 iL<2 R<T?>PQBWB2 =B2 RLB=IRBR2
<@PQ<2=B>2C?TZ?@<@P<>2R<=2T?T<@P?2R<2L@2>I>P<TB2RI@]TIC?2
V2=B>2C??QR<@BRB>2R<2>L2Z?>ICID@F2.@2OoecJ2jBTI=P?@2Q<CIWID2
<=2h?@?Q2R<2><Q2@?TWQBR?2CBWB==<Q?J2V2R?>2Bq?>2T]>2PBQR<2lL<2
<=<kIR?2ZQ<>IR<@P<2R<2=B2;CBR<TIB2-<B=2,Q=B@R<>BF27<Q?2>L2UIRB2
ZQIUBRB2 lL<2 T<@?>2 l<=IKF2 wLU?2 PQ<>2 hIt?>2 C?@2 >L2 <>Z?>B2 :BRV2
jBTI=P?@F2;2Z<>BQ2R<2=B>2C?@RICI?@<>2R<>lBU?QBW=<>2R<2>L2UIRBJ2
<=2 PQBWBt?2 CI<@P[yIC?2 R<2 jBTI=P?@2 C?@PI@LDF2 .@2 Oo_e2 hIK?2 L@2
kQB@2R<>CLWQITI<@P?J2<=2C]=CL=?2R<2CLBP<Q@I?>2V2><@PD2=B>2WB><>2
R<=2B=k<WQB2BW>PQBCPB2@?2C?@TLPBPIUBF2+<>R<2<>P<2PI<TZ?2hB>PB2
>L2 TL<QP<J2 ><2 C<@PQD2 <@2 R<>BQQ?==BQ2 <=2 @L<U?2 C]=CL=?F2 AL<Q?@2
Bq?>2 PQI>P<>2 V2 >?=IPBQI?>J2 Z?Q2 <@l<QT<RBR<>2 lQ<CL<@P<>2 V2 =B>2
BL><@CIB>2R<2>L2<>Z?>BF262<@2OmMc2>L2]=k<WQB2@?2C?@TLPBPIUBJ2
lL<2 I@PQ?RLCIRB2 <@2 =B2 P<?Q[B2 CL]@PICB2 V2 R<T?>PQBQ?@2 iL<2 =B>2
<CLBCI?@<>2 hBTI=P?@IB@B>2 <QB@2 PBTWIS@2 U]=IRB>2 <@2 P<?Q[B2
CL]@PICBJ2 R?@R<2 =B>2 C??QR<@BRB>2 V2 =?>2 T?T<@P?>2 <@2 =B2
RI@]TICB2C=]>ICB2lL<Q?@2I@P<QZQ<PBR?>2C?T?2?Z<QBR?Q<>2CLV?>2
ZQ?RLCP?>2@?2C?@TLPBWB@F2.=2I@PLICID@2R<2jBTI=P?@2>?WQ<2=B2
RLB=IRBR2<@PQ<2=B>2C??QR<@BRB>2k<@<QB=IKBRB>2V2=?>2T?T<@P?>2
k<@<QB=IKBR?>2 ><2 C?@yIQTD2 <@2 OmMnJ2 C?@2 <=2 ZQI@CIZI?2 R<2 =B2
I@R<P<QTI@BCID@2R<2j<I><@W<QkF2

Es mi propsito y mi esperanza, remodelar todo el conjunto de la dinmica,

por medio de la idea de mi funcin caracterstica.
uI==IBT2-F2jBTI=P?@

224

NELSON FALCN V.

/%.# #0#)1#-* ) 6. %&$*&(2&2H$&%&*

.=2P<?Q<TB2R<21?<Ph<Q2<>2L@2Q<>L=PBR?2C<@PQB=2<@2y[>ICB2P<DQICBJ2R<>CLWI<QP?2OmOo2Z?Q2=B2TBP<T]PICB2
B=<TB@B2.TV21?<Ph<Q2^OooMJ2Omec`F25I2B=2BCPLBQ2>?WQ<2L@2>I>P<TB2<>P<2@?2CBTWIB2><2RIC<2iL<2PI<@<2
L@B2 >IT<PQ[BF2 5LCI@PBT<@P<2 <=2 P<?Q<TB2 R<2 1?<Ph<Q2 R<TL<>PQB2 iL<2 P?RB2 >IT<PQ[B2 C?@PI@LB2 <@2 A[>ICB2
==<UB2 B>?CIBRB2 L@B2 =<V2 R<2 C?@><QUBCID@F2 7?Q2 >LZL<>P?2 =B2 R<T?>PQBCID@2 l?QTB=2 ZBQP<2 R<2 hBC<Q2 L@B2
PQB@>l?QTBCID@2I@yI@IP<>ITB=2C?@PI@LB2<@2=B>2C??QR<@BRB>2k<@<QB=IKBRB>2V2T?>PQBQ2iL<2<=2:BkQB@kIB@?2
T?RIyICBR?2Z?Q2=B2PQB@>l?QTBCID@2<l<CPLBRB2<>2PB=2iL<2>L2R<QIUBRB2P<TZ?QB=2><2B@L=BJ2iL<2><2I@P<QZQ<PB2
C?T?2iL<2RIChB2CB@PIRBR2<>2Bh?QB2L@B2C?@>PB@P<2R<=2T?UITI<@P?2V2<@2C?@><CL<@CIBJ2<dZQ<>B2iL<2<>B2
CB@PIRBR2R<2C?@><QUB2<@2=B2>IT<PQ[BF2:B>2BZ=ICBCI?@<>2R<=2P<?Q<TB2R<21?<Ph<Q2<@2P<?Q[B2C=]>ICB2V2CL]@PICB2
R<2CBTZ?>2>?@2I@BLRIPBW=<>2V2C?@>PIPLV<@2L@B2h<QQBTI<@PB2<>Z<CIB=[>ITB2<@2=B2y[>ICB2R<2B=PB>2<@<Qk[B2
ZBQB2<@C?@PQBQ2@L<UB>2ZQ?ZI<RBR<>2R<2=B>2ZBQP[CL=B>2<=<T<@PB=<>2C?T?2CBQkBJ2hIZ<QCBQkBJ2>ZI@J2<PCF

Invariancias y conservaciones:
Conservacin de la energa

8@2 >I>P<TB2 T<C]@IC?2 h?=D@?T?2 <>C=<QD@?T?2 B=2 iL<2 @?2 ><2 =<2 BZ=ICB2 @I@kL@B2 lL<QKB2 RI>IZBPIUBJ2 Z?Q2
>IT<PQ[B2R<=2PI<TZ?J2><2TB@P<@RQ]@2=B>2TBk@IPLR<>2y[>ICB>2C?@2<=2ZB>BQ2R<=2PI<TZ?F

dL

7BQB2 Luq i , q! i v 2>LZ?@<T?>2 dt

80 ]
2 2^:B2lL@CID@2<>2I@UBQIB@P<2<@2<=2PI<TZ?`\

n
n
dL
L qi
L q& i
=
+
& i t
dt i =1 q& i t
i =1 q
2
22222222222222222222222222222222222222222222222222222222222222222

222222222222222222222222222222222222222222

=
i =1

n
n
n
L
L q& i
d L
L q& i
q& i +
=
q& i +

& i t
&i
& i t
qi
i =1 q
i =1 dt q
i =1 q

dL d n L
=
q& i
dt dt i =1 q& i 2
222222222222222222222222222222222222222222222222222222222222222222222222222222
0=

22222222222222222222222222222222222222222222222222222222222222222222222222

0=

22222222222222222222222222222222222222222222222222222222222222222222

d n L
dL
q& i

dt i =1 q& i
dt 2 2

d n
dH
p i q i L =

dt i =1
dt 2

22222222222222^E,FO`

2222222222222222222222222222222^E,FM`

22222222222222^E,Fe`

22222222222222^E,F_`

22222222222222^E,Fc`

7BQB2>I>P<TB>2C?@2U[@CL=?>2h?=D@?T?>2V2>I@2lL<QKB>2RI>IZBPIUB>2C?@>IR<QBT?> H C?T?2=B2<@<Qk[BJ2V2iL<2
R<W<2><Q2C?@>PB@P<2Z?Q2=?2PB@P?2><2C?@><QUB2=B2<@<Qk[BF
225

MECNICA CLSICA

Conservacin del momento

:B2C?@><QUBCID@2R<=2T?T<@P?2><2Q<=BCI?@B2C?@2=B2h?T?k<@<IRBR2R<=2<>ZBCI?J2<=2CL]=2RIC<2iL<2P?R?>2=?>2
ZL@P?>2R<=2<>ZBCI?2>?@2<iLIUB=<@P<>2ZBQB2=B2l?QTL=BCID@2R<2=B>2=<V<>2y[>ICB>J2Z?Q2=?2iL<2@?2hBV2ZL@P?>2
<@2R?@R<2=B>2=<V<>2ZL<RB@2UBQIBQ2?2lL@CI?@BQ2RIl<Q<@P<F
.=2:BkQB@kIB@?2@?2UBQ[B2<@2L@2R<>Z=BKBTI<@P?2UIQPLB=2R<=2>I>P<TB2T<C]@IC?F 5<2C?@><QUB2<=2T?T<@P?F

EBQIB@R?2 =B>2 C??QR<@BRB>2 ZBQB2 PI<TZ?2 C?@>PB@P<J2 <=2 :BkQB@kIB@?2 ><2 TB@PI<@<2 C?@>PB@P<2 Z?Q2 =B2
h?T?k<@<IRBR2R<=2<>ZBCI?2V2C?T?2UBQ[B2>?=?2=B2Z?>ICID@J2><2<dZQ<>B2=B2UBQIBCID@2R<2 L Q<>Z<CP?2B2=B>2
C??QR<@BRB>2k<@<QB=IKBRB>F
n

2
2
.@P?@C<>\

2222222222222

d L

dt
q&
22222222222222222222222222222222222222 i

L =
i =1

L qi
L
=0
=0
qi t
qi
22

L
d
d L

pi
=0
dt
dt q& i
qi

Z?Q2=?2PB@P?\

pi &

22

L
=
=0
qi
2

22222222222222^E,Fa`

22222222222222^E,Fn`

wL
8 constante 2V2><2C?@><QUB2<=2T?T<@P?2=I@<B=F
wq! i

Conservacin del momento angular

:B2I>?PQ?Z[B2R<=2<>ZBCI?2@?>2RIC<2iL<2=B>2RIQ<CCI?@<>2R<2L@2>I>P<TB2>?@2<iLIUB=<@P<>2B=2<>PBW=<C<Q2=B>2
=<V<>2y[>ICB>F
+<CIT?>2iL<2<@2L@B2Q?PBCID@2UIQPLB=2 1L 8 0
n

222222222222222222222222222222222222222222222222222222222222222222222

L =
i =1

n
L
L
qi + q&i
&i
qi
i =1 q
2

+<2=B>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<2P<@<T?>\

d L

dt
q&
222222222222222222222222222222222 i

L
d L

= 0 p i =
dt q& i
qi

L
=
qi

:L<k?2^E,Fo`2ZL<R<2<>CQIWIQ><2C?T?\

222222222222222222222222222222222222222222222222222222222222222222
226

i =1

i =1

L = p& i qi + pi q& i = 0

22222222222222^E,Fo`

22222222222222222222222222222^E,Fm`

22222222222222222222222222222222222222222222222222222222^E,FON`

NELSON FALCN V.

5<2Q<RLC<2=B2<dZQ<>ID@2<@2L@B2Q?PBCID@2T<RIB@P<2=B>2
>IkLI<@P<>2Q<=BCI?@<>2RBRB>2Z?Q2=B2yIkLQB2E,FO
2
qi = q 'i qi qi = Ri d
22222222222^E,FOO`
22222222222222222
2222222222222222222222222222222

Ri = qi sen( i )22222222222222222222222222^E,FOM`

r
r
qi = qi sen( i )d = qi d , q& i = q& i d

5L>PIPLV<@R?2<@2^E,FON`J

22222^E,FOe`
Figura VI. 1:25I>P<TB2<@2Q?PBCID@

n
dpi
dqi

22222
dt (qi d )+ pi dt d

2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 ^E,FO_`
i =1
22222222222222222222222222

22222222222222222222222

n
dp
dq

= d i qi + d pi i
dt
dt

i =1

L = d

222222222222222222222222222222222222222222222222222222222222222222222
;=2><Q2I@R<Z<@RI<@P<2R<2=B2RIQ<CCID@\

5p
i 81

dq
dp
= d i q i + p i i
dt

i =1 dt

d n
pi qi = 0
dt i =1
22

r qi 8 constante 8 l

=L<k?2><2C?@><QUB2<=2T?T<@P?2B@kL=BQ

22222222222^E,FOc`
22222222222^E,FOa`

Transformaciones y teorema de Noether

.>P<2P<?Q<TB2@?2<@UL<=U<2PQB@>l?QTBCI?@<>2RI>CQ<PB>2>ITZ=<>2 J2Z<Q?2>[2lBTI=IB>2C?@PI@LB>2
=B>2R<2=B>2>IkLI<@P<>2<CLBCI?@<>\
22222222222222222222222222222222222222222222222222222222222222222222222222222222

Q | 8 q | g | m

2C?T?2

222222222222222222222222222222222222222222^E,FOn`

/BRB2 C??QR<@BRB2 CBTWIB2 ZBQB2 CBRB2 l 2 Z?Q2 ?PQ?F2 5I2 B>LTIT?>2 3 u0 v2 C?T?2 PQB@>l?QTBCID@2 IR<@PIRBR2

<@P?@C<>2 q u0 v 8 q F2;>[2CBRB2PQBV<CP?QIB2 q ut v 2CBTWIB2R<2C??QR<@BRB>2B2 q ut , v J2iL<2>BPI>lBC<\

227

MECNICA CLSICA

22222222222222222222222222222222222222222222222222222222222222222222222222222222

q& (t , ) =

q(t , )
t
2

=?2iL<2@?>2TL<>PQB2C?T?2=B>2C?TZ?@<@P<>2R<2 q 2UBQ[B@2C?@2 . F

+<2<>PB2l?QTB2=B2PQB@>l?QTBRB2

q! ut , v

q!

2V2CBRB2U<CP?Q22

Tl u v
q! u v

22B22

0 (q ) = q(0 ) 2 2

9Bt?2<>PB>2PQB@>l?QTBCI?@<>2 L 2CBTWIB

22222222222^E,FOo`

qu v J2CBRB2PQBV<CP?QIB2 q! ut ,0 v 2B2

2ZB>B2CBRB2ZL@P?2 q u0 v2B2

22222222222222222222222222222222222222
,
222222222222222222222222222222 ( ) = q ( ) = (q ) = (q ) = 0

22222222222^E,FOm`

L (q ), (q ), t = L(q, q& , t )
t

2
2222222222222222222222222222222222222222222222222222222222222222

+?@R<\2 2

222222222222222222222222222^E,FMO`

(q ) = q(t , )
t
t
2

( )

22222222222^E,FMN`

y T = T1 q = q 22

22222222222^E,FMM`

22222222222^E,FMe`

LE L
d L (q ) L (q )
=
+

E q
dt q& E
E
t q&
22222222222222222222222222222222222222222222222
2

22222222222^E,FMc`

w?TBT?>\222222222222222222222222222222222222222222222 =

L (q, q& , t ) = L (q ), (q ), t
t

2
222222222222222222222222222222222222222222222222222222222222222222222

L
d L d L
L =
q + q
dt q&
dt q&
q
222222222222222222222222222222222222^E,FM_`

2222222222222222222222222222222222222222222222222222222222
-<<>CQIWIT?>2L>B@R?2^E,FMe`\

22222222222222222222222222222222222222222222222222222222222
;>[\

LE
(q ) L (q )
= [0]
+

E
E
t q&
E

222222222222222222222222222222222222222222222222222222222222222222222222

228

LE =

d L
q = 0

dt q&

22

22

22222222222^E,FMa`

22222222222^E,FMn`

NELSON FALCN V.

wLE
9Bt?2=B2PQB@>l?QTBCID@2 wE 2<@2.NJ2=B2CB@PIRBR2<@PQ<2C?QCh<P<>2R<2^E,FMn`2Q<>L=PB2L@B2C?@>PB@P<2R<2

T?UI<@R?2V2Z?Q2<@R<2L@B2CB@PIRBR2C?@><QUBRBF2

22222222222222222222222222222222222222222222222222222222

L
q = constante de movimiento
q&
2

22222222222^E,FMo`

22222222222^E,FMm`

.=2=BkQB@kIB@?2><2ZL<R<2hBC<Q2I@UBQIB@P<2C?@2=B2BRICID@2R<2L@B2R<QIUBRB2P?PB=2R<=2PI<TZ?F

LE 8 L g uq, t , E v2AL@CID@2iL<2R<Z<@R<2R< q y P.

22222222222222222222222222222222222222222222222222222222222222222222222222222222222
/?TWI@B@R?2^E,FMn`2V2^E,FMm`2@?>2RB\
222222222222222222222222222222222222222222222222222222222222222222222222

}&

2222222222222222222222222222222222222

LE =

dt
2

& q = 0
dt q

wL |
q ;
wq! |

Ejemplo 6.11 7BQP[CL=B2<@2CB[RB2=IWQ<2

2 2

222222222222222222222222222^E,FeN`

22Constante de movimiento general.22222222222222222222222222222^E,FeO`

L8

/?@>IR<Q<2<=2=BkQB@kIB@?2R<2L@2kQBR?2R<2=IW<QPBR2

1 2
mx! ; mgx
2

^B`2 3L<>PQ<2iL<2:2<>2I@UBQIB@P<2WBt?2<=2ZL@P?2R<2PQB@>l?QTBCID@F2

2222222222222222222222222222222222222222222222^E,FeM`

E E ux v 8 x g E

^W`2 .@CL<@PQ<2=B2C?@>PB@P<2R<2T?UITI<@P?2B>?CIBRB2V2><><2ZBQB2R<>CQIWIQ2<=2T?UITI<@P?
Solucin:

B`27BQB2=B2PQB@>l?QTBCID@2P<@<T?>2iL<2

x 8 1

2<@P?@C<>

L 8 ;mg &

2222222222222222222222222222222222222222222222222222222222222222222
L 2<>2I@UBQIB@P<

d umgt v d
8 2
dt
dt

22222222222^E,Fee`

W`2:B2C?@>PB@P<2R<2T?UITI<@P?2<>\

229

MECNICA CLSICA

C`2

2222222222222222222222222222222222222222222222222222222222222222

L
q = mx& mgt
q&
22

iL<2PI<@<2RIT<@>I?@<>2R<2T?T<@P?F2+<>Z<tB@R?2 x! 2<2I@P<kQB@R?\

222222222222222222222222222222222222222222222222222222222222222222222222222
2222222222222222222222222222222222222222222222222222222222222222222222222

g
t + t2
m
2 22 2

w<@<T?>2<@P?@C<>2=B2PQBV<CP?QIB2<@2L@2CBTZ?2kQBUIPBCI?@B=2L@Il?QT<F

230

22222222222^E,Fe_`

22222222222^E,Fec`

22222222222^E,Fea`

dx = m + gt dt

x(t ) = x0 +

C"#$% 7: T'#)$+*'.#!(*)%$ !#)7)(!#$

:B>2l?QTL=BCI?@<>2R<2=B23<C]@ICB2/=]>ICB2R<2:BkQB@k<2V2jBTI=P?@J2BR<T]>2R<2C?@>PIPLIQ2B=P<Q@BPIUB>2
Q<>Z<CP?2R<2=B2l?QTL=BCID@2R<21<gP?@J2ZQ?Z?QCI?@B@J2>?WQ<P?R?J2L@B2UI>PB2lL@RBT<@PB=2?2ZQ?lL@RB2
R<2=B>2<>PQLCPLQB>2C?@C<ZPLB=<>2R<2=B2T<C]@ICBJ2UB=<2R<CIQ2R<2=B2y[>ICB2R<=2T?UITI<@P?F2;TWB>2PI<@<@2
>L>PB@CIB=<>2BZ=ICBCI?@<>2B2=?2=BQk?2R<=2P?R?2<=2R<>BQQ?==?2R<2=B2A[>ICBJ2I@C=LV<@R?2=?>2CBTZ?>2iL]@PIC?>F2
.=2<>PLRI?2R<2=B>2PQB@>l?QTBCI?@<>2CB@D@ICB>2Q<ZQ<><@PB2L@2Q<yI@BTI<@P?2R<2<><2<>PLRI?2lL@RBT<@PB=2?2
ZL@P?2R<2UI>PB2ZQ?lL@R?2?2<><@CIB=2B=2CLB=2><2hB2B=LRIR?J2Q<yI<Q<2B2=B>2PQB@>l?QTBCI?@<>2<@2L@2<>ZBCI?2
CLVB>2RIT<@>I?@<>2>?@2=B>2C??QR<@BRB>2V2T?T<@P?>2CB@D@IC?>2k<@<QB=IKBR?>F
2
7.1 Transformaciones de Legendre
EBT?>2B2I@>Z<CCI?@BQ2T]>2ZQ?lL@RBT<@P<2=B2Q<=BCID@2<@PQ<2=B>2lL@CI?@<>2R<2:<k<@RQ<2V2R<2jBTI=P?@F2
.@2=B2C=B><2ZB>BRBJ2UIT?>2iL<2^aFo`\

H = pi q i L

i
22222222222222222222222222222222222222222222222222222222222222222222222222^nFO`
22222222222222222222222222222222222222222222222222222222222222222222222222222
22
R?@R<2 <=2 jBTI=P?@IB@?2 j2 R<Z<@R<2 R<2 =?>2 T?T<@P?>2 CB@D@IC?>2 V2 =B>2 C??QR<@BRB>2 k<@<QB=IKBRB>J2
TI<@PQB>2 iL<2 <=2 :BkQB@kIB@?2 :2 <>P]2 <dZQ<>BR?2 <@2 PSQTI@?>2 R<2 =B>2 C??QR<@BRB>2 k<@<QB=IKBRB>2 V2 >L>2
R<QIUBRB>2ZQIT<QB>2^U<=?CIRBR<>2k<@<QB=IKBRB>`F

:B2Q<=BCID@2lL@CI?@B=2iL<2Z<QTIP<2=B2PQB@>l?QTBCID@2R<2=B>2C??QR<@BRB>2^qi, dqi/dt) B2=B>2C??QR<@BRB>2

^qi , pi)2<>2L@2PIZ?2<>Z<CIB=2R<2PQB@>l?QTBCID@2ZBQB2lL@CI?@<>2PB=<>2iL<2ZQ<><QUB@2<=2>Ik@?2R<2=B2><kL@RB2
R<QIUBRBF2+<>R<2<=2ZL@P?2R<2UI>PB2y[>IC?2<==?2<>PB2Q<=BCI?@BR?J2Z?Q2B>[2R<CIQ=?J2C?@2<=2h<Ch?2<TZ[QIC?2R<2
iL<2>?=?2=B>2ZQIT<QB>2R<QIUBRB>2^U<=?CIRBR<>`2V2><kL@RB>2R<QIUBRB>2^BC<=<QBCI?@<>`2I@P<QUI<@<@2<@2=B2
R<>CQIZCID@2R<2=B2T<C]@ICB2R<2=?>2>I>P<TB>2y[>IC?>F

7Q<><QUBQ2 <=2 >Ik@?2 R<2 =B2 ><kL@RB2 R<QIUBRBJ2 <iLIUB=<2 <@2 l?QTB2 BW>PQBCPB2 B2 Z<RIQ2 iL<2 =B2 C?@CBUIRBR2
R<2 =B2 PQBV<CP?QIB2 R<2 L@B2 ZBQP[CL=B2 Z<QTB@<KCB2 I@B=P<QBRB2 ^C?@CBUIRBR2 <>PQICPB`2 <@PQ<2 R?>2 >LC<>?>2
I@yI@IPBT<@P<2ZQDdIT?>F

A?QTB=T<@P<2C?@>IR<Q<T?>2yf^x`2L@B2lL@CID@2C?@2concavidad estrictaJ2<>2R<CIQ2?2WI<@2f^x`2<>2Z?>IPIUB2
<@2P?R?2>L2QB@k?J2?2WI<@2<>2@<kBPIUB2<@2P?R?2>L2QB@k?J2Z<Q?2@?2CBTWIB2R<2>Ik@?F2:B transformacin de
Legendre R<2=B2lL@CID@2f <>2L@B2@L<UB2lL@CID@2g^u`2R<yI@IRB2C?T?\
R?@R<\

g^u`22f ^x^u``22u x^u`2 2

231

222222222222222^nFM`

MECNICA CLSICA

222222222222222222222222222222222222222222222222222222222222222222222222222222222

u = u ( x)

f
x 2

^nFe`

.>PB2 Q<=BCID@2 ><2 ZL<R<2 I@U<QPIQJ2 VB2 iL<2 p <>2 L@B2 lL@CID@2 T?@DP?@B2 R<2 x ^=B2 R<QIUBRB2 R<2 uJ2 iL<2 <>2 =B2
><kL@RB2R<QIUBRB2R<2fJ2@?2CBTWIB2R<2>Ik@?`J2R<WIR?2B2=B2C?@CBUIRBR2R<2fF28@B2ZQ?ZI<RBR2ITZ?QPB@P<2
R<2<>PB2PQB@>l?QTBCID@2<>2iL<2=B2@L<UB2lL@CID@2PBTWIS@2PI<@<2C?@CBUIRBR2<>PQICPBF2;R<T]>J2B=2BZ=ICBQ2
R?>2U<C<>2=B2PQB@>l?QTBCID@2R<2:<k<@RQ<2><2?WPI<@<2=B2lL@CID@2?QIkI@B=J2<>2R<CIQJ2<>2L@2transformacin
involutivaF
.@2<=2>IkLI<@P<2<t<TZ=?2C?@>PQLIQ<T?>2=B2PQB@>l?QTBCID@2iL<2Z<QTIP<2==<UBQ2=B2lL@CID@2R<2:<kQ<@RQ<2B2
=B2lL@CID@2R<2jBTI=P?@F
Ejemplo 7.12.CLBCI?@<>2R<2jBTI=P?@

5<B2 ::^iJU`2 =B2 lL@CID@2 R<2 :BkQB@k<2 R<2 L@2 CI<QP?2 >I>P<TB2 C?@2 L@2 kQBR?2 R<2 =IW<QPBRJ2 Q<B=[C<><2 =B2
PQB@>l?QTBCID@2R<2:<k<@RQ<2ZBQB2hB==BQ2=B2lL@CID@2R<2jBTI=P?@2V2=B>2<CLBCI?@<>2C?QQ<>Z?@RI<@P<>F
Solucin:

L L ( q, q v )

dL =

L
L
dq + d q udq + pd q
q
q

^nF_`

222

5<2R<><B\

H H (q, p ) dH =

2222222222222222222222222222222222

H
H
dp 1 dq + 2 dp
dq +
p
q
2

22
:B2PQB@>l?QTBCID@2R<2:<k<@RQ<2^nFM`2<>2<@P?@C<>\2

222222222222222222222222222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222222222222222222222222222222222
232

H
=q
p
2

H
= u
q
2

^nFa`

22222222222222222222222222222222222222222222222222 dH = udq pd q + pd q + q dp = udq + q dp 2

+<2^nFn`2V2^nFc`2iL<\

222222222222222^nFc`

2222222222222222222222222222222222222222222222222222222222222222222222222222222222 H = L p q 2
/LVB2RIl<Q<@CIB=J2L>B@R?2^nF_`2<>\2

2222222222222222222222222222222^nFn`

^nFo`

^nFm`

NELSON FALCN V.

:B2=PITB2<dZQ<>ID@2Z?R<T?>2Q<<>CQIWIQ=B2L>B@R?2^nF_`2V2=B>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<2C?T?\

1
222222222222222222222222222222222222222222

d L
d
H
L
= u
= = p=p
dt q
dt
q
q

2222222222222^nFON`

.>2l]CI=2Q<C?@?C<Q2<@2^nFo`2V2^nFON`2=B>2<CLBCI?@<>2R<2jBTI=P?@F27L<R<2Q<Z<PIQ><2<=2]=k<WQB2L>B@R?2<=2
>[TW?=?2R<2>LTBP?QIB2>?WQ<2Ip<>ITB>2C??QR<@BRB>2qi2V2T?T<@P?>2piJ2ZBQB2?WP<@<Q2yI@B=T<@P<J2C?@2=B2
TI>TB2R<RLCCID@2iL<\

H
= qi

p
i
2222222222222222222222222222222222222222222222222222222222222222

H
= pi
qi
2

2222222222222^nFOO`

Ejemplo 7.227?P<@CIB=<>2w<QT?RI@]TIC?>2,
><><2=B>2PQB@>l?QTBCI?@<>2R<2:<k<@RQ<2ZBQB2<@C?@PQBQ2=B>2Q<=BCI?@<>2<@PQ<2=B2<@PB=Z[B2 & ( S , P )

V2=B2<@<Qk[B2=IWQ<2R<2rIWW>2 G & G (T , P ) 2R?@R<2=B>2UBQIBW=<>2P<QT?RI@]TICB>2>?@2=B2<@PQ?Z[B2^5`2=B2

ZQ<>ID@2^7`2V2=B2P<TZ<QBPLQB2^w`F
Solucin:

5<2iLI<Q<\

G G (T , P) dG =

G
G
dT +
dP 1 dT + 2 dP
T
P
22

:B2PQB@>l?QTBCID@2R<2:<k<@RQ<2^nFM`2<>2<@P?@C<>\2

22222222222222222222222222222222222222222222222222222222222222222222222222222222222 G = TS 2
/LVB2RIl<Q<@CIB=2<>\2

22222222222222222222222222222222222222222222222222222 dG = TdS + VdP TdS SdT = VdP SdT 2

,kLB=B@R?2^nFOM`2V2^nFO_`2?WP<@<T?>\

222222222222222222222222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222222

2222222222222222222222222222222222222222222222222222222222222222222222222222222222
2

G
= S
T
2
G
=V
T
2

2222222222222^nFOM`

2222222222222^nFOe`

2222222222222^nFO_`

2222222222222^nFOc`

2222222222222^nFOa`

233

MECNICA CLSICA

Ejemplo 7.327?P<@CIB=<>2w<QT?RI@]TIC?>2,,
><><2=B>2PQB@>l?QTBCI?@<>2R<2:<k<@RQ<2ZBQB2<@C?@PQBQ2=B>2Q<=BCI?@<>2<@PQ<2<=2Z?P<@CIB=2R<2j<=Th?=PK2

F & F (T , V ) V2 =B2 <@<Qk[B2 :IWQ<2 R<2 rIWW>2 G & G (T , P) 2 R?@R<2 =B>2 UBQIBW=<>2 P<QT?RI@]TICB>2 >?@2 =B2

P<TZ<QBPLQB2^w`J2<=2U?=LT<@2^E`2V2=B2ZQ<>ID@2^7`F
Solucin:

5<2iLI<Q<\

F F (T , V ) dF =

F
F
dT +
dV 1 dT + 2 dV
T
V
2

:B2PQB@>l?QTBCID@2R<2:<k<@RQ<2^nFM`2<>2<@P?@C<>\2

2222222222222222222222222222222222222222222222222222222222222222222222222222222222222 F = G PV 2
/LVB2RIl<Q<@CIB=2<>\2

2222222222222222222222222222222222222222222222222 dF = SdT + VdP PdV PdV = SdT PdV 2

,kLB=B@R?2^nFOn`2V2^nFOm`2?WP<@<T?>\

2222222222222222222222222222222222222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222222222222222222222222222222222222222222

Figura 7.1 7?P<@CIB=<>2

P<QT?RI@]TIC?>2V2UBQIBW=<>2C?@tLkBRB>

F
= S
T
2

F
= P
V
2

2222222222222^nFOn`

2222222222222^nFOo`

2222222222222^nFOm`

2222222222222^nFMN`

2222222222222^nFMO`

4W><QUBT?>2 iL<2 =B>2 PQB@>l?QTBCI?@<>2 R<2 :<k<@RQ<2 <>P]@2 PBTWIS@2

[@PITBT<@P<2UI@CL=BRB>2B2=B23<C]@ICB2.>PBR[>PICBJ2R?@R<2=B>2UBQIBW=<>2
P<QT?RI@]TICB>272V2E2>?@2C?@tLkBRB>2<@PQ<2>IJ2<@2l?QTB2<iLIUB=<@P<2
B2 52 V2 wJ2 R<2 =B2 TI>TB2 l?QTB2 C?T?2 =B>2 C??QR<@BRB>2 k<@<QB=IKBRB>2 V2
=?>2T?T<@P?>2CB@D@IC?>F21?2<>2<@P?@C<>2R<2<dPQBqBQ2iL<2<=2<>ZBCI?2
R<2 AB><>2 Q<ZQ<><@PBR?2 <@2 =B2 3<C]@ICB2 /=]>ICB2 C?T?2 L@2 RIBkQBTB2
CBQP<>IB@?2R<2M@2kQBR?>2R<2=IW<QPBR2^@2RIT<@>I?@<>2ZBQB2dqi /dt V2?PQB>2
@pRIT<@>I?@<>2ZBQB2=B> qi.`2><B2<iLIUB=<@P<2B2=?>2==BTBR?>2<>ZBCI?>2R<2
lB><>2 ZQ<>ID@2 U<Q>L>2 P<TZ<QBPLQB2 <@2 3<C]@ICB2 .>PBR[>PICBF2 .>2 C=BQ?2
Bh?QB2Z?QiL<2L@2>I>P<TB2P<QT?RI@]TIC?2PBTWIS@2ZL<R<2Q<ZQ<><@PBQ><2
<@2l?QTB2C?TZ=<PBT<@P<2<iLIUB=<@P<2<@2kQ]yICB>27pwJ25pEJ2wpE2?2WI<@25p
7J2ZL<>2Q<>L=PB@2I>?T?QlB>2<@PQ<2>[J2U[B2PQB@>l?QTBCI?@<>2R<2:<k<@RQ<F

:B2>IPLBCID@2R<2CBQBCP<QIKBQ2L@2TI>T?2<>PBR?2Z?Q2R?>2ZQI@CIZI?>2UBQIBCI?@B=<>2C?T?2=?>2L>BR?>2<@2=B2
R<RLCCID@2 R<=2 l?QTB=I>T?2 R<2 :BkQB@k<2 V2 jBTI=P?@2 ^7QI@CIZI?2 R<2 T[@ITB2 <@<Qk[B`2 PI<@<2 >L2 B@]=?k?2
<@2k<?T<PQ[BF28@2C[QCL=?2ZL<R<2><Q2CBQBCP<QIKBR?2C?T?2=B2yIkLQB2Z=B@B2R<2TBV?Q2]Q<B2ZBQB2L@2TI>T?2
Z<Q[T<PQ?2 ?2 C?T?2 =B2 yIkLQB2 R<2 T<@?Q2 Z<Q[T<PQ?2 B2 IkLB=2 ]Q<BF2 :?>2 R?>2 CQIP<QI?>2 B=P<Q@BPIU?>2 iL<2
234

NELSON FALCN V.

CBQBCP<QIKB@2 <=2 C[QCL=?2 >?@2 <@P<QBT<@P<2 <iLIUB=<@P<>2 V2 ><2 BZ=ICB@2 B2 CLB=iLI<Q2 C[QCL=?F2 1?2 ?W>PB@P<J2
<>PB>2R?>2CBQBCP<QIKBCI?@<>2>LkI<Q<@2R?>2TSP?R?>2RIl<Q<@P<>2R<2k<@<QBQ2L@2C[QCL=?F27?R<T?>2P?TBQ2
L@2CLBRQBR?2V2R<l?QTBQ2<=2C?@P?Q@?2TB@P<@I<@R?2<=2]Q<B2C?@>PB@P<J2PB=2C?T?2>I2<=2C?@P?Q@?2<>PLUI<QB2
C?@>PIPLIR?2 Z?Q2 L@B2 WB@RB2 <=]>PICBF2 .=2 C?@P?Q@?2 <@P?@C<>2 ><2 UB2 B2 C?@PQB<Q2 hB>PB2 B=CB@KBQ2 <=2 T<@?Q2
Z<Q[T<PQ?J2 k<@<QB@R?2 L@2 C[QCL=?F2 ;=P<Q@BPIUBT<@P<2 Z?R<T?>2 Z<@>BQ2 <=2 C?@P?Q@?2 C?T?2 >I<@R?2 L@B2
CL<QRB2R<2=?@kIPLR2C?@>PB@P<F2.=2]Q<B2><2UB2B2<dZB@RIQ2hB>PB2k<@<QBQ2?PQ?2C[QCL=?F2/BRB2L@?2R<2<>P?>2
C[QCL=?>2 ^RIl<Q<@P<>`2 >BPI>lBC<2 BTWB>2 C?@RICI?@<>2 <dPQ<TB=<>F2 .>2 R<CIQJ2 L@2 TI>T?2 C[QCL=?2 ZL<R<2 ><Q2
k<@<QBR?2Z?Q2BTW?>2ZQ?C<RITI<@P?>J2ZBQPI<@R?2R<2L@B2yIkLQB2C?@2=B2TI>TB2]Q<B2yI@B=2?2C?@2<=2TI>T?2
Z<Q[T<PQ?2yI@B=F2:B2>IPLBCID@2C?QQ<>Z?@RI<@P<2<@2L@2>I>P<TB2P<QT?RI@]TIC?2<>2<@P<QBT<@P<2B@]=?kBF2
8@2<>PBR?2R<2<iLI=IWQI?2ZL<R<2><Q2CBQBCP<QIKBR?2C?T?2<=2R<2T]dITB2<@PQ?Z[B2ZBQB2L@B2RBRB2<@<Qk[B2?2
C?T?2<=2R<2T[@ITB2<@<Qk[B2B2<@PQ?Z[B2C?@>PB@P<J2R<2B==I2=B2<iLIUB=<@CIB2<@PQ<2=B>2Q<ZQ<><@PBCI?@<>2R<2
=?>2Z?P<@CIB=<>2P<QT?RI@]TIC?>2C?@tLkBR?>F2

7.2 Transformaciones cannicas

/?@>IR<Q<T?>2 L@2 >I>P<TB2 C?@2 C??QR<@BRB>2 k<@<QB=IKBRB>2 qi2 V2 T?T<@P?>2 C?@tLkBR?>2 piJ2 PB=2 iL<2 =B2

lL@CID@2 R<2 jBTI=P?@2 ^jBTI=P?@IB@?`2 <dI>P<2

iL<2<=2@L<U?2>I>P<TB2R<2C??QR<@BRB>2
<CLBCI?@<>2R<2jBTI=P?@J2<>2R<CIQJ2iL<\

H & H (q1 , q 2 ,...q k , p1 , p 2 ,... p k ) F2 5I2 iL<Q<T?>2 Bh?QBJ2

H & H (Q1 , Q2 ,...Qk , P1 , P2 ,...Pk ) ><2ZQ<><QU<2=B2l?QTB2R<2=B>2

H
H
= Qi
= Pi y
Pi
2222222222222222222222222222222222222222222222222222222222222222222222 Qi

2222222222222^nFMM`

U<T?>2iL<2ITZ?@<Q2=B2C?@RICID@J2>?WQ<2=B2TBPQIK2R<2PQB@>l?QTBCID@2<@PQ<2=B>2C??QR<@BRB>2V2T?T<@P?>2
^qi pi) B@PIkL?>2V2=?>2@L<U?>2^Qi , Pi`2<iLIUB=<2B2hBC<Q2=B2PQB@>l?QTBCID@2R<2=B2l?QTB\
T

222222222222222222222222222222222222222222222222222222222222222222222222222222222222 J MJ = M 2

2222222222222^nFMe`

;iL<==B>2transformaciones2PB=<>2iL<2CLTZ=B@2C?@2^nFMe`2><Q]@2==BTBRB>2cannicas.2
/BW<2 hBC<Q2 @?PBQ2 iL<2 CLB@R?2 }2 <>2 >ITZ=<T<@P<2 L@B2 TBPQIK2 B@PI>ITSPQICB2 @?2 >I@kL=BQ2 <@P?@C<>2
=B>2 transformaciones2 iL<2 CLTZ=<@2 RIChB2 Q<=BCID@2 >?@2 ==BTBRB>2 simplcticasF2 .@P?@C<>2 =B>2
PQB@>l?QTBCI?@<>2CB@D@ICB>2>?@2L@2CB>?2<>Z<CIB=2R<2=B>2>ITZ=SCPICB>F

E<BT?>2 CLB=<>2 C?@RICI?@<>2 R<W<@2 CLTZ=IQ2 =?>2 <=<T<@P?>2 R<2 =B2 TBPQIK2 32 ZBQB2 iL<2 P<@kBT?>2 L@B2
PQB@>l?QTBCID@2 CB@D@ICB2 <>PB>2 ><Q]@2 ?WP<@IRB>2 R<2 =B2 Q<=BCID@2 R<2 R<yI@ICID@2 ^nFMe`F2 +?@R<2 32 =B2
<>CQIWIQ<T?>2C?T?\2

0
M =
K
222222222222222222222222222222222222222222222222222222222222222222222222222222222

K
0 2

2222222222222222222222222222^nFM_`

R?@R<2N2<>2=B2TBPQIK2@L=B2n x n2V2z2<>2L@B2>LWTBPQIK2PBTWIS@2R<2?QR<@2n x nF2;R<T]>2}w2iL<2<>2=B2TBPQIK2

tBC?WIB@B2R<2=B2PQB@>l?QTBCID@2=B2<>CQIWIQ<T?>2C?T?\2

235

MECNICA CLSICA

P
p
JT =
Q
p
2222222222222222222222222222222222222222222222222222222222222222222222222222222

P
q

Q
q

2222222222222^nFMc`

2222222222222^nFMa`

wPi
wP
wp
R?@R<2<@P<@R<Q<T?>2Z?Q2 wp 2L@B2>LWTBPQIK2n x n2J2CLV?2<=<T<@P?2k<@<QB=2<>2 i 2iL<2UB2B2<>PBQ2<@2<=2

ipS>IT?2Q<@k=D@2V2<@2=B2jpS>ITB2C?=LT@BJ2<>2R<CIQJ2

222222222222222222222222222222222222222222222222222222222222222222222222222
62>ITI=BQT<@P<\
222222222222222222222222222222222222

-<C?QRB@R?2iL<2>I2P<@<T?>2L@B2TBPQIK2>LWRIUIRIRB2<@2>LWTBPQIC<>2RIkBT?>2iL<\2

2222222222222^nFMn`

B C

A =
D E2
222222222222222222222222222 22222222222222222222222222222222222222222222222222222

BT
AT = T
D
222222222222222222222222222222222222222222222222222222222222222

2222222222222222222222222222^nFMm`

2222222222222222222222222222^nFeN`

<@P?@C<>2=B2PQB@>ZL<>PB2R<2;2<>P]2RBRB2Z?Q\2

2
P<@<T?>2iL<\2

2222222222222222222222222222222222222222222222222222222222222222222222222222
C?@2<>P?2JTM J2<>P]2RBRB2Z?Q\2

2222222222222222222222222222222222222222222222222222222
236

P T

q
MJ =
T
P
p

P
p
J T MJ =
Q
p

CT

E T 2
Q T
q
Q T
p

P P T

q q

Q P T
q p

Q T
q
Q T
p

2222222222222^nFMo`

2222222222222^nFeO`

NELSON FALCN V.

p
J T MJ =
Q
p

2222222222222222222222222222222222222222

P T P P T
+
q
q p
P T Q P T
+
q
q p

P
p
Q

Q T P Q T
+

q
q p
Q T Q Q T
+
q
q p
2 2

7<Q?2=B2R<yI@ICID@2R<2PQB@>l?QTBCID@2CB@D@ICB22JTM J = M R<TB@RB2iL<\2

P P T P P T
+
=0
p q q p

P Q T P Q T
+
= K
2222222222222222222222222222222 p q q p

Q PT Q PT
+
=K
p q q p

Q QT Q QT
+
=0
p q
q p

2222222222222^nFeM`

2 2222222222222^nFee`

.>PB>2C?@RICI?@<>2=B>2Z?R<T?>2<>CQIWIQ2ZBQB2CBRB2L@?2R<2=?>2<=<T<@P?>2iL<2l?QTB@2=B>2TBPQIC<>2V2<>PB>2
><Q]@2ZBQB2P?R?2i, j\2

Pi P j Pi P T j

+
pm qm qm pm

Q j Pi Q j Pi

= ij

qm pm pm qm

2222222222222222222

= 0

Pi Q j Pi Q j

qm pm pm qm

= ij

Qi Q j Qi Q j
= 0

+
pm qm qm pm
22222222222222^nFe_`

;>[J2<>PB>24n22<CLBCI?@<>2<dZQ<>B@2<@2PSQTI@?>2R<2<=<T<@P?>2TBPQICIB=<>J2=B>2C?@RICI?@<>2@<C<>BQIB>2V2
>LyICI<@P<>2ZBQB2iL<2L@B2PQB@>l?QTBCID@2><B2L@B2PQB@>l?QTBCID@2CB@D@ICBF2
Ejemplo 7.42.=2?>CI=BR?Q2BQTD@IC?2BT?QPIkLBR?F

7BQB2L@2?>CI=BR?Q2BQTD@IC?2BT?QPIkLBR?2L@IRIT<@>I?@B=J2=B2lL@CID@2R<2:BkQB@k<2?2=BkQB@kIB@?J2<>P]2
RBRB2Z?Q\
bt

k
m
L = e m q& 2 q 2
2
2

^nFec`

3LS>PQ<><2iL<2<=2jBTI=P?@IB@?2@?2<>2L@B2C?@>PB@P<2R<=2T?UITI<@P?2V2h]==<><2L@2@L<U?2jBTI=P?@IB@?2
B2PQBUS>2R<2L@B2PQB@>l?QTBCID@2CB@D@ICB2C?@U<@I<@P<F
Solucin:

:B2<CLBCID@2R<2.L=<Qp:BkQB@k<\2
22222222222222222222222222222222222222222222222
.=2T?T<@P?2CB@D@IC?\

d
dt

D wL A wL
BB ?? ;
80
C wq! @ wq
2@?>2RB2=B2<CLBCID@2R<2T?UITI<@P?\

bt
bt
d m
e mq& + e m kq = 0
dt

mq&& + bq& + kq = 0

2222222222222^nFea`
237

MECNICA CLSICA

222222222222222222222222222222222222222222222222222222

p=

bt

L
= e m mq&
&
q

q& = e

7<QTIP<2<>CQIWIQ2<=2jBTI=P?@IB@?2<@2=B2l?QTB\

H = T +U = e

bt
m

bt

m 2
kq 2
q& + e m

2
2

bt
m

p
m 2

H =e

bt
m

2222222222222^nFen`

bt

p2
kq 2
+ em
2m
2

^nFeo`

L<2Q<>L=PB2R<Z<@RI<@P<2R<=2PI<TZ?2Z?Q2=?2iL<2@?2<>2L@B2C?@>PB@P<2R<=2T?UITI<@P?F2E<BT?>2>I2hBV2L@B2
PQB@>l?QTBCID@2CB@D@ICB2iL<2ZB><2B2L@B2@L<UB2lL@CID@2R<2jBTI=P?@2?2jBTI=P?@IB@?2C?@>PB@P<F
8PI=IC<T?>2=B2>IkLI<@P<2lL@CID@2k<@<QBPQIK\

222222222222222222222222222222222222222222222222222222222222222222222222222222 F2 (q, p, t ) = e
.@2PB=2CB>?\2

bt

F2
= e 2 m p = p
222222222222222222222222222222222222222222222222222222222222 q
bt

F2
= e 2 m q = q
p

bt
2m

qp 2

bt

p = e 2 m p

q = e

bt
2m

^nF_N`

^nF_O`

bt

F2
b 2m
=
e qp
2m
2222222222222222222222222222222222222222222222222222222222222 t
2
62<=2@L<U?2hBTI=P?@IB@?\

H (q , p ) = e

2222222222222222222222222222222222222222222222

bt
m

2 bt
2m

2222222222222^nFem`

222222222222222222222222222 2

bt
bt
p 2
kq 2
b 2m
m
+e
+
e qp
2 bt
m
2m
2
2e 2 m
2

2222222222222^nF_M`

2222222222222^nF_e`

2222222222222^nF__`

p
b
H
p
b
q
q& =
= +
q q& = +

m 2m 2 2
p m 2m
222222222222222222222222222222222222222222222222222222

2222222222222^nF_c`

>L>PIPLIT?>2^nF_N`V2^nF_O`\

p 2 kq 2
b
+
+
qp
H (q , p ) =
2m
2
2m 2
2222222222222222222222222222222222222222222222222222222222222222
:B>2<CLBCI?@<>2R<2jBTI=P?@2>?@\

238

NELSON FALCN V.

b
b
H
p
p& =
p p& = kq +
= kq +
2m
q
2m
22222222222222222222222222222222222222222222222222
2

2222222222222^nF_a`

7L<>P?2 iL<2 <=2 @L<U?2 hBTI=P?@IB@?2 H 2 @?2 R<Z<@R<2 <dZ=[CIPBT<@P<2 R<=2 PI<TZ?J2 <>2 C?@>PB@P<2 R<=2
T?UITI<@P?F2

Ejemplo 7.5 8@B2ZBQP[CL=B2><2TL<U<2WBt?2=B2BCCID@2R<2L@2Z?P<@CIB=2C?@2>IT<PQ[B2CI=[@RQICB2B=Q<R<R?Q2

R<=2 <t<2 F2 4WP<@<Q2 =B2 lL@CID@2 k<@<QBR?QB2 R<2 L@B2 PQB@>l?QTBCID@2 CB@D@ICB2 B2 C??QR<@BRB>2 iL<2 Q?PB@2
B=Q<R<R?Q2 R<=2 <t<2 K2 C?@2 lQ<CL<@CIB2 C?@>PB@P<F2 /L]=2 <>2 <=2 >Ik@IyICBR?2 y[>IC?2 R<=2 @L<U?2 hBTI=P?@IB@?2
+<QIUBQ2 =B>2 @L<UB>2 <CLBCI?@<>2 CB@D@ICB>2 R<=2 T?UITI<@P?2 <2 IR<@PIyICBQ2 y[>ICBT<@P<2 CBRB2 L@?2 R<2 =?>2
PSQTI@?>2iL<2C?@CLQQ<@2<@2=B>2<CLBCI?@<>F2
Resolucin:

:=BT<T?>2dJ2VJ2K2B=2>I>P<TB2I@<QCIB=F2.@P?@C<>2^P`2<@2<=2Z=B@?2dVJ2<=2>I>P<TB2<@2Q?PBCID@2UI<@<2RBR?2
Z?Q\
222222222222222 x = x`Cos + y`sen

y = x`sen + y`cos

.=2=BkQB@kIB@?2R<2=B2ZBQP[CL=B2<>\
222222222222222222222222222222222222222222222222222222222

L=

z=z

2
2
2
1
m( x` + y` + z ` ) u ( x`, y`)
2
22

22 2

2222222222222^nF_n`

2222222222222^nF_o`

+?@R<2<=2Z?P<@CIB=2<>2CI=[@RQICBT<@P<2<>lSQIC?J2ZBQB2<>CQIWIQ=?2<@2<=2>I>P<TB2<@2Q?PBCID@2Z?@<T?>\
222222222222222222222222222222222222222 x`= xCos + ysen y`= xsen + y cos

/LVB>2R<QIUBRB>2>?@\

z `= z 22

2222222222222222222222222222^nF_m`

x`= x Cos x y sen y sen y cos

y` = x sen + x cos + y cos y sen

2222222222222222222222222222222222222222222222222 z` = z .
2
2
22222222
2
2
:B2U<=?CIRBR2Z?R<T?>2<dZQ<>BQ=B2C?T?\
2

22
2

222222222222222222222222222222222222222222222222

2222222222222^nFcN`

2222222222222^nFcO`

2222222222222^nFcM`

2
2
22222222222222222222222222222222222222222222 v` = x + y + z + ( x + y ) 2 ( x y x y ) 2

.@P?@C<>\

1 2 2 2
L = m v + ( x + y 2 ) 2 ( x y x y ) U
2

239

MECNICA CLSICA

62=?>2@L<U?>2T?T<@P?>2>?@\

px =

2222222222222222222

= m( x y )

py =

pz = m z

= m( y x )

+<2=B>2<CLBCI?@<>2^nFcN`2V2^nFce`J2=B2PQB@>l?QTBCID@2R<2=?>2T?T<@P?>2<>\
222222222222222222222

p`x = p x cos p y sen

p`y = p x sen + p y cos

2222222222222^nFce`

p`z = p z 2

2222222222222^nFc_`

:B2lL@CID@2k<@<QBR?QB2R<2=B2PQB@>l?QTBCID@2Z?>ICID@2T?T<@P?2<>PBW=<CIRB2<>\2
2

2222222222222222222222222222222222222222222222222222222

F2 (q, P) = aik q k Pi
i

;>[J2=B2lL@CID@2Z<RIRB2<>\
22222222

22

2222222222222^nFcc`

F2 ( x`, y`, z `, p x , p y , p z ) = x`p x cos + y`p x sen x`p y sen + y`p y cos + z `p z

4W>SQU<><2iL<2=B2PQB@>l?QTBCID@2R<Z<@R<2<dZ=[CIPBT<@P<2R<=2PI<TZ?J2Z?Q2=?2PB@P?\
22222222222222222222222222222222222222222222222222222

= H +

F2
t 2

222222222^nFca`

22222222222222222222222222222222222222222222^nFcn`

2
2
2
F
1
= m( x` + y` + z ` ) + u ( x`, y`) + 2
t 222222222222222222222222222222222222222222222^nFco`
2
222222222222222222222222222222222222222222222222222222

8>B@R?2^nFca`2V2^nFc_`2P<@<T?>\

2
2
2
p y
p x
p z
=
+
+
+ U x`p x sent + y`p x sen +
2m 2m 2m
KK y`p x cos t x`p y cos t y`p y sent

1
2
2
2
p x + p y + p z + U + (yp x xp y )
2m

22222222222222222222222222222222222222
/?@2=B>2<CLBCI?@<>2R<2T?UITI<@P?\

U
= p y +
= px

x
22
222222222222222222222222222222222222222222222222222222222222222222222222

U
= p y +
= py
y
222
222222222222222222222222222222222222222222222222222222222222222222222222 y
240

2 2

2222222222222^nFcm`

2222222222222222222222222222^nFaN`2

2222222222222222222222222222^nFaO`

NELSON FALCN V.

p y
=
+ y = x
p
m
222222222222222222222222222222222222222222222222222222222222222222222222222 x
22

2222222222222^nFaM`

2222222222222222222222222222222222222222222222222222222222222222222222222222

2222222222222^nFae`

2222222222222222222222222222^nFa_`

2222222222222222222222222222222222222222222222222222222222222222222222222222

222222222222222222222222222222222222222222222222222222222222222222222222222

py

=
x = y
p y
m

p z
=
=z
p y
m

22 2

22

+?@R<2dpi /dt2>?@2=B>2C?TZ?@<@P<>2R<=2T?T<@P?2Q<=BPIU?2B=2>I>P<TB2iL<2Q?PB2V2xi2=B>2R<2=B2U<=?CIRBRF2
:?>2PSQTI@?>29U/9x2Q<ZQ<><@PB@2=B>2lL<QKB>2>?WQ<2=B2ZBQP[CL=B2V2=?>2PSQTI@?>2R<2=B2l?QTB2/xi2>?@2=?>2
C?TZ?@<@P<>2R<2=B2BC<=<QBCID@2R<2/?QI?=I>F

7.3 Corchetes de Poisson

+<@PQ?2 R<2 =B2 T<C]@ICB2 C=]>ICB2 <>P<2 PIZ?2 R<2 <CLBCI?@<>2 ><2 ZQ<><@PB@2 TLV2 lQ<CL<@P<T<@P<2 V2 Z?Q2 <>?2
UB=<2=B2Z<@B2RBQ=<2L@2@?TWQ<J2<@P?@C<>2R<yI@IT?>2<=2corchetes de Poisson2R<2f2V2g2C?@2Q<>Z<CP?2B2=B>2
UBQIBW=<>2

(q1 , q 2 ,...q k , p1 , p 2 ,... p k ) C?T?\2

qi
f
qi
g
pi

[f , g ]
i

[f , g ]
i

22222222222222222222222222222222222222222222222222222222222222

g f g

pi pi qi
f
pi
g
qi

2 2

2222222222222^nFac`

/?@2<>PB2@?PBCID@2@L<>PQB>2C?@RICI?@<>2ZBQB2iL<2L@B2PQB@>l?QTBCID@2><B2CB@D@ICBJ2><Q]@\
2

222222222222222 Pi , Pj = 0

[P , Q ]=
i

ij

[Q , P ]=
i

[Q , Q ]= 0 2

ij

222222222222^nFaa`

Ejemplo 7.6 +<TLS>PQ<><2 iL<2 los corchetes de Poisson forman un lgebra de LieFJ2 <>2 R<CIQ2 iL<2
>BPI>lBC<@2=?>2>IkLI<@P<>2BdI?TB>\
;dI?TB2OF2;@PI>IT<PQ[B2 [f , g ]= [g , f ]2

;dI?TB2MF2:I@<B=IRBR22 [f + g , h]= [f , h]+ [g , h]2 2

2222222222222^nFan`

2222222222222^nFao`

;dI?TB2eF2;>?CIBPIUIRBR22 [f , [g , h]]+ [g , [h, f ]]+ [h, [f , g ]]= 0 22^Identidad de Jacobi`2222222222222222^nFam`

;R<T]>2ZQLSW<><2=B>2>IkLI<@P<>2C?@><CL<@CIB>\

241

MECNICA CLSICA

:<TB2O [f , f ]= [f , f ]2

:<TB2M2 [f , ]= 0 2C?@22C?@>PB@P<F22

[f , qi ]= f
pi 2 2
:<TB2e
[f , pi ]= f
qi 2 2
:<TB2_2

:<TB2a22

Solucin:

:<TB2c22

[q , p ]=
i

ij

22

22222222222222222222222222222222222222
;@]=?kBT<@P<2<=2BdI?TB2M\

g g , h8 5

222222222222

2222222222222^nFnO`

2222222222222^nFnM`

2222222222222^nFne`

f
pi
=
g
i
qi

g
pi
f
qi

w u|f g g v w u|f g g v
wqi
wpi
8 |5
wh
wh
wqi
wpi

222222222222222222222222222222222222222222222222222222222

|f

2222222222222^nFnN`

2222222222222^nFn_`

2222222222222222222222222222^nFnn`

g
qi
= [g , f ]
f
pi

wf
wqi
wh
wqi

g g , h8 | f , hg g , h

[f , g ]= f , g + f , g
t t 22
:<TB2o2 t

[f , g ]

:<TB2n22 [f , gh]= g [f , h]+ [f , g ]h 2

f
qi
g
pi

[p , p ]= [q , q ]= 0 2 2

8>B@R?2^nFac`2P<@<T?>2ZBQB2<=2BdI?TB2O\

|f

wf
wpi
g 5
wh
wpi

wg
wqi
wh
wqi

2222222222222^nFnc`

2222222222222^nFna`

2222222222222^nFno`

wg
wpi
wh
wpi

222222222222222

2222222222222222222222222222222222222222222222222222222^nFnm`

7BQB2<=2BdI?TB2e2 f , g , hg g , h, f g h, f , g 8 0 2^,R<@PIRBR2R<2}BC?WI`2P<@<T?>\

7QIT<Q2C?QCh<P<\

g h g h f g h g h

p q p q q p q p p q q p 22

[f , [g , h]]= f
22222222222222222222222222
242

2222222222222^nFoN`

NELSON FALCN V.

f h 2 g f g 2 h f h 2 g f g 2 h
[f , [g , h]]=
+

p q qp p p q 2 p p q 2 p q qp
f h 2 g f g 2 h f h 2 g f g 2 h

+
+
q q p 2 q p qp q p qp q q p 2 2

2222222222222^nFoO`

h f h f g h f h f

p q p q q p q p p q q p 2 2

2222222222222^nFoM`

g f 2 h
g h 2 f
g f 2 h g h 2 f
+
+

q q p 2 q p qp q p qp q q p 2 2

2222222222222^nFoe`

KKKK
22222222222222222222222
5<kL@R?2C?QCh<P<\

[g , [h, f ]]= g

2222222222222222222222222

2 h g h 2 f g h 2 f g f 2 h
+

p q qp p p q 2 p p q 2 p q qp

[g , [h, f ]]= g f

KKKK
222222222222222222222
w<QC<Q2C?QCh<P<\

f g f g h f g f g

p q p q q p q p p q q p 2

[h, [f , g ]]= h

22222222222222222222

2222222222222^nFo_`

f h 2 g
h g 2 f h f 2 g h g 2 f

+
+
q q p 2 q p qp q p qp q q p 2 2 2

2222222222222^nFoc`

2 f
h f 2 g h g 2 f h f 2 g
+

p q qp p p q 2 p p q 2 p q qp

[h, [f , g ]]= h g

KKKK
22222222222222222

5LTB@R?2P?R?>J2<>2l]CI=2U<QIyICBQ2=B2IR<@PIRBR\

[f , [g , h]]+ [g , [h, f ]]+ [h, [f , h]]=

f h 2 g f g 2 h f h 2 g f g 2 h f h 2 g f g 2 h
+

p q qp p p q 2 p p q 2 p q qp q q p 2 q p qp

K+

f h 2 g f g 2 h g f 2 h g h 2 f g h 2 f g f 2 h

+
+
+

q p qp q q p 2 p q qp p p q 2 p p q 2 p q qp

g f 2 h g h 2 f
g h 2 f
g f 2 h h g 2 f
h f 2 g

+
+
+
+
q q p 2 q p qp q p qp q q p 2 p q qp p p q 2

h g 2 f h f 2 g h g 2 f h f 2 g h g 2 f
f h 2 g

+
+
p p q 2 p q qp q q p 2 q p qp q p qp q q p 2

222222222 = 0

22222222222^nFoa`
243

MECNICA CLSICA

:?>2=<TB>2O2B=2a2>?@2PQIUIB=<>2B2ZBQPIQ2R<2=B2R<yI@ICID@2^nFac`2V2><2R<tB@2B=2=<CP?Q\
22222222222222222

2 2

222222222222222222222222222222222222222222222222

7BQB2<=2=<TB2o2P<@<T?>\

f g f g f g f g

t qi pi t pi qi qi t pi pi t qi
f
f
f
f
t qi t pi
qi
pi
f g
+
= , g + f ,
g
g

g
g
t t
i
pi
qi
t pi t qi

2222222222222^nFon`

[f , g ]
t
i

[f , g ]
i

222222222222222222222

2222222222222^nFoo`

:?>2C?QCh<P<>2R<27?I>>?@2<@2=B2T<C]@ICB2C=]>ICBJ2PI<@<@2C?T?2>L2k<@<QB=IKBCID@2=?>2C?@TLPBR?Q<>2<@2=B2
T<C]@ICB2CL]@PICBJ2iL<2PBTWIS@2l?QTB@2L@2]=k<WQB2R<2:I<F
.>2ITZ?QPB@P<2U<QIyICBQ2<>2iL<2 f , g C?@2Q<>Z<CP?2B2=B>2UBQIBW=<>2CB@D@ICB>2pJ2V2qJ2iL<2R<@?PBQ<T?>2

f , g P Q

2<>2IkLB=2B2 f , g C?@2Q<>Z<CP?2B2CLB=iLI<Q2?PQB2C?=<CCID@2R<2UBQIBW=<>2CB@D@ICB>F2.>P?2
Z?Q2
tL>PIyICB2 hB>PB2 CI<QP?2 ZL@P?2 <=2 h<Ch?2 R<2 hBW<Q2 R<yI@IR?2 =?>2 ZBQS@P<>I>2 R<2 7?I>>?@2 >I@2 <>CQIWIQ2 =B>2
UBQIBW=<>2<dZ=[CIPBT<@P<J2ZL<>2<=2CBTWI?2<=2UBQIBW=<>2pJ2V2qJ2hBCIB2PJ2V2QJ2hB2?CLQQIR?2B2PQBUS>2R<2L@B2
PQB@>l?QTBCID@2CB@D@ICBF25I2=B2PQB@>l?QTBCID@2@?2<>2CB@D@ICB2@?2Z?R<T?>2B><kLQBQ2@BRBF2
22222222222222222222222222222222222222222222222222222222222222222222222222222222

[f , g ]= [f , g ]PQ 2

/?@>IR<Q<T?>2L@B2lL@CID@2R<2jBTI=P?@2R<2=B2l?QTB2
.@P?@C<>2>L2RIl<Q<@CIB=\
244

f & f (q1 , q 2 ,...q k , p1 , p 2 ,... p k , t )

222222222222^nFom`

NELSON FALCN V.

222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222222222

f dqi
f dpi f dt
df
=
+
+
qi dt
pi dt
dt
t dt 22
i
i
f f
df
f
pi +
qi +
=
t 2
pi
dt
qi
i
i
2

2222222222222^nFmN`

2222222222222^nFmO`

f H f H f

q
p
p
q
t
i
i
i i
22

2222222222222^nFmM`

=
wH = wH
8 qi
8 ; pi
wp
wq
J2 i
2P<@<T?>\
8>B@R?2BiL[2=B>2<CLBCI?@<>2R<2jBTI=P?@\2 i

2222222222222222222222222222222222222222222222222222222222
2222222222222222222222222222222222222222222222222222222222

df
=
dt
i

df
f
= [f , H ]+
dt
t 2

2222222222222222222222222222^nFme`

wf
80
f & f (q1 , q 2 ,...q k , p1 , p 2 ,... p k )
5I2BR<T]>2l2<>2PB=2iL<2 wt
J2UB=<2R<CIQ2>I2<>2R<2=B2l?QTB2
.@P?@C<>\

2222222222222222222222222222222222222222222222222

f = constante del movimiento

df
= [f , H ]
dt
2

2222222222222^nFm_`

Una magnitud f , que no depende explcitamente del tiempo, es una constante del movimiento si y solo
si su corchete de Poisson con el hamiltoniano es nulo.

2 ;2 U<C<>2 ><2 <dZQ<>B2 RICI<@R?2 iL<2 f es constante del movimiento s y slo s conmuta con el
hamiltonianoJ2<@P<@RI<@R?2iL<2<>B2C?@TLPBCID@2<>2<=2><@PIR?2R<2=?>2C?QCh<P<>2R<27?I>>?@F2
Ejemplo 7.7 +<TLS>PQ<><2iL<2<=2C?QCh<P<2R<27?I>>?@2R<2R?>2C?@>PB@P<>2R<2T?UITI<@P?2<>2PBTWIS@2L@B2
C?@>PB@P<2R<2T?UITI<@P?2BL@2CLB@R?2=B>2C?@>PB@P<>2R<Z<@RB@2<dZ=[CIPBT<@P<2R<=2PI<TZ?F
Solucin:

5<B2LL^iJZJP`2L@B2C?@>PB@P<2R<2T?UITI<@P?J2<@P?@C<>2><2U<QIyICB2iL<\

du
=0
222222222222222222222222222222222222222222222222222 dt

du
u
= [u , H ]+

dt
t

u
= [H , u ]
t
2

2222222222222^nFmc`
245

MECNICA CLSICA

;@]=?kBT<@P<2>I2A2V2r2>?@2C?@>PB@P<>2R<2T?UITI<@P?\

G
= [H , G ]
t
2

F
= [H , F ]
22222222222222222222222222222222222222222222222222222 t

7?Q2=B2IR<@PIRBR2R<2}BC?WI2^nFam`2><2U<QIyICB\

22222222222222222222222222222222222222222222222222222 [H , [F , G ]]+ [F , [G , H ]]+ [G , [H , F ]]= 0 2 2

,@C?QZ?QB@R?2^nFma`2<@2^nFmn`2><2P<@RQ]\
222222222222222222222222222222222222222222222222222222222

[H , [F , G ]]+ F , G + G, F = 0

7?Q2<=2=<TB2o2^nFnn`\

2222222222222222222222222222222222222222222222222222222222222222222

[H , [F , G ]]+ [F , G ]= 0
t

2222222222222^nFma`

2222222222222222222222222222^nFmn`

2222222222222222222222222222222222222222222222222222^nFmo`

2222222222222222222222222222222222222222222222222222222222222222^nFmm`

8>B@R?2^nFmc`2C?@2 u 8 F , G 2P<@<T?>2iL<2<@2<l<CP?2PBTWIS@2<>2L@B2C?@>PB@P<2R<2T?UITI<@P?\
2222222222222222222222222222222222222222222222222222222

d [F , G ]
[F , G ]
= [H , [F , G ]]+
=0
dt
t
222222222222222222222222222222222222222222222222^nFONN`

Ejemplo 7.82 3LS>PQ<><2 iL<2 >I2 <=2 hBTI=P?@IB@?2 j2 V2 L@B2 CB@PIRBR2 A2 >?@2 C?@>PB@P<>2 R<=2 T?UITI<@P?J2

wF
<@P?@C<>2 wt 2PBTWIS@2R<W<2><Q=?F2.@2ZBQPICL=BQ2C?@>IRSQ<><2<=2T?UITI<@P?2L@Il?QT<2R<2L@B2ZBQP[CL=B2
=IWQ<2R<2TB>B2TF25L2hBTI=P?@IB@?2><2C?@><QUB2V2<dI>P<2L@B2C?@>PB@P<2R<2T?UITI<@P?\
222222222222222222222222222222222222222222222222222222222222222222222222222222222222

F & x;

pt
m

wF
3?>PQBQ2<@P?@C<>2iL<2=B2C?@>PB@P<2R<2T?UITI<@P?2 wt 2C?I@CIR<2C?@2 H , F F

Solucin:

7BQB2=B2ZBQP[CL=B2=IWQ<2<=2hBTI=P?@IB@?2<>\2
2
246

22222222222222222222222222222222222222222222222222222222222222

H=

p2
2m 2 2

22222222222222222222222222^nFONO`

NELSON FALCN V.

:B>2<CLBCI?@<>2R<2jBTI=P?@2>?@2<@P?@C<>\

H
=p=0
22222222222222222222222222222222222222222222222222222222222222222222 x

H p
=x=
m
2222222222222222222222222222222222222 p
:L<k?\22

2 2

p = const.

p = m x = const.

2222222222222222222222222

x0 = x v0 t = x

F
p
=
m 22
22222222222222222222222222222222222222222222222222222222222222222222222222222222222222 t
62PBTWIS@2RIQ<CPBT<@P<2P<@<T?>2R<2^nFac`2V^nFONO`\

[H , F ] H F H F
x p

2222222222222222222222222222222222222222222222

p x

x = v0 x = v0 t + xo

pt
m 22

= 0

2222222222^nFONM`
2

2222222222^nFONe`

22222222222222222222222222^nFON_`

2222222222^nFONc`

p
p
1=
m
m2

2222222222^nFONa`

2222222222^nFONn`

22

22222222222222222222222222^nFONo`

2222222222^nFONm`

2222222222^nFOON`

Ejemplo 7.92 7=B@PS<><2 <=2 ZQ?W=<TB2 R<=2 ZS@RL=?2 <>lSQIC?2 <@2 l?QTL=BCID@2 hBTI=P?@IB@BJ2 <TZ=<B@R?2
C??QR<@BRB2<>lSQICB>F2/B=C=<><2RIQ<CPBT<@P<2<@2lL@CID@2R<2<>PB>2UBQIBW=<>2CB@D@ICB>2=?>2>IkLI<@P<>2
C?QCh<P<>2R<27?I>>?@\
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222

[L , L ]= L 2
i

7BQB2P?R?2IJ2tJ2~2<@2?QR<@2C[C=IC?F27?Q2iLS2<>2Z?>IW=<2L>BQ2P.2V2P:2C?T?2T?T<@P?>2CB@D@IC?>J2BL@iL<2><B@2
C?TZ?@<@P<>2Z<QZ<@RICL=BQ<>2R<=2T?T<@P?2B@kL=BQ
Solucin:
.=2=BkQB@kIB@?2R<=2>I>P<TB2<>\

L=

2222222222222222222222222222222222222222222222222222222
/LV?>2T?T<@P?>2CB@D@IC?>2>?@\

1 2 2 2 2
m l + l sen 2 mg cos
2

222222222222222222222222222222222222222222222222222222222222

22222222222222222222222222222222222222222222222

= ml 2 = p = p / ml 2

22

= ml 2 sen 2 = p = p / ml 2 sen 2
2

247

MECNICA CLSICA

.@P?@C<>2<=2hBTI=P?@IB@?2iL<RB\

H=

222222222222222222222222222222222222222222222222222

1
2ml 2

2 2

p + p sen 2 + mg cos

22

22222222222222222222222222^nFOOO`

" " "

L
4WUIBT<@P<2=B>2C?TZ?@<@P<>2R<=2ITZL=>?2B@kL=BQ2Q<>Z<CP?2B=2?QIk<@2><2CB=CL=B@2B2ZBQPIQ2R<2 8 r x p

r r r
L = r x p:

22222222222222222222 L x = yp z zp y

L y = zp x xp z

+?@R<2

222222222222222222222222222222 x = l sen cos

Lz = xp y yp x 2

y = l sen sen

z = l cos 2

5L>PIPLV<@R?2^nFOOe`J2<@2=?>2T?T<@P?>2CB@D@IC?>\

p = m x = ml cos cos ml sen sen 2

2222222222222222222222222222222222222222222222222 x
2222222222222222222222222222222222222222222222222

p y = m y = ml cos sen + ml sen cos

2222222222222222222222222222222222222222222222222 p z = m z = ml sen 2

tL@P?2B2^nFONm`2V2^nFOON`J2?WP<@<T?>\
2222222222222222222222222222222222222222222222222222

22222222222222222222222222222222222222222222222222222

p x = p cos cos l 1 p l 1 sen 1 sen

p y = p cos sen l

+ p l

sen cos

p = p l sen

2222222222^nFOOM`
2222222222^nFOOe`

22222222222222222222222222^nFOO_`

22222222222222222222222222^nFOOc`

22222222222222222222222222^nFOOa`
2

2222222222^nFOOn`

2222222222^nFOOo`

22222222222222222222222222222222222222222222222222222 z
22
2
2
22222222222222222222222222222222222222222^nFOOm`
8>BT?>2<>P?>2Q<>L=PBR?>2ZBQB2<dZ=ICIPBQ2=B>2C?TZ?@<@P<>2R<=2ITZL=>?2?2T?T<@P?2B@kL=BQ2^nFOOM`J2iL<2
=L<k?2R<=2B=k<WQB2Q<>Z<CPIUB2iL<RB@2C?T?\

2222222222222222222222222222222222222222222222222

2222222222222222222222222222222222222222222222222

L x = yp z zp y = p sen p ctg cos

L y = zp x xp z = p cos p ctg sen

2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

[L , L ]= L
x

222222222222222222222222222222222222222222
248

L y
p

L z = p

2 2

22

2222222222^nFOMN`

2222222222^nFOMM`

2 2

L x L y L x L y L x L y
+

p
p p

2 2

2222222222^nFOMO`

2222222222^nFOMe`

NELSON FALCN V.

-<B=IKB@R?2=B>2R<QIUBRB>2I@RICBRB>2<@2^nFOMN`J2^nFOMO`2V2^nFOMM`2V2=L<k?2R<=2B=k<WQB2Q<>Z<CPIUB\

[L , L ]= cos ec cos
x

22222222222222

p + cos ec 2 sen 2 p + ctg cos sen p

KKKK ctg 2 sen 2 p ctg cos sen p ctg 2 cos 2 p

;kQLZB@R?2P<@<T?>\

222222222222222222222222222222222222222222222222222222222

222222222222222222222222222222222222222222222222222222222
;@]=?kBT<@P<\

22222222222222222222222222222222222222222

wBTWIS@\2

[L , L ]= p
x

[L , L ]= L
y

22222222222222222222222222222222222222222

[L , L ]= cos ec

222222222222222222222

ctg cos p = L x

222222222222222222222222222222222222222222

[L , L ]= cos p
y

ctg sen p = L y

2222222

L x L z L x L z L x L z L x

p p
p p

[Lz , Lx ]= Lz

22222222222222222222222222222222222222222

L z L y L z L y L z L y L z

p p
p p

[L , L ]= sen p
y

= pz

p ctg 2 p

22222222222222222222^nFOM_`

2222222222^nFOMc`

2222222222^nFOMa`

2222222222^nFOMo`

2222222222^nFOMm`

2222222222^nFOeN`

22222222222222222222222222^nFOeO`

n n 2

22222222222222222222222222^nFOeM`

.@2CLB@P?2B2iL<2P.2V2P:2><B@2T?T<@P?>2CB@D@IC?>J2B2Z<>BQ2R<2><Q2Z<QZ<@RICL=BQ<>2B=2T?T<@P?2B@kL=BQJ2
<>2C=BQ?2iL<2<>PB2C?@RICID@2@?2=<>2ITZIR<F2.@2<l<CP?\
2222222222222222222222222222222222222222222222222222222222222 p = n .L

;h?QB2WI<@\

22222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222222222222

p = n .L

[p

, p ]= [n .L, n .L ]

[p

, p ]= [n .L, n ].L + n [n .L, L ]

2222222222^nFOee`

2 2

2222222222^nFOe_`

2222222222^nFOec`

222

2222222222^nFOea`

[p

, p ]= n n L (n xL ).n

[p

, p ]= n n L (n xn ).L = 0

L<2R<TL<>PQB2iL<2P.2V2P:2>?@2T?T<@P?>2CB@D@IC?>2C?@tLkBR?>F

22

249

MECNICA CLSICA

7.4 Teorema de Liouville

.=2 P<?Q<TB2 R<2 :I?LUI==<2 <>2 L@2 Q<>L=PBR?2 R<2 =B2 T<C]@ICB2 hBTI=P?@IB@B2
>?WQ<2 =B2 <U?=LCID@2 P<TZ?QB=2 R<2 L@2 >I>P<TB2 T<C]@IC?F2 8@2 C?@tL@P?2 R<2
ZBQP[CL=B>2C?@2C?@RICI?@<>2I@ICIB=<>2C<QCB@B>2ZL<R<@2Q<ZQ<><@PBQ><2Z?Q2
=B2Q<kID@2C?@<dB2iL<2?CLZB2<@2<=2<>ZBCI?2R<2lB><>F2.=2P<?Q<TB2<>PBW=<C<2
iL<2=B2R<@>IRBR2R<2ZL@P?>J2iL<2Q<ZQ<><@PB@2=?>2<>PBR?>2BCC<>IW=<>2R<2
L@2>I>P<TB2y[>IC?J2TB@P<@RQ]2I@UBQIB@P<2>L2U?=LT<@2B2T<RIRB2iL<2CBRB2
ZBQP[CL=B2<U?=LCI?@<2<>2R<CIQ2<=2U?=LT<@2R<=2<>ZBCI?2R<2lB><>2Z<QTB@<C<2
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permanece invariante durante la evolucin de las magnitudes del sistema.

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:I?UI==<2 ?QkB@IKD2 <=2 Journal de Mathmatiques Pures et
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Lord Kelvin fue profesor durante muchos aos en la Universidad de Glasgow225BW<@2L>P<R<>2iLS2

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;"Un matemtico es alguien para quien esto es tan obvio como lo es para ustedes que dos y dos son
cuatro". Liouville era un matemtico aadi.
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2 2

2222222222222222222222222222222^oFO`

.dIkIT?>2@L<UBT<@P<2=B2UBQIBCID@2R<2=B2BCCID@2><Q]2@L=B\
2

257

^oFM`

MECNICA CLSICA

7BQPI<@R?2R<2=B2BCCID@2^oFO`2P<@<T?>\
2

2
2
L

0 = S =
qi dt +
q& i dt
&i
i t1 q i
i t1 q

2
22222222222222222222222222222222222222222222222222

,@P<kQBT?>2Z?Q2ZBQP<>2<=2><kL@R?2PSQTI@?2R<2^oFe`\
t2

L
0 =
qi dt =
qi
q& i
q& i

t1
22222222222222222222222222222222222222222222222

t2

t1

t2

d L

dt
q& i
t1

2222222222222222222222222222222^oFe`

qi dt

-<<TZ=BKBT?>2<@2^oFe`2>I@2B@L=BQ2=B2<UB=LBCID@2R<2=?>2<dPQ<T?>J2iL<2Bh?QB2@?2>?@2yIt?>\
t2

2222222222222222222222222222

d L
0 = S =
i t1
dt q& i

L
L

q i
q i dt +

q& i
i

t2

= 0 + p i q i
i

t1

222222222222222^oF_`

t2
t1

2 222222222222222^oFc`

.=2ZQIT<Q2PSQTI@?J2R<=2><kL@R?2TI<TWQ?2><2B@L=B2Z?Q2iL<2><2CLTZ=<@2=B>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<J2
V2><2hB2L>BR?2=B2R<yI@ICID@2R<2T?T<@P?>2CB@D@IC?>2<@2<=2><kL@R?2PSQTI@?\
222222222222222222222222222222222222222222222222222222222

S = [pi qi (t 2 ) pi qi (t1 )]= pi qi

i

+<2=B2R<yI@ICID@2R<2=B2BCCID@252RBRB2<@2^oFO`2><2>IkL<2iL<\
22222222222222222222222222222222222222222222222222222222222222

S Ldt L =

dS S S

+
dt
t t

222222222222222^oFa`

2222222222222222222222222222222^oFn`

222222222222222^oFo`

S
t 2 2

222222222222222^oFm`

+?@R<2=B2=PITB2>LTB2<dZQ<>BRB2<@2^oFn`2hBV2iL<2<@P<@R<Q=B2<@2<=2><@PIR?2R<2UBQIBCID@J2@?2<@2<=2><@PIR?2
R<2R<QIUBRBJ2=L<k?2Q<<TZ=BKB@R?2^oFa`2P<@<T?>\

L=

222222222222222222222222222222222222222222222222222222222222222222222222222222

S
+ pi q& i
t
i
2

1q =
8q
+?@R<2h<T?>2ZL<>P?2iL<2 1t
F2-<<>CQIWI<@R?2^oFo`2P<@<T?>\
222222222222222222222222222222222222222222222222222222222222222222222222222222

p q&
i

L=

4W><QUBT?>2iL<2<=2=BR?2IKiLI<QR?2<>2tL>PBT<@P<2=B2AL@CID@2R<2jBTI=P?@F2:B2<dZQ<>ID@2^oFm`2><2C?@?C<2
258

NELSON FALCN V.

C?T?2=B2ecuacin de Hamilton-Jacobi\

0=

222222222222222222222222222222222222222222222222222222222222222222222222222222222

5<2>IkL<2PQIUIB=T<@P<2R<2^oFO`2iL<\

S
+H
t
2

S = Ldt = pi q i H dt
2
i
2222222222222222222222222222222222222222222222222222222222222

2222222222222^oFON`

2222222222222^oFOO`

5I2j2@?2R<Z<@R<2R<=2PI<TZ?J2<>2R<CIQ2<>2L@B2C?@>PB@P<2R<=2T?UITI<@P?2<@P?@C<>\

S = pi q i dt E t = pi dq i E t
i

22
2222222222222222222222222222^oFOM`
22222222222222222222222222222222222222222222222222222
+<yI@IT?>2Bh?QB2=B2accin reducida2?2funcin caracterstica de HamiltonJ2C?T?\

W = pi dq i
i

22
2
222222222222222222222222222222222222222222222222222222222222222222222222222222222
/?@2=?2CLB=2=B2<CLBCID@2R<2jBTI=P?@p}BC?WI2^oFON`2><2<dZQ<>B2C?T?\

S =W Et

2222222222222^oFOe`

2222222222222222222222222222222222222222222222222222222222222222222222222222222222
22
22
2
2
2222222222222^oFO_`
wBTWIS@2><2>IkL<2R<2^oFa`J2B=2R<QIUBQ2=B2BCCID@2Q<>Z<CP?2B2=B2i2tp<>ITB2C??QR<@BRB2k<@<QB=IKBRB2iL<\
22222222222222222222222222222222222222222222222222222222222222222222222

q
S
= pi i = pi ij
q j
q j
i

;>I2Z?R<T?>2R<yI@IQ2=B>2variables de accin:

S
= pi

q
i
22
22222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

/?@2=B>2CLB=<>2<=2hBTI=P?@IB@?2ZL<R<2<dZQ<>BQ2C?T?\
2

H (qi , pi , t ) H (qi ,

22

2222222222222222222222222222^oFOc`

2222222222222222222222222222^oFOa`

S
, t)
qi
2

2
2
2222222222222^oFOn`
2222222222222222222222222222222222222222222222222222222222222222222
62=B2<CLBCID@2R<2jBTI=P?@p}BC?WI2iL<RB2<@2ZQI@CIZI?2I@P<kQBW=<2?2<@2<=2T<t?Q2R<2=?>2CB>?>2R<2UBQIBW=<>2
><ZBQBW=<>\

0=

2222222222222222222222222222222222222222222222222222222222222222222222222222

S
S
+ H ( qi ,
, t)
t
qi
2 2

2222222222222^oFOo`

.@2=?>2CB>?>2<>Z<CIB=<>J2<@2=?>2CLB=<>2<=2hBTI=P?@IB@?2@?2><B2lL@CID@2<dZ=[CIPB2R<=2PI<TZ?J2<>2R<CIQ2><B2
L@B2C?@>PB@P<2R<2T?UITI<@P?J2<@P?@C<>2=B2>?=LCID@2><2hB==B2I@T<RIBPBT<@P<2Z?Q2T<RI?2R<2^oFO_`\
259

MECNICA CLSICA

22222222222222222222222222222222222222222222222222222222222222222

S (q i , i , t ) = W (q i , i ) 1 t

2222222222222^oFOm`

2222222222222^oFMN`

L<2 B=2 >L>PIPLIQ2 <@2 =B2 <CLBCI?@2 R<2 jBTI=P?@p}BC?WI2 ^oFON`J2 ><2 Q<RLC<2 B2 L@B2 <dZQ<>ID@2 R?@R<2 VB2 @?2
BZBQ<C<2<=2PI<TZ?\

S
H qi ,
qi
2222222222222222222222222222222222222222222222222222222222222222222222222222222

= 1

.=2?Wt<PIU?2C<@PQB=2R<2=B2P<?Q[B2R<2jBTI=P?@b}BC?WI2<>2=B2R<P<QTI@BCID@2R<2=B2lL@CID@2k<@<QBR?QB2R<2
L@B2lL@CID@2CB@D@ICB\2;iL<==B2iL<2PQB@>l?QTB2=B>2C??QR<@BRB>2V2T?T<@P?>2<@2L@2PI<TZ?2t2CLB=iLI<QB2
B2=B>2TI>TB>2C??QR<@BRB>2V2T?T<@P?>2<@2L@2R<P<QTI@BR?2PI<TZ?2t0F2.>2C=BQ?2iL<2>I2P?TBT?>2t02C?T?2
<=2I@>PB@P<2I@ICIB=2<>P?2C?@>PIPLV<2B2=B2>?=LCID@2R<=2ZQ?W=<TBF2:B>2R?>2lL@CI?@<>2k<@<QBR?QB>2iL<2<@2
<>PB2Q<=BCID@2I@P<Q<>B2R<P<QTI@BQJ2=B>2lL@CI?@<>2ZQI@CIZB=<>2S2V2CBQBCP<Q[>PICB>2WJ2<>P]@2ZQ<CI>BT<@P<2
PQBPBR?>2V2=?>2>IkLI<@P<>2<t<TZ=?>F
Ejemplo 8.1 7BQP[CL=B2<@2CB[RB2=IWQ<

8@B2ZBQP[CL=B2CB<2=IWQ<T<@P<2<@2L@2CBTZ?2kQBUIPBCI?@B=2RIQIkIR?2hBCIB2<t<2J2C?@2L@2jBTI=P?@IB@?2R<2
=B2l?QTB\

H=

1
2
2
2
p x + p y + p z + mgz
2m
2

2222222222222222222222222222222222222222222222222222222222222222
2
Solucin:
:B2<CLBCID@2R<2jBTI=P?@p}BC?WIJ2R<>ZLS>2R<2=B2><ZBQBCID@2R<2UBQIBW=<>2iL<RB\

1 d

d
d
Wx + W y + Wz

2m dx dt dt
2

222222222222222222222222222222222

222222222222^oFMO`

+ mgz = E

2
222222222222^oFMM`
/?T?2.2<>2C?@>PB@P<J2PBTWIS@2=?2>?@2CBRB2>LTB@R?2Z?Q2><ZBQBR?J2Z?Q2><Q2I@R<Z<@RI<@P<>J2=L<k?\
2

1 d

Wx = 1
2m dx

/?@2=B>2>?=LCI?@<>\

22222222222W x = 2m 1 x

1 d
W y = 2
2m dy

W y = 2m 2 y

1 d

W z + mgz = 3
2m dz

222222^oFMe`

( )

W z = 8 9 mg 2 ( 3 mgz )

3/ 2

2222222222222^oFM_`

:B>2C?@>PB@P<>2OJ2MJ2e2R<yI@<@2=?>2@L<U?>2T?T<@P?>2<@2L@B2PQB@>l?QTBCID@2CB@D@ICB2k<@<QBRB2Z?Q2
55^dJ2VJ2KJ2OJ2MJ2e`F2:B2?PQB2TIPBR2R<2=B>2@L<UB>2C??QR<@BRB>2k<@<QB=IKBRB>2R<yI@<@2=B>2<CLBCI?@<>\

1 =

260

2( 3 gmz )
S
m
S
m
S
=
y t 3 =
=
x t 2 =
=
xt
2
2 2
1
2 1
3
mg 2

22222^oFMc`

NELSON FALCN V.

,@U<QPIRB>J2iL<RB@2C?T?\
222222222222222222222222222

x=

2 1
(1 + t ) y = 2 2 ( 2 + t ) z = 3 g ( 3 + t )2
m
m
mg 2
2

2222222222222^oFMa`

Ejemplo 8.2 -<>?=U<Q2 <=2 ZQ?W=<TB2 R<=2 ?>CI=BR?Q2 BQTD@IC?2 L@IRIT<@>I?@B=J2 T<RIB@P<2 <=2 TSP?R?2 R<2
jBTI=P?@p}BC?WIF2
Solucin.- .>2l]CI=2<>CQIWIQ2<=2jBTI=P?@IB@?2C?T?\

p 2 kq 2
H=
+
2m
2 2
22222222222222222222222222222222222222222222222222222222222222222222222222222222222

2222222222222^oFMn`

2222222222222^oFMo`

2222222222222^oFMm`

kq 2
+
=
2

2 2

2222222222222^oFeN`

2
q2 .
k
2

22222222222222222222222222222222222222222222222222222222222222222222222
-<<TZ=BKB@R?2<@2^oFMe`2?WP<@<T?>2=B2BCCID@2Q<RLCIRB2C?T?\

2222222222222^oFeO`

2222222222222222222222222222222222222222222222222222222222222222222

2
q 2 t.
k
2

2222222222222^oFeM`

dq
t
2
2
q
k
2 2

2222222222222^oFee`

62=B2<CLBCID@2R<2jBTI=P?@p}BC?WI2^oFOo`2<>2Bh?QB\2

1 S kq 2 S
+
+
=0
2m q
2
t
222222222222222222222222222222222222222222222222222222222222222222222222
2

5<ZBQB@R?2UBQIBW=<>J2><2ZQ?Z?@<2=B2BCCID@2Q<RLCIRB2C?T?2<@2^oFOm`\
2222222222222222222222222222222222222222222222222222222222222222222222222 S ( q, , t ) = W ( q, ) t 2
;>[2=B2ZBQP<2<>ZBCIB=2R<2^oFMo`2<>2Bh?QB\

1 W

2
m
q
22222222222222222222222222222222222222222222222222222222222222222222222222

/LVB2lL@CID@2CBQBCP<Q[>PICB2R<2jBTI=P?@2^u`2<>J2Z?Q2R<>Z<t<\

W = mk dq

S = mk dq

8>B@R?2=B2R<yI@ICID@2R<2=B2UBQIBW=<2R<2BCCID@2^oFOa`J2<2I@PQ?RLCI<@R?2BiL[2^oFeM`J2P<@<T?>\

22222222222222222222222222222222222222222222222222222222222222222222

S
= m/k

261

MECNICA CLSICA

-<B=IKB@R?2=B2I@P<kQB=J2V2R<>Z<tB@R?2q2?WP<@<T?>2yI@B=T<@P<\

q=

2
cos( (t + )),
k

2222222222222222222222222222222222222222222222222
.UB=LB@R?2=B>2C?@RICI?@<>2I@ICIB=<>2P<@<T?>\

k /m

kq
S
= p 0 = 0 = 2m 0
2
q 0

2222222222222222222222222222^oFe_`

=
222222222222222222222222222222222222222222222222222222222222222
;=2>L>PIPLIQ2<@2^oFe_`\

m 2 q0
=H
2

2222222222222222222222222222222222222222222222222222222222222222222222222222

q = q0 cos w(t + ) 2

2 2

2222222222222^oFec`

2222222222222^oFea`

Ejemplo 8.32-<>?=U<Q2<=2ZQ?W=<TB2R<2T?UITI<@P?2R<2L@2ZQ?V<CPI=2<@2<=2<>ZBCI?2WBt?2=B2I@y=L<@CIB2R<2
L@B2lL<QKB2kQBUIPBCI?@B=2L@Il?QT<J2T<RIB@P<2<=2TSP?R?2R<2jBTI=P?@p}BC?WIF2.@C?@PQBQ2=B2<CLBCID@2R<2
=B2DQWIPB2^PQBV<CP?QIB`2V2<=2IPI@<QBQI?F
Solucin:

5<2PQBPB2R<2<@C?@PQBQ2=B2lL@CID@2ZQI@CIZB=2R<2jBTI=P?@2 S ZBQB2<=2CB>?2R<=2T?UITI<@P?2R<2L@2ZQ?V<CPI=J2

lL@CID@2 iL<J2 C?T?2 >BW<T?>J2 k<@<QB2 L@B2 PQB@>l?QTBCID@2 R<>R<2 =B>2 C??QR<@BRB>2 uq, p v2 ZQITIPIUB>2 B2

C??QR<@BRB>2 R<2 Z?>ICID@2 V2 T?T<@P?2 C?@>PB@P<F2 /?T?2 S R<Z<@R<2 R<=2 PI<TZ?2 <>PB2 PQB@>l?QTBCID@2
<iLIUB=<2B2R<P<QTI@BQ2 q 2V p C?T?2lL@CI?@<>2R<=2PI<TZ?J2<>P?2<>J2Q<>L<=U<2<=2ZQ?W=<TBF2.=2jBTI=P?@IB@?2
R<=2ZQ?V<CPI=2PI<@<2=B2l?QTB

H=

2
p x2 p y
p2
+
+ z + mgz
2m 2m 2m
2

2222222222222^oFen`

2
2
2
S
1 S
S
S
=0
+ + + mgz +
2m x
t
y
z

222222222222222222222222222222222222222222222222
2

2222222222222^oFeo`

S
S = w q i ,
q i
22222222222222222222222222222222222222222222222222222222222222222222222222

2222222222222222222222222222^oFem`

22222222222222222222222222222222222222222222222222222222222222222222
:B2<CLBCID@2R<2jBTI=P?@p}BC?WI2<>2^L>B@R?2oFOo`\

/?T?2>BW<T?>J2R<2=B>2CLBPQ?2C?@>PB@P<>2R<2I@P<kQBCID@2>?=?2PQ<>J2@?2BRIPIUB>2C?QQ<>Z?@R<@2B2=?>2@L<U?>2
T?T<@P?>F2;h?QBJ2=B2<CLBCID@2RIl<Q<@CIB=J2<CLBCID@2R<2ZQIT<Q2?QR<@J2BRTIP<2=B2>IkLI<@P<2><ZBQBCID@2
BRIPIUBF

4WP<@<T?>
262

+ S 0 (t )

22

NELSON FALCN V.

w 2 w 2 w 2
S
S = + + + mgz + 0 = 0
t
z
x
y
22222222222222222222222222222222222222222
2

5<ZBQB@R?2UBQIBW=<>J2P<@<T?>2iL<2=B2ZBQP<2P<TZ?QB=2B2R<2><Q2IkLB=2B2=B2C?@>PB@P<O\

2222222222222^oF_N`

S 0
= 1 S 0 = 1t

t
22222222222222222222222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222222222222222222222^oF_O`22
.@2R?@R<2=B2C?@>PB@P<2BRIPIUB2><2hBC<2@L=B2R<2=B>2C?@RICI?@<>2I@ICIB=<>F2;iL[22

|1

2<>2L@?2R<2=?>2@L<U?>2
T?T<@P?>F2:B2<CLBCID@2><ZBQBRB2R<2=B2ZBQP<2<>ZBCIB=2<>J2C?T?2<@2^oFMN`\22 H 8 | 1 F22.dZ=[CIPBT<@P<\
2
2
2
1 w w w
+

+ mgz = 1
+
2m x y z

2222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222^oF_M`

4W><QUBT?>2 x 2<2 y 2>?@2C??QR<@BRB>2C[C=ICB>F2:L<k?2

222222222222222222222222222222222222222222222222222222222222222222

p x = 2 = Px

:B2@L<UB2<CLBCID@2<>2PBTWIS@2><ZBQBW=<2Z?@<T?>2

w
1 w1

+ 2
2m x
y

222222222222222222222222222222222222222222222
2

;>[2?WP<@<T?>\

p y = 3 = Py

S w2
= 3
=
y
y
2

2
1 2
w3
2
+ mgz = 1
2 + 3 +
2m
z
2 2
2222222222222222222222222222222222222222222222222222222222

62RI>Z?@<T?>J2B>[2R<2=B>2PQ<>2C?@>PB@P<>2R<2I@P<kQBCID@2@<C<>IPBRB>F2.@P?@C<>\
22222222222222222222222222222222222222222222222222222222222222222222

22222222222

222222222222222222222222222222222222222222222222222222222

w1 = 2 x

2222222222222^oF_e`

2222222222222^oF__`

2222222222222^oF_c`

w 8 w1 ux v g w2 uy v g w3 uz v2 =L<k?\

2
2

w
+ 3 + mgz = 1
z

S w1
= 2
=

x
x
22222222222222222222222222222222222222222222222222222222222
62BR<T]>\

p x 2V2 p y >?@2C?@>PB@P<>F2.@P?@C<>\

w2 = 3 y 22

w3 = 2m 1 + 22 32 2m 2 gz dz

2222222222222222222222222222^oF_a`

2222222222222^oF_n`

2 2

2222222222222^oF_o`

263

MECNICA CLSICA

w3 8 + 2 x g + 3 y g ! 2m+ 1 ; + 22 ; + 32 ; 2 m z
6

22222222222222222222222222222222222222222

w 8 + 2 x g + 3 y g ! 2m+ 1 g + 22 ; + 32 ; 2 m 2 g z dz ; + 1t

:B>2<CLBCI?@<>2R<2PQB>l?QTBCID@\
222222222222222222222222222222222222222222222222222222222222222222222
6B2h<T?>2?WP<@IR?\
22222222222222222222222222222222222222222222222222222222222
62=?>2 , 1 2Q<>L=PB@\
2

2 =

2222222222222222222222222222222222222

3 =

S
S
i =
qi
i 2 2

pi =

p1 = H = 1

1 =

222222

2222222222222222222222222222222222222

dz

1 =

p2 = 2

p3 = 3 2

mdz

2222222222222^oFcN`

2222222222222^oFcO`

2m 1 32 2m 2 gz

1 = x

3 = y

t
2 2222222222222222222222222222^oFcM`

2 dz

2m 1 22 32 2m 2 gz

22222222

22222222

22222222

22222222

t 2 =

2m 1 22 32 2m 2 gz

1
2m 1 22 32 2m 2 gz
mg
2

x 2 =
y 3 =

3 dz

+<>ZLS>2R<2<l<CPLBRB2=B2I@P<kQBCID@2?WP<@<T?>\

t + 1 =

2222222222222^oF_m`

2
2

2222222222222^oFce`
2222222222222^oFc_`

2222222222222222222222222222^oFcc`

2
2m 1 22 32 2m 2 gz
2
m g
2

2
2m 1 22 32 2m 2 gz
m2 g
2

2222222222222^oFca`

2222222222222^oFcn`

2222222222222^oFco`

2222222222222^oFcm`

3
2

m g

2m 1 22 32 2m 2 gz

.>PB>2R?>2=PITB>2<CLBCI?@<>2R<yI@<@2=B2DQWIPBF27BQB2?WP<@<Q2<=2IPI@<QBQI?2WB>PB2<=<UBQ2B=2CLBRQBR?2=B2
ZQIT<QBJ2<>P?2<>\
2222222222222222222222222222222222222222222222222

264

m 2 g 2 (t + 1 ) = 2m 1 22 32 2m 2 gz 2
2

NELSON FALCN V.

g 2
g 2 1 22 + 32
z = t 1 gt 1 +
+
2
2
mg
2m 2 2
22222222222222222222222222222222222222222222222222

2
2222222222222^oFaN`
62>I2R<>Z<tBT?>2=B2QB[K2CLBRQBRB2<@2PSQTI@?>2R<=2PI<TZ?2R<=2PI<TZ?2V2==<UBT?>2<>P<2UB=?Q2B2=B>2R?>2
=PITB>2<CLBCI?@<>J2?WP<@<T?>2yI@B=T<@P<\
22222222222222222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222222222222222222222222

x=

y=

t + 1 2 + 2
m
m
2 2
3

t + 1 3 + 3
m
m
2 2

Ejemplo 8.4:27?P<@CIB=2:I@<B=
.TZ=S<><2 <=2 TSP?R?2 R<2 jBTI=P?@p}BC?WI2 ZBQB2 Q<>?=U<Q2 <=2
ZQ?W=<TB2R<=2Z?P<@CIB=2=I@<B=2C?T?2<@2=B2yIkLQB2oFMF
Solucin:
.=2hBTI=P?@IB@?J2<>\

H=

/?@2<=2ZL@P?2R<2Q<PQ?C<>?\
22222222222222222222222222222222222222222222222

62Z?Q2PB@P?\

p2
+k x
2m

x0 =

k2

222222222222222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222 2
222222

2
I8
~

x0

!
0

2222222222222^oFaO`

2222222222222^oFaM`

^oFae`
2

2
I=

Figura 8.2 7?P<@CIB=2=I@<B=

222222222222222^oFa_`
x0

2m( kx) dx

22222222222222222222222222222222222222

D9
A
2m(| ; kx) dx ] | 8 B mk 2~ 2 I 2 ?
C8
@

222222222

1/ 3

22

22222222222222222222222222222222222222222222^oFac`

2D 9 m 2 2 A
k ~ ?
; S8 B
3C 8 I
@

1/ 3

222222222^oFaa`

Ejemplo 8.5 7=B@P<BQ2<=2ZQ?W=<TB2R<=2PQ?TZ?2Z<>BR?J2C?@2L@2ZL@P?2yIt?J2>ITSPQIC?J2><k@2<=2TSP?R?2R<2

jBTI=P?@p}BC?WI2V2?WP<@<Q2=B2>?=LCID@2l?QTB=2R<=2T?UITI<@P?F

Solucin:2
+<W<T?>2 ?WP<@<Q2 =B2 lL@CID@2 5J2 C?T?2 <@2 <=2 <t<TZ=?2 B@P<QI?QJ2 ZBQB2 <=2 PQ?TZ?2 >ITSPQIC?2 Z<>BR?F2 .=2
hBTI=P?@IB@?2R<=2PQ?TZ?2>ITSPQIC?2Z<>BR?2PI<@<2=B2l?QTB2^U<Q2<=2CBZIPL=?2a`\
265

MECNICA CLSICA

(p p cos ) p
p
H= +
+
+ mgl cos
2I1
2I 3
2 I 1 sen 2
2222222222222222222222222222222222222222222
2
2

D
wS A wS
H BB q i ,
,t? g
80
wq i ?@ wt
C
S
:B2<CLBCID@2R<2jBTI=P?@p}BC?WI2ZBQB2=B2lL@CID@2 2<>\2
2

2222222222

1 D wS A
1
B ? g
2 C w' @
2 I 1 sen' 2

D wS
BB
C w#

A
D wS wS
1
BB
cos ' ?? g
;
2I 3
@
C w3 w#

2222222222222^oFan`

A
wS
?? g mgl cos ' ;
80
wt
@

2222222222222^oFao`

4PQB2 U<KJ2 R<2 =B>2 CLBPQ?2 C?@>PB@P<>2 R<2 I@P<kQBCID@2 >D=?2 PQ<>J2 @?2 BRIPIUB>J2 C?QQ<>Z?@R<@2 B2 =?>2 @L<U?>2
T?T<@P?>F2:B2<CLBCID@2BRTIP<2=B2><ZBQBCID@\

S
S = w q i ,
q i
2222222222222222222222222222222222222222222222222222222222222222222222222

3<RIB@P<2=B2CLB=2><2?WPI<@<\
2

2222222222

1 D ww A
1
B ? g
2 C w' @
2 I 1 sen' 2

+ S 0 (t )

2 2

A
D ww ww
1
BB
cos ' ?? g
;
2I 3
@
C w3 w#

S 0
= 1 S 0 = 1t
2222222222222222222222222222222222222222222222222222222222222222222222 t
2
2

.@P?@C<>2 + 1 <>2L@?2R<2=?>2@L<U?>2T?T<@P?>2V2U<T?>2iL< H 8 + 1

p3

p = 2 =

22222222222222222222222222222222222222222222222222222222222222222222222222222222222

22222222222222222222222222222222222222222222222222222222222222222222222
266

2V2

p = 3 = 2

:B2@L<UB2<CLBCID@2<>2PBTWIS@2><ZBQBW=<2Z?@<T?>\

2222222222222^oFnN`
2222222222222^oFnO`

w w

1 w
1 w
1

+ mgl cos = 1

cos +

+
2
2
2

I
2

I
sen

1
3
1
2
2222222222222222
4W><QUBT?>2iL<2 3 2V2# >?@2C??QR<@BRB>2C[C=ICB>J2=L<k?2

2222222222222^oFam`

wS
D ww A
?? g mgl cos ' ; 0 8 0
BB
wt
C w# @

.CLBCID@2iL<2><2R<>R?W=B2<@\

.@2iL<2@?2C?@>IR<Q<T?>2=B2C?@>PB@P<2BRIPIUB2V\

p#

2222222222222^oFnM`

>?@2C?@>PB@P<>F2.@P?@C<>\

22222222222222222222222222222222222222222222222222222222222^oFne`

w = w1 ( )+ w2 ( )+ w3 ( )2

2222222222222^oFn_`

NELSON FALCN V.

:L<k?\

w1 w3

1 w3
1 w2
1

+ mglcos = 1

cos +
+

2
I

2
I
sen

3
1
222222222222222222 1
2 2222222222222^oFnc`
62P<@<T?>\

S w3
= 3
=

2 22222222222222222222222222222222222222222222^oFna`

S w1
=
= 2

2222222222222222222222222222222222222222222222222222222222
2

1 w2
1
( 2 3 cos )2 + 1 32 + mgl cos = 1

+
2
2 I 2 I1 sen
2I 3
2
22222222222222222222222222222 1

.@P?@C<>\

2222222222222222222222222222222222222222222222222222222222222222222222
6\
2222222222222222222222222222222222222222
.@2R?@R<2 + 1 J2 + 2 2V2

w1 = 2

w3 = 3 2 2

22222222222222222222222222222222222222222222^oFno`

I 2 ( 3 cos )
w2
= 2 I1 1 2 I1mgl cos 1 3 2

I3
sen 2

2222222222222222222222222222222^oFnm`2

+ 3 >?@2=?>2PQ<>2@L<U?>2T?T<@P?>F2;>[2=B2lL@CID@2 S WL>CBRB2<>2

S 8 + 23 g + 3# g 2 I 1+ 1 ; 2 I 1 mgl cos' ;
22222222222222

I 1+ 32 u+ 2 ; + 3 cos' v
;
; + 1t
I3
sen 2'
2

62=B>2<CLBCI?@<>2R<2PQB@>l?QTBCID@J2iL<2C?@PI<@<2=B2>?=LCID@2R<=2ZQ?W=<TBJ2<>P?2<>
22222222222222222222222222222222222222222222222222222222222222222222
1?>2ZQ?Z?QCI?@B2=B>2VB2?WP<@IRB>\
2222222222222222222222222222222222222222222222222222222222222
62BR<T]>\

1 =

222222222

S
=
1

Pi =

S
qi

P1 = H = 1

i =

P = 2

P = 3 = I1a = I 3 z

22222222222222^oFoN`

S
i 2 22222222222222222222222222222222222222222222222222222222222^oFoO`

P = 3

22222222222222222222222222222222222222222222^oFoM`

I 1 send

I
2
2 I 1 1 sen 2 I 1 sen mgl cos 1 32 sen 2 ( 2 3 cos )
I3
2

62T<RIB@P<2=B>2IR<@PIyICBCI?@<>\
22222222222

2222222222222^oFnn`

P = 1 = I1b

2
2
E 3
I1
I3

2mgl
I1

222222222222^oFoe`2

22222222222222222222^oFo_`2
267

MECNICA CLSICA

62=B2>L>PIPLCID@22 u 8 cos' J2?WP<@<T?>2=B2<CLBCID@2Z<RIRB\

du

T g ,1 8 !

u1 ; u vu+ ; , u v; ub ; au v
2

22222222222222222222222222222222222222222222222222222222

8.2 Variables angulares de accin

2 2222222222222222222222222222^oFoc`

.@2TLCh?>2CB>?>J2I@P<Q<>B@2=?>2>I>P<TB>2<@2R?@R<2>L2T?UITI<@P?2<>2Z<QIDRIC?J2V2T]>2iL<2=?>2R<PB==<>2
R<2>L2PQBV<CP?QIBJ2I@P<Q<>B2=B2lQ<CL<@CIB2R<2<>P<F2;@P<>2R<2I@PQ?RLCIQ2<=2C?@C<ZP?2R<2UBQIBW=<>2R<2BCCID@J2
hBV2iL<2P<@<Q2<@2C=BQ?2CLB@R?2><2hBC<2Q<l<Q<@CIB2B2L@2T?UITI<@P?2Z<QIDRIC?F2.@2PB=2CB>?2><2ZL<R<@2
<>PLRIBQ2R?>2PIZ?>2R<2T?UITI<@P?2Z<QIDRIC?2C?T?2>?@\

Libracin2 iL<2 >?@2 BiL<==?>2 <@2 R?@R<2 q2 V2 p >?@2 lL@CI?@<>2 Z<QIDRICB>2 R<=2 PI<TZ?2 R<2 =B2 TI>TB2
lQ<CL<@CIBF
Rotacin, BiL[2q2@?2<>2Z<QIDRICBJ2Z<Q?2iL<2B=2BLT<@PBQ2<=2UB=?Q2I@ICIB=2R<2<>PB2UBQIBW=<2=B2C?@yIkLQBCID@2
R<=2>I>P<TB2Z<QTB@<C<2I@B=P<QBRBF

Figura 8.323?UITI<@P?2Z<QIDRIC?2R<2=IWQBCID@2^IKiF`2V2R<2Q?PBCID@2^R<QF`

8@B2U<K2yItBR?2<=2PIZ?2R<2T?UITI<@P?2iL<2@?>2ZQ?Z?@<T?>2<>PLRIBQJ2I@PQ?RLCIQ<T?>2=B>2UBQIBW=<>2R<2
BCCID@2iL<2hB@2R<2Q<TZ=BKBQ2B2=B>2C?@>PB@P<>2<i2<@2<=2ZBZ<=2R<2T?T<@P?>2PQB@>l?QTBR?>2C?@>PB@P<>22
^pi`2RBR?>2Z?Q\

222222222222222222222222222222222222222222222222222222222222222222222222222

pi =

Wi (qi , i ,.., n )
qi
22 22222222222222222222222222222222222222222222222222222222222^oFoa`

:B2variable de accin22Ji2J2C?QQ<>Z?@RI<@P<2B=2ZBQ2R<2UBQIBW=<>2><ZBQBW=<2^qi,pi`2><2R<yI@<2Z?Q\2
2222222222222222222222222222222222222222222222222222222222222222222222222222222222

J i = pi dqi

222222222222222222222222222222222222222222222222222222222222222222222222^oFon`

.@2R?@R<2=B2I@P<kQBCID@2><2<dPI<@R<2B2L@2Z<QI?R?2C?TZ=<P?2R<2?>CI=BCID@2?2Q?PBCID@2R<2><k@2<=2CB>?F2
4W>SQU<><2iL<2>L>2RIT<@>I?@<>2>?@2=B>2R<=2T?T<@P?2B@kL=BQ2PBTWI<@2==BTBR?2T?T<@P?2CI@SPIC?F2+<2
BCL<QR?2C?@2^oFoa`2Z?R<T?>2<>CQIWIQ\
2222222222222222222222222222222222222222222222222222222222222222
268

Ji =

Wi (qi , 1 ,.., n )
dqi
qi

22222222222222222222222222222222222222222222^oFoo`

NELSON FALCN V.

.dZQ<>B@R?2=B>2IJ2C?T?2lL@CI?@<>2R<2}IJ2=B2lL@CID@2CBQBCP<Q[>PICB2u2><2<>CQIWIQ]2<@2=B2l?QTB\

W = W (q ...q ; J1...J n ) 2 22222222222222222222222222222222222222222222222222222222222^oFom`

1
n
222222222222222222222222222222222222222222222222222222222222222222222222
3I<@PQB>2iL<2=B2jBTI=P?@IB@B2><Q]2lL@CID@2R<2=B>2}I\

22222222222222222222222222222222222222222222222222222222222222222222222222

H = 1 = H ( J1...J n ) 2

22222222222222222222222222222222222222222222222222222222222^oFmN`

5I2=B2UBQIBW=<2><ZBQBW=<2<>2C[C=ICBJ2>L2T?T<@P?2C?@tLkBR?2<>2C?@>PB@P<F2/?T?2=B2C??QR<@BRB2R<2L@B2
Z<QI?RICIRBR2 R<2 Q?PBCID@2 <>2 >I<TZQ<2 L@2 ]@kL=?J2 L@B2 C??QR<@BRB2 C[C=ICB2 qi2 PI<@<2 >I<TZQ<2 L@2 Z<Q[?R?2
@BPLQB=2MF2+<2BCL<QR?2C?@2<>P?\

J = 2 p

i 2 222222222222222222222222222222222222222222222222222222222222222222222222^oFmO`
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222 i
:B>2C??QR<@BRB>2k<@<QB=IKBRB>2C?@tLkBRB>2R<2Ji ><2R<@?TI@B@2variables angulares2/i

i =

W
J i 2 222222222222222222222222222222222222222222222222222222222222222222222222^oFmM`

2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
;@]=?kBT<@P<J2=B>2<CLBCI?@<>2R<2T?UITI<@P?2ZBQB2I2>?@\2

i =
222222222222222222222222222222222222222222222222222222222222222222
/LVB2>?=LCID@2<>\

H ( J1...J n )
= ( J1...J n )
J i
2

22222222222222222222222222222222222222222222^oFme`

= t +

i
i 2 222222222222222222222222222222222222222222222222222222222222222222222222^oFm_`
222222222222222222222222222222222222222222222222222222222222222222222222222222222222 i
5I2B=kL@B2R<2=B>2C??QR<@BRB>2Q<B=IKB2L@2CIC=?2C?TZ=<P?2><2ZL<R<2Q<ZQ<><@PBQ2Z?Q2T<RI?2R<\

= i

i
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222
+?@R<2I2<>2L@2CBTWI?2I@yI@IP<>ITB=J2R<2=B2l?QTB\

i =

2222222222222222222222222222222222222222222222222222222222222222222222222222222222
.UIR<@P<T<@P<2P<@RQ<T?>2iL<\

i =

2222222222222222222222222222222222222222222222222222222222222222222222222222222222
5I2<=2Z<Q[?R?2B>?CIBR?2B2qi <>23iJ2><2R<RLC<2iL<\
22222222222222222222222222222222222222222222222222222222222222222222222222222222222

2222222222222222222222222222222222222222222222222222222222222222222222222^oFmc`

i
dq j
q j
J j
J i

= ij

i = 1 = i i 2

22222222222222222222222222222222222222222222222222222222222^oFma`
2

22222222222222222222222222222222222222222222222222222222222^oFmn`
22222222222222222222222222222222222222222222222222222222222^oFmo`

269

MECNICA CLSICA

Ejemplo 8.627S@RL=?2>ITZ=<
+<T?>PQBQ2iL<2>L2BTZ=IPLR2R<2?>CI=BCID@2<>2Z<iL<qB2=B2<@<Qk[B2R<2L@2ZS@RL=?2>ITZ=<2S>PB2RBRB2Z?Q\

222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222 E = J 222222222222222222222222222222222222222222222222222222222222222222222222222222^oFmm`
Solucin
.=2=BkQB@kIB@?2R<=2ZS@RL=?2>ITZ=<2<>\

1
1
L = m& 2 mG = ml 2& 2 + mgl cos
2
2
2222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222^oFONN`
.@2<>P<2CB>?2<=2jBTI=P?@IB@?2Q<>L=PB\
22222222222222222222222222222222222222222222222222222222222222222222222

H =

1 2 &2
ml mgl cos
2
2222222222222222222222222222222222222222222222222222222222^oFONO`

.>CQIP?2<@2PSQTI@?>2R<=2T?T<@P?2CB@D@IC?\
222222222222222222222222222222222222222222222222222222222222222

H ( , p ) =

p2
mgl cos = E
2ml 2
22222222222222222222222222222222222222222222222222^oFONM`

.>P?2 <>J2 >I>P<TB2 C?@><QUBPIU?F2 7L<>P?2 iL<2 <=2 jBTI=P?@IB@?2 ><2 C?@><QUB2 <>CQIWIT?>2 =B2 <CLBCID@2 R<2
jBTI=P?@p2}BC?WI2R<=2ZQ?W=<TB2ZBQB2=B2lL@CID@2CBQBCP<Q[>PICB2 wuq, p vJ2<>P?2<>\2

w
H , = E
2222222222222222222222222222222222222222222222222222222222222222222222222222222222
2
22222222222222222222222222222

222222222222222222222222222222222222222222222222222222222^oFONe`

1 w
mgl cos = E
2
2
2222222222222222222222222222222222222222222222222222222222222222222 2ml

222

L<2<>2L@B2<CLBCID@2RIl<Q<@CIB=2R<2><kL@R?2kQBR?2?QRI@BQIB2ZBQB2 w J2RIQ<CPBT<@P<\
222222222222222222222222222222222222222222222222222222222222222

w( ) = 2ml 2 (E + mgl cos )d

/=BQBT<@P<J2=B2UBQIBW=<2R<2BCCID@2

J'

<>

2222222222222222222222222222222222222222222222222222222222222222222222222222222222222

J =

w
d

2222222222^oFON_`

22222222222222222222222222222222222222222^oFONc`

222222222222222222222222222222222222222222222222222222222^oFONa`

+?@R<2=B2I@P<kQB=2><2P?TB2<@2L@2Z<QI?R?2C?TZ=<P?2R<2?>CI=BCID@F2.@P?@C<>\
(T )

2222222222222222222222222222222222222222222222222222222222222
270

J =

(0 )

2ml 2 (E + mgl cos )d

22222222222222222222222222222222222222222^oFONn`

NELSON FALCN V.

5I2I@PQ?RLCIT?>2=B2C?@RICID@2R<2?>CI=BCI?@<>2Z<iL<qB>2?WP<@<T?>\
222222222222222222222222222222222222222222222222222222222222222

J =

x ( )

2ml 2 (E + mgl cos )d

x (0 )

x2 x4
cos' 8 1 ; g ...
2! 4!
22 ' 8 x
+?@R<2h<T?>2ZL<>P?\22222222222
222222222222222222222222222222222222
5<B\

J =

x ( )

x (0 )

2ml 2 (E + mgl cos )d 1

mgl
2222222222222222222222222222222222222222 2(E + mgl )

22222222222222222222222222222222222222222^oFONo`

mgl
x 2 dx
2(E + mgl )
2

2(E + mgl )
cos d
mgl
2 2

x = sen dx =

2222222222^oFONm`
2222222222^oFOON`

22222222222222222222222222222222222222222222222222222222222222222222222222222222222222 0 2 222222222222222222222222222222222222222222222222222222222222222222222222^oFOOO`

.@P?@C<>\

22222222222222222222222222222222222222

J = 2ml 2 (E + mgj )

222222222222222222222222222222222222222222222

J =2

2(E + mgl )
cos d
mgl
22

1 sen 2

2222222222^oFOOM`

2
l
(E + mgj )0 cos 2 d J = 2 l (E + mgj )
g
g
222 22222222222222222222222222^oFOOe`

;h?QB2ZBQB2=B2lQ<CL<@CIB2R<2?>CI=BCID@2 2 <>P]2RBRB2Z?Q\

H
=

J
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
2
22222222222222222222222222222222222222222222222222222222222222222222222222
+<2R?@R<\

H =E=

222222222222222222222222222222222222222222222222222222222222222222222222222
;>[\

w& =

J
2

H
1
=
J 2

2222222222222222222222222222222222222222222222222222222222222222222222^oFOO_`

g
mgl
l
22

22222222222222222222222222222222222222222^oFOOc`

g
=
l
2 222222222222222222222222222222222222222222222222222222222^oFOOa`

22222222222222222222222222222222222222222222222222222222222222222222222222222222222 J = E + mgl 2

222222222222222222222222222222222222222222222222222222222^oFOOn`

.>2=B2Q<=BCID@2Z<RIRB2>B=U?2Z?Q2=B2C?@>PB@P<2R<2I@P<kQBCID@2iL<2Q<ZQ<><@PB2

.O

F2;QWIPQBQI?F

271

MECNICA CLSICA

Ejemplo 8.72 /?@>IRSQ<><2 L@2 ZS@RL=?2 >ITZ=<2 l?QTBR?2 Z?Q2 L@2 ZL@P?2 TBP<QIB=2 iL<2 R<Z<@R<2 R<2 L@B2
CL<QRB2=B2CLB=2ZB>B2U<QPICB=T<@P<2B2PQBUS>2R<2L@2h?V?2iL<2hBV2<@2L@B2T<>B2h?QIK?@PB=F2:B2=?@kIPLR2
R<=2ZS@RL=?2R<CQ<C<2C?@PI@LBT<@P<2Z?QiL<2><2<>PB2PIQB@R?2=<@PBT<@P<2=B2CL<QRB2B2PQBUS>2R<=2h?V?F2:B2
U<=?CIRBR2R<2R<CQ<CITI<@P?2R<2=B2CL<QRB2<dPQ<TBRBT<@P<2Z<iL<q?2C?TZBQBRB2C?@2=B2lQ<CL<@CIB2R<2
?>CI=BCID@2ZBQB2CLB=iLI<Q2=?@kIPLR2RBRBF2/B=CL=BQ2<=2CBTWI?2R<2<@<Qk[B2R<=2ZS@RL=?J2CLB@R?2=B2=?@kIPLR2
><2BC?QPBJ2B2ZBQPIQ2R<=2PQBWBt?2h<Ch?2B=2PIQBQ2C?@PQB2=B2P<@>ID@2R<2=B2CL<QRBF23?>PQBQ2C?T?2Q<>L=PBR?2iL<2

J8

E
2 2<>2C?@>PB@P<2B2PQBUS>2R<=2ZQ?C<>?F28@2CBTWI?2<@2=?>2ZBQ]T<PQ?>2<dP<Q@?>2

=B2UBQIBW=<2R<2BCCID@2
R<=2 >I>P<TB2 iL<2 ?CLQQB2 =<@PBT<@P<2 C?TZBQBR?2 C?@2 =B>2 lQ<CL<@CIB>2 I@PQ[@><CB>2 ><2 C?@?C<2 C?T?2 L@B2
UBQIBCID@2BRIBW]PICB2V2=B2UBQIBW=<2R<2BCCID@2R<2L@2ZS@RL=?2<>2<@P?@C<>2L@B2I@UBQIB@P<2BRIBW]PICBF2.>2
Z?>IW=<2ZQ?WBQ2<@2k<@<QB=2=B2I@UBQIB@P<2BRIBW]PICB2V2=B2UBQIBW=<2R<2BCCID@2ZBQB2CLB=iLI<Q2>I>P<TB2<@2
iL<2@?2?CLQQB@2R<k<@<QBCI?@<>J2:B>2UBQIBW=<>2R<2BCCID@2>?@2B>[2C?@>PB@P<>2<>PBW=<>2R<=2>I>P<TB2WBt?2=B2
I@y=L<@CIB2R<2C?@RICI?@<>2<dP<Q@B>2iL<2CBTWIB@2=<@PBT<@P<F2;h?QBJ2<=2<>PBR?2CL]@PIC?2R<2L@2>I>P<TB2
PBTWIS@2L@2I@UBQIB@P<2BRIBW]PIC?2L@2CBTWI?2=<@P?2R<2=?>2ZBQ]T<PQ?>2<dP<Q@?>2@?2I@RLC<@2PQB@>ICI?@<>2
R<2 L@2 <>PBR?2 B2 ?PQ?F2 w<@<T?>2 BiL[2 ?PQB2 I@RICBCID@2 R<2 =B2 <>PBWI=IRBR2 R<2 =B>2 UBQIBW=<>2 R<2 BCCID@2 ZBQB2
R<>CQIWIQ2=B2CLB@PIKBCID@2R<2=?>2<>PBR?>2R<2L@2>I>P<TBF
W`2:B2<CLBCID@2R<2T?UITI<@P?2B2=?2=BQk?2R<2 l <>

&
&&
222222222222222222222222222222222222222222 mr mr mg cos = 0
2

m&r& = mr& 2 + mg cos 22222222222222222222222222^oFOOo`

:?2iL<2@?>2RIC<2iL<2=B2lL<QKB2iL<2BCPB2QBRIB=T<@P<2>?WQ<2<=2ZS@RL=?2<>\2

&
22222222222222222222222222222222222222222222222222222222222222222222222222 Fr = mr mg cos 2 2
2

22222222222222222222222222222222222222222^oFOOm`

.>PB2lL<QKB2<>2IkLB=2B2=B2P<@>ID@2R<2=B2CL<QRBF2.@2L@2Z<QI?R?2R<2?>CI=BCID@2Z?R<T?>2Z?@<Q\
2 &2
22222222222222222222222222222222222222222222222222222222222222222222222222 T = ml + mg cos 2

222222222222222222222222222222222222222222222222222222222^oFOMN`

6B2 iL<2 <=2 CBTWI?2 R<2 =?@kIPLR2 R<=2 ZS@RL=?2 C?TZBQBR?2 C?@2 =B2 lQ<CL<@CIB2 R<2 ?>CI=BCID@F2 :B2 P<@>ID@2
ZQ?T<RI?2RLQB@P<2L@B2?>CI=BCID@2C?TZ=<PB2<>\
"

2222222222222222222222222222222222222222222222222222

"

1
1
T 8 ! Tdt 8 ! m l'! 2 g g cos ' dt
" 0
" 0

2 22222222222222222222222222222222222222222^oFOMO`

7?Q2?PQB2ZBQP<2CLB@R?2><2PQBPB2R<2?>CI=BCI?@<>2Z<iL<qB>2=B2BTZ=IPLR2 ' ut v2R<2=B2?>CI=BCID@2<>P]2RBRB2

Z?Q\2

' ut v 8 ' 0 sen2~ot

2222222222222222222222222222222222222222222222222222222222222222222222222222 ' ut v 8 2~o' 0 cos 2~ot

62<>2U]=IRB2=B2BZQ?dITBCID@\

222222222222222222222222222222222222222222222222222222222^oFOMO`

1
1
cos = 1 2 = 1 0 sen 2 2t
2
2
2222222222222222222222222222222222222222222222222222222222222
2 22222222222222222222222222222222222222222^oFOMM`
272

NELSON FALCN V.

T =
22222222222222222222222222222222222222

1
1

2
m l (2 ) 02 cos 2 2t + g 1 02 sen 2 2t dt

2
2

g
ml 0
mg 02 mg 02
l

T =
+ mg
=
+ mg
2
4
4
2222222222222222222222222222222222222222222222222
2
;h?QB2WI<@J2R<2

E8

mw 2 q 02
2

J22.@<Qk[B2P?PB=2R<=2?>CI=BR?Q2BQTD@IC?

222222222222222222222222222222222222222222222222222222222222222222222

E=

T =

g 2 2
0 l
2E
l
02 =
2
mgl 2

w2 8

g
l

2222222222^oFOMe`

22222222222222222222222222^oFOM_`

'8

22

q
l

22222222222222222222222222222222222222222^oFOMc`

2mgE
1E
+ mg =
+ mg
4mgl
2 l
222222222222222222222222222222222222222222222222222222^oFOMa`

2222222222222222222222222222222222222222222222222222222222222222222
.=2CBTWI?2R<2<@<Qk[B2R<=2ZS@RL=?2B=2=<UB@PBQ=?2PQBWBtB@R?2C?@PQB2=B2P<@>ID@2ZL<R<2Z?@<Q><\
dE 8 ;uT ; mg vdl 8

2222222222

1E
dE
1 dl
dl
8;
]
2 l
E
2 l

;ZQ?dITB@R?\2

J=

22222222222222222222222222222222222222222222222222222222222222222222222222222222222222

log E 8 log l

1
2

g log c

222222222^oFOMn`

E
= cte

2222222222222222222222222222222222222222222222222222222222222222222222^oFOMo`

Ejemplo 8.8.2.@C?@PQBQ2=B2lQ<CL<@CIB2R<=2?>CI=BR?Q2BQTD@IC?2PQIRIT<@>I?@B=2B@I>?PQDZIC?2^C?@>PB@P<>2
R<2lL<QKB>2R<>IkLB=<>`2T<RIB@P<2<=2TSP?R?2R<2=B>2UBQIBW=<>2B@kL=BQ<>2R<2BCCID@F

+I>CL>ID@F2.@2=?>2<t<QCICI?>2B@P<QI?Q<>2h<T?>2PQBWBtBR?2<@2PSQTI@?>2R<2=B2lL@CID@2ZQI@CIZB=2R<2jBTI=P?@2

S F2 /?T?2 h<T?>2 UI>P?J2 >I2 <=2 jBTI=P?QIB@?2 H <>2 L@B2 C?@>PB@P<2 R<2 T?UITI<@P?2 Z?R<T?>2 PQBWBtBQ2
Ji

RIQ<CPBT<@P<2C?@2=B2lL@CID@2CBQBCP<Q[>PICB2R<2jBTI=P?@\2WF27?Q2?PQB2ZBQP<2=B>2UBQIBW=<>2R<2BCCID@2
<>P]@2R<yI@IRB>2Z?Q\
222222222222222222222222222222222222222222222222222222222222222222222222222222222222

+<2R?@R<2

ji

J i = pi dqi

222222222222222222222222222222222222222222222222222222222^oFOMm`

2<>2lL@CID@2@ICBT<@P<2R<2=B>2C?@>PB@P<>J2@J2R<2I@P<kQBCID@2R<2=B2<CLBCID@2R<2jp}\2

Ji =

wi (qi , 1 ,..., )
dqi
qi
2

2222222222222222222222222222222222222222222222222222222222222222222222
Resolucin.p2<=2jBTI=P?QIB@?2R<=2?>CI=BR?Q2BQTD@IC?2B@I>?PQDZIC?2<>\2

22222222222222222222222222222222222222222^oFOeN`

273

MECNICA CLSICA

H=

] [

1 2
1
p x + p y2 + p z2 + p x x 2 + p y y 2 + p z z 2 =
2m
2
2 2

222222222222222222222222222222222222222222
;>[J2=B2<CLBCID@2R<2jp}2ZL<R<2<>CQIWIQ><\

1 w w w
+ +
2m x y z

222222222222222222222222222
2

1
+ px x 2 + p y y 2 + pz z 2 =
2
2 22222222222222222222222222^oFOeM`

1L<UBT<@P<2ZQ?C<R<T?>2B2=B2><ZBQBCID@2BRIPIUB\2

w 8 wx g w y g wz

F2+<2R?@R<\

2
2
2
1 w w w 1
+ + + p x x 2 + p y y 2 + p z z 2 =
2m x y z 2

2222222222222222222222222222222222
2

62PBTWIS@\2

2222222222^oFOeO`

2222222222^oFOee`

1 w 1
1 w 1
1 w 1
2
2
+ p y y 2 = 2
+ pz z = 3
+ p x x = 1

2
m
y
2
2
2
2
m

z
2
m
x

22222222222222^oFOe_`
22222
/?@2

222222

+ 1 g + 2 g + 3 8 + F2.@P?@C<>\

wx = mp x

2 1
2 2
x 2 dx w y = mp y
y 2 dy
px
py

22222222222222222222222222222222222222222222222222
5<B2=B2>L>PIPLCID@\

J 1 = p x dx =

x=

222222222222222222222222222222222222222222222222222222222
;>[\
22222222222222222
;h?QB\

J 1 = 2 1

222222222222222222222

m
px

wx
dx = mp x
x

2 1
sen
px

cos1d1 = 2 1

H = = 1 + 2 + 3

H=

J1
2

m
px

dx =

wz = mp z

2 1
x 2 dx
px

2 1
cos1d1
px
22

J 2 = 2 2

px J 2
+
m 2

py
m

m
py

J3
2

2 3
z 2 dz
pz

2222222^oFOec`

22222222222222222222222222^oFOea`
22222222222222222222222222^oFOen`

J 3 = 2 3

m
p z 22222222222^oFOeo`

pz
=k
m
22222222222222222222222222222^oFOem`

;>[J2h<T?>2R<P<QTI@BR?2<=2@L<U?2hBTI=P?@IB@?22C?T?2lL@CID@2R<2=?>2Ji2J2B2>L2U<KJ2lL@CID@2R<2=?>2 i F2
274

NELSON FALCN V.

.@P?@C<>2=?>2@L<U?>2T?T<@P?>2iL<RB@2RBR?>2Z?Q2=?>2Ji2F27?Q2=?2PB@P?\

k
Q& i =
= 1 = w& i , k = H

J
i
2222222222222222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222222222222222222222222^oFO_N`

62?WP<@<T?>\

px
m

1
k
= 1 =
2
222222222222222222222222222222222222222222222222222 J 1

2 =

1
2

py

m 2

2222222222^oFO_O`

Ejemplo 8.92B`2.@2<=2?>CI=BR?Q2BQTD@IC?2R<=2<t<TZ=?2oFo2>LZ?@kB2iL<2P?RB>2=B>2lQ<CL<@CIB>2>?@2IkLB=<>2
^?>CI=BR?Q2 I>?PQDZIC?`2 R<2 T?R?2 iL<2 <=2 T?UITI<@P?2 <>2 C?TZ=<PBT<@P<2 R<k<@<QBR?F2 wQB@>l?QTBQ2 B2
=B>2UBQIBW=<>2ZQ?ZIB>2BCCID@p]@kL=?>2V2<dZQ<>BQ2=B2<@<Qk[B2<@2PSQTI@?>2R<2L@2>?=B2R<2=B>2UBQIBW=<>2R<2
BCCID@F2 W`2 -<>?=U<Q2 <=2 ZQ?W=<TB2 R<=2 ?>CI=BR?Q2 I>?PQDZIC?2 <@2 UBQIBW=<>2 R<2 BCCID@p]@kL=?>2 V2 C?TZBQBQ2
C?@2=?>2Q<>L=PBR?>2R<2=B2ZBQP<2B`25?@2<=2TI>T?2=?>2R?>2C?@tL@P?>2R<2UBQIBW=<>2ZQ?ZIB>2/L]=<>2>?@2
>L>2>Ik@IyICBR?>2y[>IC?>2.>P<2ZQ?W=<TB2I=L>PQB2=B2Z?>IWI=IRBR2R<2><ZBQBQ2L@2T?UITI<@P?2R<k<@<QBR?2<@2
T]>2R<2L@2C?@tL@P?2R<2C??QR<@BRB>F2.=2?>CI=BR?Q2@?2R<k<@<QBR?2ZL<R<2><Q2><ZBQBR?2@ICBT<@P<2<@2
C??QR<@BRB>2CBQP<>IB@B>J2@?2<@2C??QR<@BRB>2Z?=BQ<>F2
Resolucin\2B`2.=2hBTI=P?@IB@?2R<=2?>CI=BR?Q2BQTD@IC?2I>?PQDZIC?2<>\

H=

1
1
p x2 + p y2 + p z2 + k x 2 + y 2 + z 2 = E
2m
2
2

22222222222222222222222222^oFO_M`
22222222222222222222222222222222222222222222222222
.@2PSQTI@?>2R<2=B2lL@CID@2CBQBCP<Q[>PICB2g2<>CQIWIT?>2=B2<CLBCID@2R<2jBTI=P?@p}BC?WI\

1 w1 w2 w3
+

+
2m x y z

2222222222222222222222222222222222
2

/?@>IR<Q<T?>2=B2><ZBQBCID@2
5<2?WPI<@<\

1 w1
1 2
+ kx = 1

2
2
m

22222222222222222222

:L<k?2

1
+ k x2 + y2 + z2 =
2
2 22222222222222222222222222^oFO_e`

w 8 w1 ux vg w2 uy vg w3 uz v

1 w1 w2 w3
+

+
2m x y z

2222222222222222222222222222222
.>P?2<>\2

+1 g + 2 g + 3 8 + 8 E

1 w2

2m y

1
+ k x2 + y2 + z2 =
2
2

1
+ ky 2 = 2
2

2222222222^oFO__`

1 w3
1

+ kz 2 = 3
2m z
2
2222222222^oFO_c`

275

MECNICA CLSICA

w1
1

= 2m 1 kx 2
2
x

222222222222222222

2222222222222222222222222

w2
1

= 2m 1 ky 2
2
y

Jx =

w1
k 2
dx = 2m 1 1
x dx
2 1
x

Jz =

w3
k 2
dz = 2m 3 1
z dz
z
2 3

Jy =

w3
1

= 2m 1 kz 2
2
z

22222222^oFO_a`

w2
k 2
dy = 2m 2 1
y dy
y
2 2

2 2222222222^oFO_n`

7?@kBT?>\2

2 i
k
cos i d i
xi = sen i 0 i 2 dxi =
k
222222222222222222222222222222222222222222222 2 i
22222222222222222222222222222^oFO_o`

.@P?@C<>\

222222222222222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222222222222222

m 2
m
cos i d i = 2 i

0
k
k 22 22222222222222222222222222222222222222222^oFO_m`

J i = 2 i

H = 1 + 2 + 3 = 2 i
i =

222222222222222222222222222222222222222222222222222222222222222222222222222222222222

m
(J x + J y + J z )
k
2

2222222222^oFOcN`

2222222222^oFOcO`

H
= w& i
J i
2

;h?QB2 WI<@J2 C?T?2 =B>2 PQ<>2 lQ<CL<@CIB>2 >?@2 IkLB=<>2 <=2 T?UITI<@P?2 <>2 C?TZ=<PBT<@P<2 R<k<@<QBR?F2
7?R<T?>2<dZQ<>BQ2<=2T?UITI<@P?2<@2PSQTI@?>2R<2L@B2>?=B2lQ<CL<@CIBF2.>PB2Q<RLCCID@2><2ZL<R<2hBC<Q2
Z?Q2 L@B2 PQB@>l?QTBCID@2 R<2 C?@PBCP?2 B2 L@2 @L<U?2 C?@tL@P?2 R<2 UBQIBW=<>2 R<2 BCCID@p2 ]@kL=?F2 9Bt?2 =B>2
C?@RICI?@<>2R<2R<k<@<QBCID@

2 x ;2 y 8 0 2 x ;2 y 8 0
2

2222

:B2BZQ?ZIBRB2lL@CID@2k<@<QBR?QB2R<2=B2PQB@>l?QTBCID@2R<2C?@PBCP?2R<2 uw, J v2B2 uw , J v2<>

2222222222222222222222222222222222222222222222

F2 (w, J ) = (wx w y )J 1 + (wx wz )J 2 + wz J 3

62=B>2<CLBCI?@<>2R<2PQB@>l?QTBCID@2>?@\
2222222222222222222222222222222222222222222222222222222222222222222222222222

Ji =

+<2R?@R<2=B>2@L<UB>2UBQIBW=<>2R<2]@kL=?2

22222222222222222222222222222222222222222222222
7?Q2=?2iL<\2

w1 = wx w y

2222222222222222222222222222222222222222222222222222222

F2
F
; wi = 2
wi
J i 2222222222222222222222222222222222222222222222222222222222222^oFOce`

uw v2Q<>L=PB@\
1
i

22222222222222222222222222222222222222222222^oFOcM`

w2 = wx wz

w3 = wz

2222222222^oFOc_`

1 = w& 1 = 0 2 = w& 2 = 0 3 = z 2222222222222222222222222222222222222222222222222222^oFOcc`

62=B>2@L<UB>2UBQIBW=<>2R<2BCCID@2
276

J i

UI<@<@2RBRB>2Z?Q\

NELSON FALCN V.

222222222222222222222222222222222222222222222
7?Q2=?2PB@P?\
222222222222222222222222222222222222222222

J x = J 1 + J 2

K=H =

Y y = J 1

Yz = J 2 + J 3

k
J 3
m 2

k
(J x + J y + J z )= 1
2
m

1
2

222222222222222222222222222222222222222222^oFOca`
2

2222222222^oFOcn`

A?QTB2<>PB2iL<2I@U?=LCQB2@ICBT<@P<2=B2UBQIBW=<2R<2BCCID@2CLVB2lQ<CL<@CIB2<>2RI>PI@PB2R<2C<Q?F
W`2<@2C??QR<@BRB>2Z?=BQ<>2<>lSQICB>2<=2=BkQB@kIB@?2R<=2?>CI=BR?Q2I>?PQDZIC?2<>

1
1
L = m r& 2 + r 2& 2 + r 2 sen 2& 2 kr 2
2
2
222222222222222222222222222222222222222222222222222222
2222222222222222222222222222222222222222222222^oFOco`
;h?QB\222222222222222222222222

Pr =

L
L
L
= mr& ; P =
= mr 2& ; P =
= mr 2&sen 2
r
&
&
2222222222222222222222^oFOcm`

.@P?@C<>2B=2hBTI=P?QIB@?2Q<>L=PB\

H=

222222222222222222222222222222222222222222222222222222

p2 1
1 2 p2
pr + 2 + 2 2 + kr 2 = E
2m
r
r sen 2

:B2<CLBCID@2R<2jBTI=P?@p}BC?WI2C?QQ<>Z?@RI<@P<2ZBQB2=B2lL@CID@2u\
222222222222222222222222222222222222222

2222222222222222222222222222222222222222^oFOaN`

2
2
+ 32 1 2
1 D wwr A
1 D ww' A
B
? g
? g 2 B
g k r 8 E
2m C wr @
r C w' @
sen3 2 2

22

2222222222^oFOaO`

.=2PSQTI@?2<@2<=2ZBQS@P<>I>2R<2==BU<2R<Z<@R<2@ICBT<@P<2 ' 2VJ2R<W<2><Q2IkLB=2B2L@B2C?@>PB@P<\

22
2

222222222222222222222222222222222222222222222222222222222222222222222222

+3 2
D ww' A
8 + '2
? g
B
2
'
w
'
sen
@
C

+<2<>P<2T?R?2?WP<@<T?>2=B2=PITB2<CLBCID@2><ZBQBRB2ZBQB2Q\

22

2
1 wr 2 1 2
+ 2 + kr = E

2m r
r 2
2222222222222222222222222222222222222222222222222222222222222
2

22222222222222222222222

2
w
=

sen 2

22222222222222222222222222222222222222222^oFOaM`

22222222222222222222222222^oFOae`

w
1 2 2

= 2m E kr 2
r
2
r 22222222222222222222^oFOa_`

277

MECNICA CLSICA

:B>2UBQIBW=<>2C?QQ<>Z?@RI<@P<>2>?@\

J =

2222222222222222222222222222222

Jr =

d = d

J =

w
= 2
d

sen 2

2
wr
1

dr = 2m E kr 2 2 d
2
r

sen

222222222222222222222222222222222222222222222222222222222222222222+<2BiL[22

J = 2 = 2 p

22

2222222222^oFOac`

22222222222222222222222222222222222222222222222222222222^oFOaa`

:B2I@P<kQB=2R<2BCCID@2 ' 2ZL<R<2><Q2CB=CL=BRB2Z?Q2<=2procedimiento de Van VleckF2.@2<l<CP?J2>I2=B>2

<CLBCI?@<>2R<yI@IP?QIB>2R<2=B>2C??QR<@BRB>2k<@<QB=IKBRB>2@?2R<Z<@R<@2<dZ=[CIPBT<@P<2R<=2PI<TZ?2><2
CLTZ=<2iL<\
222222222222222222222222222222222222222222222222222222222222222222222222222222222222

2T = pi q& i
i

2222222222^oFOan`

2222222222^oFOao`

22222222222222222222222222^oFOam`

7L<R<2CB=CL=BQ><2R<2TB@<QB2RIQ<CPB2>I@2kQB@2RIyICL=PBRF27?R<T?>2<>CQIWIQ2<@P?@C<>2<@2=B2IR<B2R<2EB@2
E=<C~\
2222222222222222222222222222222222222222222222222222222222222222222222

Pr r& + P& + P& = Pr r& + P&

P 8 + ' F;>[
+?@R<2 p <>2=B2TBk@IPLR2R<=2T?T<@P?2B@kL=BQ2P?PB=2V2R<T]>2

P d = Pd P d

22222222222222222222222222222222222222222222222222222222222222222222222222222
/?@2# 2V2 3 2]@kL=?>2BKITLPB=<>F2.@P?@C<>\
222222222222222222222222222222222222222

2 2

J = P d = (Pd P d ) = 2 (P P )= 2 ( )

.>CQIWBT?>2=B2=PITB2I@P<kQB=\
222222222222222222222222222222222222222222222222222222222

Yr = 2mE mkr 2

2
dr = Pr dr
r2
2 2

2222222222^oFOnN`

22222222222222222222222222^oFOnO`

.=2T?UITI<@P?2<>2<@PQ<2=?>2ZL@P?>2R?@R<2 Pr CBTWIB2R<2>Ik@?J2<>2R<CIQJ2<@PQ<2=?>2ZL@P?>2R?@R<2 r! 8 0 F2
+IChB>2ZL@P?>2<>P]@2RBR?>2Z?Q2=B>2QB[C<>2R<2=B2CB@PIRBR2>LWQBRICB=2<@2=B2I@P<kQBCID@J2B2>BW<Q\

278

NELSON FALCN V.

r2 = +
r2 =
r1 = +

22222222222222222222222222222222222222222222222222222222222222

r1 =

mE m 2 k 2

>0

mk

mE m 2 E 2 mk 2
mk
mE m 2 E 2 mk 2
mk
mE m 2 E 2 mk 2
mk

= r2
>0
= r1

2 2

2222222222^oFOnM`

5I2I@P<QZQ<PBT?>2@L<>PQB2I@P<kQB=2<@2<=2Z=B@?2C?TZ=<t?2R<2QJ2RICh?>2ZL@P?>2>?@2R<2QBTIyICBCID@2R<2=B2

lL@CID@2 p r VB2iL<2I@U?=LCQB@2UB=?Q<>2R<2 p r 2Z?>IPIU?>2<@2L@2><@PIR?2V2@<kBPIU?>2<@2<=2?PQ?2^U<Q2r?=R>P<I@J2

><CCID@2mFn`F2.@P?@C<>2Z?R<T?>2C?@>IR<QBQ2<=2Z=B@?2C?TZ=<t?2R<2Q2C?T?2L@B2h?tB2R<2-I<TB@@2R<2=B2

lL@CID@2 p r 2T<RIB@P<2=B2ZQ?hIWICID@2R<2CQLKBQ2C?QPBRLQB>2<@PQ<2 r1 , r2 , r1 , r2 2C?T?2=?2I@RICB2=B2yIkLQBF2

;h?QB2WI<@J2><2PQBPB2R<2<UB=LBQ2=B2I@P<kQB=2 J r 2B2=?2=BQk?2R<2 c1 F2:B>2@ICB>2>I@kL=BQIRBR<>2<>P]@2<@2<=2

?QIk<@2V2<@2<=2I@yI@IP?2V2Z?R<T?>2<dZQ<>BQ2=B2I@P<kQB=2WL>CBRB2<@2PSQTI@?>2R<2=?>2Q<>IRL?>2<@2<>P?>2
ZL@P?>J2<@2<l<CP?\
22222222222222222222222222222222222222222222222222222222222222222222222222222222
7?Q2>IT<PQ[B22

c1

;h?QB\

22222222222222222222222222222222222

8!

!
62<@P?@C<>2

2mE mkr 2

c4

c3

c1

+ + =
c2

2
r2

c3

c1

c4

1D
; ! A?
B
c3 @
2 C !c4

dr =

c3

( )

22222222222222222222222222222222222222222^oFOne`

2mE mkr 2

2
r2

dr

.@2R?@R<2<=2>Ik@?2@<kBPIU?2R<2=B2QB[K2C?QQ<>Z?@R<2B2=B2Q<kID@2WBt?2 r1 F2.@P?@C<>\

c3

2mE mkr 2

222222222222= 2 i.i = 2

.@><kLIRB\

22

2222222222^oFOn_`

2
2
dr = 2i Re[r = 0] = 2i lim r 2mE mkr 2 2
2
r
r
r =0

22222222222222222^oFOnc`

279

MECNICA CLSICA

c4

222222

2
2mE mkr 2 dr
r
2

c4

2mEz 2 mk 2 z 4
2mEz 2 mk 2 z 4
mE
dz = 2i lim
= 2
3
z
z
mk 2222222222222^oFOna`
z =0

c4

:L<k?\

2222222222222222222222222222222222222222222222222222222222222
w<@<T?>2yI@B=T<@P<\
22222222222222222222222222222222222222

J r = E

Jr =

c1

m

k

5<2>IkL<2iL<\

2222222222222222222222222222222222222222222222222222222222222222222222
+<2R?@R<\

mE
1

2
2

2
mk
2

E=

1
2

m 1
(J + J )
k 2
22

k
(2 J r + J + J )= H
m
2

222222222222222222222222222222222222222222222222222222222222222
:B>2lQ<CL<@CIB>2C?QQ<>Z?@RI<@P<>2<>P]@2RBRB>2Z?Q\
2222222222222222222222222

r =

H 1
=
J r

k
m

H
1
=
J 2

k
m

2222222222^oFOnn`

22

2222222222^oFOno`

2222222222^oFOnm`

2222222222^oFOoN`

J = 2

J = 2 2

J r = E

H
1
=
J 2

k
m 2222222222222222^oFOoO`

.>2R<CIQJ2lQ<CL<@CIB>2C?@T<@>LQBW=<>2NJ2=?2iL<2<>2=?2TI>T?J2R<k<@<QBCID@2C?TZ=<PBF2:B>2C?@RICI?@<>2R<2
R<k<@<QBCID@2ZL<R<@2<>CQIWIQ><\
22222222222222222222222222222222222

= =

1
r
2

r *2 = 0

r 2 = 0

22

2222222222^oFOoM`

2222222222^oFOoe`

2222222222^oFOo_`

+BRB>2 <>PB>2 C?@RICI?@<>J2 =B2 BZQ?ZIBRB2 lL@CID@2 k<@<QBR?QB2 R<2 =B2 PQB@>l?QTBCID@2 R<2 C?@PBCP?2 R<>R<2

uw, j v2B2 uw, jvJ2C?@2<=2?Wt<P?2iL<2j2R<Z<@RB2R<2L@B2UBQIBW=<2R<2BCCID@J2<>\

F = (W 2W )J1 + (W 2W )J 2 + W J 3

r
222222222222222222222222222222222222222222222222222 2
:B>2<CLBCI?@<>2R<2PQB@>l?QTBCID@\

2222222222222222222222222222222222222222222222222222222222222222222222222222
1?>2RB@\
280

Ji =

F2
F
; Wi = 2
Wi
J i 22 2

NELSON FALCN V.

W1 = Wr 2W W 1 = 1 = 0

W
=
W

2
W

W
2 = 2 = 0
r

2222222222222222222222222222222222222222222222222222222222222 2
2222222222222222222222222222222222222222222222222222^oFOoc`

W3 = W W 3 = 3 =

22222222222222222222222222
;h?QB\

J = 2J 2

J r = J1 + J 2

222222222222222222222222222222222222222222222222222

k=H =

J = 2 J1 + J 3 22222222222222222222222222222222222222^oFOoa`

k
(2 J r + J + J ) = 1
2
m

1
2

k
J3
m
2222222222222222222222222222222222^oFOon`

A?QTB2iL<2I@U?=LCQB2>?=BT<@P<2=B2UBQIBW=<2R<2BCCID@2C?QQ<>Z?@RI<@P<2B22

n3 0.

Ejemplo 8.102.=2@BCITI<@P?2R<2L@2?>CI=BR?Q2BQTD@IC?2Z=B@?2R<k<@<QBR?2ZL<R<2><ZBQBQ><2<@2CLB=iLI<Q2
>I>P<TB2 R<2 C??QR<@BRB>2 CBQP<>IB@B>F2 4WP<@<Q2 =B>2 Q<=BCI?@<>2 <@PQ<2 =?>2 R?>2 C?@tL@P?>2 R<2 UBQIBW=<>2
BCCID@p]@kL=?>2C?QQ<>Z?@RI<@P<>2B2=?>2R?>2>I>P<TB>2CBQP<>IB@?>2R<2<t<>2iL<2RIyI<Q<@2Z?Q2L@B2Q?PBCID@2
<@2 2 F2 1DP<><2 iL<2 =B2 PQB@>l?QTBCID@2 <@PQ<2 =?>2 R?>2 C?@tL@P?>2 @?2 <>2 =B2 PQB@>l?QTBCID@2 ?QP?k?@B=2 R<2 =B2
Q?PBCID@F
Resolucin:2.=2jBTI=P?@IB@?2R<=2?>CI=BR?Q2BQTD@IC?2Z=B@?2R<k<@<QBR?2<>\

H=

1
k
px2 + p y2 + x 2 + y 2 = E
2m
2
2

) (

2222222222^oFOoo`

2
2

1 W W k 2
+ x + y 2 = E

+
2m x y 2

2
222222222222222222222222222222222222222222222222222222

2222222222^oFOom`

22222222222222222222222222222222222222222222222222222222222

.@2PSQTI@?>2R<2=B2lL@CID@2CBQBCP<Q[>PICB2u2=B2<CLBCID@2R<2jBTI=P?@p}BC?WI2R<=2ZQ?W=<TB2<>\

3<RIB@P<2=B2><ZBQBCID@22 W 8 W1 ux vg W2 uy v224WP<@<T?>\
2

1 W1 1 2
1 W2 1 2

+ kx = 1

+ ky = 2
m
x

2
m

x
2
2

22222222222222222222222222222222222222222222
2

/?@22 +1 g + 2 8 E 2+<2<>PB2TB@<QB\

1
W1

= 2m 1 kx 2 = mk 1 x 2
2

22222222222222 x

22222222222222222222222222^oFOmN`

1
W2
2

= 2m 2 ky 2 = mk 2 y 2
2
y
k
222222^oFOmO`

281

MECNICA CLSICA

62=B>2UBQIBW=<>2R<2BCCID@\

222222222222222222222222222222222222222222222222222222222222222222
-<>L=PB@\
22222222222222222222222222222222222222222222222222222222222222222

W1
W2
dx J y =
dy
x
y
2 2

Jx =

:B>2UBQIBW=<>2]@kL=?>2<>P]@2RBRB>2Z?Q22

2222222222^oFOmM`

m
m
J y = 2 2
k 2222222222222222222222222222222222222222222222222222^oFOme`
k

J x = 21
Wi 8

wW
wJ i 2/?T?22 W 8 W1 g W2

2 1

2 2
Jy
Jx
W = mk
x 2 dx +
y 2 dy = mk
x 2 dx +
y 2 dy
k
k
mk

mk
22222^oFOm_`
2222222222222
5<2>IkL<2iL<\

Wx =

222222222222222222222222222222222

1
W
=
J x 2

a x

Wx =
2222222222222222222222222222222222222222222222222222222222222222222
;@]=?kBT<@P<\

dx ; con a 2 =

1
mk
arcsen
x
2
Jx

Wy =

2222222222222222222222222222222222222222222222222222222222222222222222
;h?QB2WI<@J2R<2=B>2Q<=BCI?@<>\

222222222222222222222222222222222222222222222222
6\

Wx =

2222222222222222222222222222222

Jx =

px2 + mkx 2
mk

1
arcsen
2

x
2
x

p
+ x2
mk

m
k 2

J xi = 2 i

Jy =
Wy =

2222222222^oFOmo`

2222222222^oFOmm`

p y2 + mky 2
mk
2

1
arcsen
2

282

2222222222^oFMNN`

2
x

p
+ y2
mk
2222222222222222^oFMNO`

62=B2C?@<dID@2C?@2<=2>I>P<TB2CBQP<>IB@?2Q?PBR?2<@22 ' J2B2PQBUS>2R<2=B>2PQB@>l?QTBCI?@<>\

2222222222222222222222222222222222222222 x = x cos ysen

2222222222^oFOmc`

2222222222222222222222222222222222222222222222222222222222^oFOma`

1
mk
arcsen
y
2
Jy

px2i = 2m i kxi2
2

222222222222222222222222222222222222222222222222

4WP<@<T?>\

Jx
mk 2

y = x cos + ysen 2

2222222222^oFMNM`

NELSON FALCN V.

2222222222222222222222222222222222 p x = p x cos + p y sen

.>\
22222222222222222222222222222
2222222222222222222222222222

JX =

Jy =

p y = p x sen + p y cos 2

= p x cos + p y sen + mk (x cos ysen )

mk
2

= px sen + p y cos + mk (xsen + y cos )

mk
2

2222222222^oFMNe`
2222222222^oFMN_`

2222222222^oFMNc`
x cos ysen
1
Wx =
arcsen
2
2
p cos + p sen + mk (x cos ysen )2
x
y

mk
2
2222222222^oFMNa`
222222222222222222222222222222222
1
xsen + y cos
Wy =
arcsen
2
2
p sen + p cos + mk (x cos + ysen )2
x
y

mk
2222222222222222222222^oFMNn`
222222222222222222222222222222222
+<2R?@R<\

JX =

Jy =

mk

2
2
2
px + mkx cos +
mk

2
2
2
2
px p y mkxy sen cos
p y + mky sen +

mk

22^oFMNo`

2
2
2
2
2
2
2
p x p y mkxy sen cos
p y + mky cos
p x + mkx sen +

mk
mk
mk

22^oFMNm`

x cos ysen
1
arcsen
2
2
2



2
2
2
2
p x + mkx cos + p y + mky sen + 2 p x p y mkxy sen cos

mk
2222222222^oFMON`
2222222222
1
xsen + ysen
Wy =
arcsen
2
2
2

2
2
2
2
p x + mkx sen + p y + mky cos 2 p x p y mkxy sen cos

mk
22222222222222
2222222222222^oFMOO`
Wx =

xi =

222222222222222222222222222222222222222222222222222222222222222222222222222

2222222222222222222222222222222222222222222222222222222222222222222222222222

p xi =

Ji

mk

sen2Wi

mk
2
J i mkxi

2 2

22222222222222222222222222^oFMOM`
2

222222222^oFMOe`

.@P?@C<>J2 >I2 Q<<TZ=BKBT?>2 <>P?>2 UB=?Q<>2 <@2 =B>2 <CLBCI?@<>2 B@P<QI?Q<>2 ?WP<@<T?>2 =B2 <CLBCI?@<>2 R<2

PQB@>l?QTBCID@2Z?Q2L@B2Q?PBCID@2<@2 ' R<2=B>2UBQIBW=<>2BCCID@p]@kL=?>F2wQB@>l?QTBCID@2?QP?k?@B=2R<2

=B2Q?PBCID@F
283

MECNICA CLSICA

J x = J x cos2 + J y sen 2 + J x J y cos 2 Wx Wy sen2

222222222222222222222222222
22 22222222222222222222222222^oFMO_`

J y = J x sen 2 + J y cos2 J x J y cos 2 Wx Wy sen2

2222222222222222222222222222
2 22222222222222222222222222^oFMOc`
1
Wx =
arcsen
2

22222222222222222

Wy =

1
arcsen
2

Jxsen2Wx sen Jysen2Wy cos

Jx cos 2 + Jysen 2 + JxJy cos 2 Wx Wy sen2

Jxsen2Wx sen + Jysen2Wy cos

Jxsen 2 + Jy cos 2 JxJy cos 2 Wx Wy sen2

22222222222222222
8.3 Aplicaciones en el problema de Kepler y en la Mecnica ondulatoria

2222222222^oFMOa`
2222222222^oFMOn`

El problema de Kepler
.=2hBTI=P?@IB@?2><2<dZQ<>B2C?T?2^U<Q2C=B><>2_2V2a`\

2
p
p
k
1
2
H (r , , , p r , p , p ) =
( pr + 2 + 2 2 )
r2
2m
r
r sen
22222222222222222222222222222222222222222222

2222222222^oFMOo`

+?@R<2k= GmM2<@2<=2CB>?2kQBUIPBCI?@B=2^z<Z=<Q`2?2WI<@2k=(1/47=0)qQ2<@2<=2CB>?2<=<CPQ?>P]PIC?2^/?L=?TW`F2
;R<T]>\
22222222222222222222222222222222222222222222222222222222222222

pr =

S
r

p =

p =

S
22

22222222222222222222222222222222222222222^oFMOm`

S
+H =0

t
22222222222222222222222222222222222222222222222222222222222222222222222222222222222
2222222222222222222222222222222222222222222222222222222222222222222222222^oFMMN`
2

2
p
p
S
1
k
2
+
( p r + 2 + 2 2 )
r 2 22222222222222222222222222222222222222222^oFMMO`
r
r sen
22222222222222222222222222222222222222222222222222222222222 t 2m

/?T?2B@P<>J2><2B>LT<\2

222222222222222222222222222222222222222222222222222222222222222222222
/?@2=?2CLB=\22

S = W (r , , , ) + S 0 ( , t ) 2

S 0
= S 0 = t = Et
2
2 t
2

22222222222222222222222222^oFMMM`

2222222222^oFMMe`

1 W
1
k
W
W

+ 2
+ 2
= 2m E +
2
r 2 22222222222222222222222222^oFMM_`
r r
r sen r

222222222222222222222222222222222222222 r

7BQB2Q<>?=U<Q2^oFMM_`2><ZBQBT?>2UBQIBW=<>2@L<UBT<@P<\
222222222222222222222222222222222222222222222222222222222222222222
284

W (r , , ) W1 (r , ) + W ( )

22222222222222222222222222222222222222222^oFMMc`

NELSON FALCN V.

-<<TZ=BKB@R?2<@2^oFMM_`2<2IkLB=B@R?2B2=B2C?@>PB@P<22P<@<T?>2R?>2<CLBCI?@<>2><ZBQBRB>2^oFMMa`2iL<2
Q<ZQ<><@PB2=B2ZQ?V<CCID@2@?QTB=2R<=2T?T<@P?2B@kL=BQJ2V2^oFMMn`\

2222222222222222222222222222222222222222222222222222222222222222222222

= W = t

2222222222222222222222222222222222222222222222222222222222222^oFMMa`

k
1 W
1
W1

2 = 2m E +

+ 2 1 + 2
2
r
r 222222222222222222222222222222222222^oFMMn`
r sen
r r

2222222222222222222222222222222222222222
7?R<T?>2U?=U<Q2B2><ZBQBQ2UBQIBW=<>2

W (r , ' ) & Wr (r ) g W' (' ) ZBQB2?WP<@<Q2=B>2<CLBCI?@<>\

2

1
W
2 =l

+
2

sen
2222222222222222222222222222222222222222222222222222222222222222222222
2 222222222222222222222222222222222222222222222222222222222^oFMMo`

-<ZQ<><@PB2<=2T?T<@P?2B@kL=BQ2P?PB=J2>L2I@P<kQBCID@2@?>2RBQ]2=B2<CLBCID@2R<2=B2PQBV<CP?QIB2QF
2

l
k
Wr

+ 2 = 2m E +
r
r 2
r

222222222222222222222222222222222222222222222222222222222222222222

2
22222222222222222222222222^oFMMm`
Ejemplo 8.11. ,@P<kQBCID@2R<2=B2<CLBCID@2R<2T?UITI<@P?2<@2<=2ZQ?W=<TB2R<2z<Z=<Q

/L=T[@<><2=?>2R<PB==<>2V2R<RLKCB2=B2<CLBCID@2R<2=B2DQWIPB2<@2<=2ZQ?W=<TB2R<2z<Z=<Q2L>B@R?2=B2P<?Q[B2R<2
jBTI=P?@p}BC?WIF
Solucin:
.=2hBTI=P?@IB@?2<@2lL@CID@2R<2=?>2T?T<@P?>2CB@D@IC?>2<>\
2222222222222222222222222222222222222222222222222222222222222222222222

H=

1 2 1 2 Gm1m2
pr + 2 p
r
r 2222222222222222222222222222222222222222222222222222222222^oFMeN`
2

;h?QBJ2ZBQB2<TZ=<BQ2=B2<CLBCID@2R<2jBTI=P?@p}BC?WI2<=2jBTI=P?@IB@?2R<W<2<>CQIWIQ><2R<2=B2>IkLI<@P<2
D wS A
wS
H BB qi ,
,t ?
8 pi
wq1 ?@
w
C
22V2Z?Q22 qi
22iL<RB\
l?QTB\22

2
2
S 1 S
1 S Gm1m2
+
+
=0


t 2 r r 2
r
2
222222222222222222222222222222222222222222222222222222222222

S = S (qi , t ) = S 0 (t )+ S1 (qi )

22222222222222222222222222222222222222222^oFMeO`

2
2
S
1 S1
1 S Gm1m2
=E= 0
+ 2 1

2 r r
r
t
22
222222222222222222222222222222222222222222222222222222222

-<>?=UBT?>2=B2ZBQP<2P<TZ?QB=\

S 0
= E
2222222222222222222222222222222222222222222222222222222222222222222222222222222 t

S 0 = Et

22222222222222222222222222^oFMeM`

22 222222222222222222222222222222222222222222222222222222222^oFMee`

;h?QBJ2ZBQB2=B2ZBQP<2<>ZBCIB=J2U?=U<T?>2B2><ZBQBQ2UBQIBW=<\2 S1 ur ,' v 8 S1ur vg S1u' v \

285

MECNICA CLSICA

S ( )
S (r )
Gm1m2

+ E = 1 = 2
r 2 1 2 r 2

r

222222222222222222222222222222222222222222222222222 r
2
2

5?=LCID@2ZBQB2=B2ZBQP<2R<Z<@RI<@P<2R<2\

2222222222^oFMe_`

S1( )
S
= = 1 = p =

22222222222222222222222222222222222222222222222222222222222222222222222222
2 222222222222222222222222222222222222222222222222222222222^oFMec`

+?@R<222>?@2=?>2@L<U?>2T?T<@P?>F27BQB2=B2ZBQP<2R<Z<@RI<@P<2R<2Q\

S1(r )
Gm1m2

+ E 2

= 2
r
r 2
222222222222222222222222222222222222222222222222222222222222 r
2

.@P?@C<>22522iL<RB\

Gm1m2

+ E dr +
S1 = 2
r
r
r0

222222222222222222222222222222222222222222222222222222
.@P?@C<>2252<>2=B2>LTB2R<25O2V25N2\
r

22222222222222222222222222222222222222222222222222

S=
r0

22222222222222222222222222^oFMea`
2

Gm1m2

2
+ E dr + Et
r
r

2
r

S
Gm1m2
=
= 2 E +

r r

r0

;R<T]>\222222222222222222222222

/LVB2>?=LCID@2^U<Q2CBZIPL=?pC=B><2_2ZBQB2R<PB==<>`\2

1 Gm1m2
2 E 2 (Gm1m2 )
(
)
=
+

+
cos

r
2
2
4

dr
+
r2

2222222222^oFMen`

2222222222^oFMeo`

2222222222222222222222222^oFMem`

2
2
2222222222^oFM_N`
2222222222222222222222222222222222222222222222222
Ejemplo 8.12. 3<RIB@P<2=B2I@P<kQBCID@2R<2CBRB2L@B2R<2=B>2<CLBCI?@<>2><ZBQBRB>2R<2jBTI=P?@p}BC?WI2R<=2
ZQ?W=<TB2R<2z<Z=<QJ2?WP<@<Q2 W C?T?2=B2>LTB2R<2PQ<>2I@P<kQB=<>F
+<2=B>2Q<=BCI?@<>F

W
Wi =

J I 2
222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

222222222222222222222222222222222222222222222222222222222^oFM_O`

4WP<@<Q2 <dZQ<>I?@<>2 I@P<kQB=<>2 ZBQB2 =B>2 PQ<>2 UBQIBW=<>2 B@kL=BQ<>F2 3?>PQBQ2 iL<2 W1 J2 >B=U?2 Z?Q2 L@B2

C?@>PB@P<2BRIPIUBJ2<>2<=2BKITLP2R<2=B2=[@<B2R<2=?>2@?R?>J2V2iL<2 2 <>2=B2Z?>ICID@2B@kL=BQ2<@2<=2Z=B@?2
R<2=B2DQWIPB2R<=2Z<QIh<=I?2Q<>Z<CP?2B2=B2=[@<B2R<2=?>2@?R?>J2?PQB2U<K2>B=U?2Z?Q2L@B2C?@>PB@P<2BRIPIUBF2;=2
I@P<QZQ<PBQ2=B>2I@P<kQB=<>2><Q]2C?@U<@I<@P<2Q<<TZ=BKBQ2=B2QBKD@2}Ox}Mx2Z?Q2 cos| J2R?@R<2 | <>2<=2]@kL=?2
R<=2Z=B@?2R<2=B2?QWIPB2Q<>Z<CP?2B=2<t<2Z?=BQF
Resolucin\2.@2C??QR<@BRB>2Z?=BQ<>2<>lSQICB>2<=2ZQ?W=<TB2R<2z<Z=<Q2C?@RLC<2B2=B>2PQ<>2<CLBCI?@<>2
><ZBQBRB>F

286

NELSON FALCN V.

W
222222222222222222222222222222

2
W

= 2

2
sen

2
k
Wr

= 2m E +

2
r
r 22222222222222^oFM_M`
r

:B2lL@CID@2CBQBCP<Q[>PICB2 W 2R<=2ZQ?W=<TB2<>P]2RBRB2Z?Q\
222222222222222222222222222222222222222222222222222222222222222222222222222222222

W = Wr +W +W

22

22222222222222222222222222222222222222222^oFM_e`

2
k 2

W = 2m E + 2 dr + 2
d + d
2
r

r
sen

222222222222222222222222222222222222222
2
;h?QB\

J = 2 ( )= 2 (p p )

J = 2 = 2p

222222222222222222222222222222222222222222

J r = (J J )+ k

.@P?@C<>\

2m
2m
= 2p + k
E
E

k (J + J )

W = 2m E + 2 2 dr +
4 r
r

2222222222222222

:B>2<CLBCI?@<>2R<2PQB@>l?QTBCID@\
22222222222222222222222222222222222222222222222222

22222222222222222222222222222222222222222222222222
1?>2Z<QTIP<@2<>CQIWIQ\
22222222222222222222222222222
+<2BiL[\

(J

W =

W1 = Wr W

J = J1

+ J )
J
J
2 2 d + d
2
4
4 r
2 2

2222222222^oFM_c`

W2 =W Wr

2222222222^oFM__`

J = J 2 J1

W3 = Wr

J R = J3 J2

2
2
2

k
J2
J2
J1
J1

d + d
2m E + 2 2 dr +
r 4 r
4 2 4 2 sen 2
2 2

2222222222^oFM_a`
2222222222^oFM_n`

2222222222^oFM_o`

2222222222^oFM_m`

J1
1
W =
d +
d
W1 =

2
2

2
2
J1
2sen sen J 2 J1
2 2
2222222222^oFMcN`
2222222222222222222222222222222222222

J2
senJ 2
W
d
+
=
W2 =

2
2
2
2
J 2
k
J
sen J 2 J1

2m E + 22 2
r 4 r

2
2222222222^oFMcO`
222222222222222222222222222222
W
W3 =

J 3 2222222222222222222222222222222222222222222222222222222222222222222222222^oFMcM`
22222222222222222222222222222222222222222222222222222222222222222222222222222222222222
287

MECNICA CLSICA

/LB=IPBPIUBT<@P<J2R<\22 2

2222222

J 1 = J = d =2 p

222222222222222222222222222222222222222222222222222222222^oFMce`

.>2R<CIQ2 2~ 2U<C<>2=B2C?TZ?@<@P<2R<=2T?T<@P?2B@kL=BQ2B2=?2=BQk?2R<=2<t<2Z?=BQ2
B=k@2]@kL=?2yIt?2R<2Q?PBCID@2B=Q<R<R?Q2R<2<>P<2^U<Q2yIkLQB`F
5ITI=BQT<@P<\2

22222222222222222222222222222222222222222222222222222222222222222222222222

J 2 = J + J = 2p

W1

2C?@tLkBRB2R<W<2><Q2

22222222222222222222222222222222222222222^oFMc_`

p
J1
= = cos

p
J
2222222222222222222222222222222222222222222222222222222222222222222222222222222 2
22

22222222222222222222222222222222222222222^oFMcc`

.>P?2 <>J2 R?>2 U<C<>2 =B2 TBk@IPLR2 R<=2 T?T<@P?2 B@kL=BQ2 P?PB=F2 .@P?@C<>2 =B2 C??QR<@BRB2 B@kL=BQ2 W2
C?@tLkBRB2C?@2L@2]@kL=?2yIt?2<@2<=2]@kL=?2R<2=B2DQWIPBF2.@P?@C<>\

W1 W2
J2

2V2

|'

2>?@2=?>2]@kL=?>2R<2.L=<Q2iL<2yItB@2=B2?QI<@PBCID@2R<2=B2DQWIPB2<@2<=2<>ZBCI?F

+ 8l

Ejemplo 8.13.23?>PQBQ2iL<2>I2<dZQ<>BT?>2 +1 8 E 2V2 2

2C?T?2lL@CI?@<>2R<2 J 2 2V 3 J2=B2<CLBCID@2
R<2=B2DQWIPB2R<=2ZQ?W=<TB2R<2z<Z=<Q2ZL<R<2<UB=LBQ><2<@2PSQTI@?>2R<2=B>2UBQIBW=<>2R<2BCCID@p]@kL=?2
^<l<CPLBQ2=B2I@P<kQBCID@2R<2=B2DQWIPB2V2T?>PQBQ2iL<2><TI2<t<2TBV?Q2 a V2=B2<dC<@PQICIRBR . <>P]@2RBRB>2
Z?Q\
2222222222222222222222222222222222222222222222222222222222222222222

a =

Resolucin:

J
J 3
, = 1 2
2
J 3 2
4 mk

.@2 <=2 ZQ?W=<TB2 R<2 z<Z=<Q2 <>ZBCIB=2 IR<@PIyICBT?>2

w<@[BT?>2BR<T]>2^ZQ?W=<TB>2B@P<QI?Q<>`\

|'

22222222222222222222222222^oFMca`

2222222222^oFMcn`

2222222222^oFMco`

2222222222^oFMcm`

2
r2 2

2222222222^oFMaN`

C?@2 =B2 TBk@IPLRJ2 =J2 R<=2 T?T<@P?2 B@kL=BQ2 P?PB=F2

J + J J 2
=
2
2 2 2
2222222222222222222222222222222222222222222222222222222222222222222222
J
= l = 2
2 2
22222222222222222222222222222222222222222222222222222222222222222222222222222222222
2
l
+?@R<2 2<>2<=2]@kL=?2Z?=BQJ2PBTWIS@2ZBQB2<=2CB>?2<>ZBCIB=\
l =

2222222222222222222222222222222222222222222222222222222222222222222222222222

1 = E =

;h?QB2=B2<CLBCID@2R<2=B2DQWIPB2<@2<=2CB>?2Z=B@?J2<>\

222222222222222222222222222222222222222222222222222222222222222
288

2 2 mk 2
2
J 3
2

J 3

r 2 2m(1 )

NELSON FALCN V.

= arcsen
222222222222222222222222222

J 22

2
mk
2

J 3

= ar cos
2
2

2
J
J

4 2 m 2 4m 2 k 2 22
2mk 1 22
J 3
J 3

2222222222222222222222222222222222222222222222222222222222
+<2R?@R<\2

4mk
J 22
)
1
1
cos( 21
+

2
2
J 2
J 3

1 4mk
J 22

(
)
=
+

1
1
cos

21
r
J 22
J 32

= 1

2222222222222222222222222222222222222222222222222222

J 2 2
J 3 2

1
4 2 mk
=
a 1 2
J 2 2

5I2C?TWI@BT?>2=B2<dZQ<>ID@2C?@2=B2B@P<QI?Q2@?>2iL<RB\2222

a=

Mecnica ondulatoria

2 2

2222222222^oFMaO`

2222222222222222222222222^oFMaM`

2 22222222222222222222222222222222222222222222^oFMae`

J 3
4 2 mk 22222222222222222222222222222222222222222222222^oFMa_`
2

/?@>IR<Q<T?>2>I>P<TB>2<@2=?>2iL<2<=2hBTI=P?@IB@?2<>2L@B2C?@>PB@P<2R<2T?UITI<@P?J2<>2R<CIQ2j.w82
V2=B>2lL@CI?@<>\2ZQI@CIZB=2V2CBQBCP<Q[>PICB2R<2jBTI=P?@2ZL<R<@2<dZQ<>BQ><2><k@\
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222

a=

J 32
4 2 mk 2

2222222222^oFMa_`

2222222222^oFMac`

;>LTIT?>2BR<T]>2iL<\2<=2PSQTI@?2R<2=B2lL@CID@2CBQBCP<Q[>PICB2<>2I@R<Z<@RI<@P<2R<=2PI<TZ?2V2iL<2<=2
T?UITI<@P?2<>2B@]=?k?2B=2R<2L@2lQ<@P<2R<2?@RB>F2/?@>IR<QB@R?2<=2T?UITI<@P?2R<2=B2?@RB2C?T?2L@B2>?=B2
ZBQP[CL=BF27?R<T?>2CB=CL=BQ2=B2U<=?CIRBR2R<2=B2?@RB2<@2L@2ZL@P?\
222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

u=

ds
dt 2

+?@R<2ds <>2=B2RI>PB@CIB2Z<QZ<@RICL=BQ2Q<C?QQIRB2Z?Q2<=2lQ<@P<2R<2?@RB>2<@2L@2PI<TZ?2dt.2.=2CBTWI?2RP2
<@252<>PB2RBR?2Z?Q\

2222222222222222222222222222222222222222222222222222222222222222222222222222222222222 dW = E ' dt 2
+?@R<2Z?R<T?>2<dZQ<>BQ\
2

222222222222222222222222222222222222

dW = W ds

222222222222222222222222222222222222222222222222222222222^oFMaa`

+IUIRI<@R?2^oFMac`2V2^oFMan`2V2>L>PIPLV<@R?2=L<k?2^oFMac`2P<@<T?>\

2222222222^oFMan`

289

MECNICA CLSICA

u=
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
7?Q2<=2l?QTB=I>T?2R<2jBTI=P?@2}BC?WI2P<@RQ<T?>\
2

dE '
W

22222222222222222222222222^oFMao`

W W W
+
W =
+
= 2m(E U )
x
y

2222222222222222222222222222222222222222222222
2
2

=L<k?\

u=

ds
E
=
=
dt W

22222222222222222222222222222222222222222222222222222222222222222
7?Q2?PQ?2=BR?J2Q<C?QR<T?>2=B2<CLBCID@2R<2?@RB2C=]>ICB\

22222222222222222222222222222222222222222222222222222222222222222222222222222222
/LVB>2>?=LCI?@<>2R<2=B2l?QTB\
2

2m( E U )

22222222222222222222222222^oFMam`

22222222222222222222222222222222222222222222^oFMnN`

1
=0
u 2 t 2
2 222222222222222222222222222222222222222222222222222222222^oFMnO`

2222222222222222222222222222222222222222222222222222222222222222222222222222222 ( r , t ) = ( r ) e
7<QTIP<2<>CQIWIQ2=B2<CLBCID@2R<2j<=Th?=PK2C?T?\

i t

2 222222222222222222222222222222222222222222222222222222222^oFMnM`
2

s
r
s
r
1 4 2 c
1
(r ) = 0
(r ) + 2 2 (r ) = 0 2 (r ) + 2
2
u
u
2
222222222222222222222222222222222
2

5L>PIPLV<@R?2^oFMnN`2?WP<@<T?>\

2222222222^oFMne`

s 2m( E U ) 4 2 c
r
2 (r ) +
(r ) = 0
2
2

E
2222222222222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222^oFMn_`

,@PQ?RLCI<@R?2BiL[2=B2cuantizacin de Borh2E=h>:
2222222222

s 2m( E U ) 4 2 c
r
(r ) +
(r ) = 0
2 2
2

h
2 22222222222222222222222222222222222222222^oFMnc`
22222222222222222222222222222222222222222222222222222222
2

/?T?2C2?WP<@<T?>2=B2ecuacin de onda de Schrdinger:

2 +

222222222222222222222222222222222222222222222222222222222222222222222

8 2 m( E U )
=0
h2
2

/?@2=?2CLB=2=B23<C]@ICB2ZB>B2B2==BTBQ><23<C]@ICB2CL]@PICBF

22222222222222222222222222222222222222222^oFMna`

Ejemplo 8.142.=2]P?T?2R<2hIRQDk<@?F
-<?WPS@kB><2=B2<dZQ<>ID@2R<2=B2CLB@PIKBCI?@2R<2=B2<@<Qk[B2ZBQB2<=2]P?T?2R<2hIRQDk<@?2L>B@R?2<=2TSP?R?2
R<2jBTI=P?@2}BC?WIF
290

NELSON FALCN V.

Solucin:
5<2R<yI@<2=B2UBQIBW=<>2B@kL=BQ<>2R<2BCCID@\
22222222222222222222222222222222222222222222222222222222222222222222222222222222222

J k = pk dqk

222222222222222222222222222222222222222222222222222222222^oFMnn`

-<k=B2R<2CLB@PIKBCID@2R<25?TT<Ql<=RpuI=>?@2^TDRL=?2R<2Z<QI?RICIRBR`F2

! p dq
k

8 nk h

;2RIl<Q<@CIB2R<=2ZQ?W=<TB2R<2z<Z=<Q2><2C?@>IR<QB2iL<2<=2Z?P<@CIB=2<>PB2RBR?2Z?Q2=B2=<V2R<2/?L=?TWJ2iL<2
<>2=B2I@P<QBCCID@2<@PQ<2<=2ZQ?PD@2V2<=2<=<CPQD@\2

U (r ) =

e2 1
4 0 r 2

222222222222222222222222222222222222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222222222222222222^oFMno`
;h?QBJ2><2R<P<QTI@B2<=2TDRL=?2R<2Z<QI?RICIRBR2ZBQB2r iL<2><2<dPI<@R<2R<>R<2rmin2B22rmax 2V2UL<=U<2B=2UB=?Q2
I@ICIB=F2/?@22nr2C?T?2<=2@LT<Q?2CL]@PIC?2QBRIB=\2
2222222222222222222222222222222222222222222222222222222222222222222222222222222

1
2
222222222222222222222222222222222222222222222222222222222222222

/?T?\

J r = pr dr = nr h

22

222222222222222222222222222222222222222222222222222222222^oFMnm`

e2
2 1 2
+
p
p

r r 2 4 r = E
0
2

2222222222222222222222222222222222222222222222222222222222222222222222222222222222

p = =

n h
2 2

222222222222222222222222222222222222222222222222222222222^oFMoO`

/?@2=?2iL<2=B2B@P<QI?Q2<CLBCID@2><2ZL<R<2<>CQIWIQ2C?T?\

E+
22222222222222222222222222222222222222222222222222

1
2

22222222222222222222222222222222222222222^oFMoN`

2 1 n h 2 e 2 1
=0

pr + 2
r 2 4 0 r

2 2
1

rmax

2

e 2 n2 h 2

J r = 2 2 E +
dr = nr h
4 0 r 4 2 r 2

rmin
22
22222222222222222222222222222222222222222222

L<2R<>ZLS>2R<2I@P<kQBQJ2><2?WPI<@<\

n h + 2i

222222222222222222222222222222222222222222222222222222222222222222
.@2l?QTB2C?TZBCPB\

En =

2222222222222222222222222222222222222222222222222222222222

(4 0 )2

e 2

(4 0 )

2 E

22222222222222222222222222^oFMoM`
22222222222222222222222222^oFMoe`

= nr h
2

e 4 1
13,6
2 eV
2
2
n
2h n

22222222222222222222222222222222222222222^oFMo_`
22 22222222222222222222222222222222222222222^oFMoc`
291

MECNICA CLSICA

)*/# 3(*5'9+(!# ) 8. :#!*3 :#!*3(

Carl Gustav Jacob Jacobi ^OoN_pOocO`2

AI=D>?l?2V2TBP<T]PIC?2B=<T]@2@BCIR?2<@27?>PRBT2V2lB==<CIR?2<@2
9<Q=[@F27?><<R?Q2R<2L@2UIU?2I@k<@I?2><2R<RICD2VB2R<>R<2@Iq?2B2=B2
=<CPLQB2R<2=B2,@PQ?RLCCID@2B=2B@]=I>I>2R<2=?>2I@yI@IP?>2R<2.L=<QF2
3]>2PBQR<J2<@2=B28@IU<Q>IRBR2R<29<Q=[@2RIUIRID2>L2PI<TZ?2<@PQ<2
=B2 yI=?>?y[B2 V2 =B>2 TBP<T]PICB>J2 R<CB@P]@R?><2 Z?>P<QI?QT<@P<2
Z?Q2S>PB>2=PITB>F2.=2ZBRQ<2R<2}BC?WI2<QB2WB@iL<Q?2V2>L2lBTI=IB2
<QB2TLV2ZQD>Z<QBJ2lL<2B>[2C?T?2S=2Q<CIWID2L@B2WL<@B2<RLCBCID@2
<@2 =B2 8@IU<Q>IRBR2 R<2 9<Q=I@F2 4WPLU?2 >L2 R?CP?QBR?2 <@2 OoMc2 V2
<@><qBWB2 TBP<T]PICB>2 <@2 z?@I@k>W<Qk2 R<>R<2 OoMa2 hB>PB2 >L2
TL<QP<F2 .@PQ<kBR?2 B=2 <>PLRI?2 R<2 =B>2 lL@CI?@<>2 <=[ZPICB>2 PQB>2
>L2 C?@?CITI<@P?2 <@2 =?>2 PQBWBt?>2 R<2 :<k<@RQ<J2 ZLW=ICD2 >L>2
ZQIT<QB>2I@U<>PIkBCI?@<>2>?WQ<2<=2P<TB2<@2OoMmF2wBTWIS@2><2
Q<=BCI?@D2C?@2TBP<T]PIC?>2R<=2CB=IWQ<2R<2A?LQI<Q2?27?I>>?@F2;2
}BC?WIJ2C?T?2B2;W<=J2><2R<W<2<=2<>PBW=<CITI<@P?2R<2=B2P<?Q[B2R<2
=B>2lL@CI?@<>2<=[ZPICB>2>I@2<TWBQk?J2BR<T]>2R<2=B>2@LT<Q?>B>2
T<T?QIB>2 C?@>BkQBRB>2 B2 PB=2 <l<CP?J2 ==<UD2 B2 CBW?2 ITZ?QPB@P<>2
I@U<>PIkBCI?@<>2 k<?TSPQICB>2 >?WQ<2 =B>2 CLQUB>2 V2 >LZ<QyICI<>2
B=k<WQBICB>J2 =B>2 CL]RQICB>2 V2 k<?RS>ICB>2 V2 BZ?QPD2 @?PBW=<>2
C?@PQIWLCI?@<>2B2=B>2<CLBCI?@<>2RIl<Q<@CIB=<>J2B2=B2RI@]TICB2R<2
=?>2>D=IR?>2V2B2=B2T<C]@ICB2C<=<>P<F2

Es cierto que Fourier piensa que el objeto prioritario de la matemtica es la utilidad pblica y la
explicacin de los fenmenos naturales; pero un cient-ico como l debera saber que el nico objeto
de la ciencia es el honor del espritu humano y sobre esta base una cuestin de teora de nmeros es
tan importante como una cuestin acerca del sistema planetario
}BC?W2}BC?WI

El concepto de matemticas es, en general, el concepto de ciencia.

De ah que todas las ciencias deban aspirar a llegar a ser matemtica.
2
^/?@C=L>ID@2<@2>L2<dBT<@2R<2R?CP?QBR?`

292

NELSON FALCN V.

/%.# #0#)1#-* ) 8.
$*#('"H2#(*(H"(H(22("#%$H"(H(2&2'($)2'$H%"H$)
.t<TZ=?2I=L>PQBPIU?\2A?QTB=I>T?2=BkQB@kIB@?2ZBQB2L@B2CL<QRBF
/?@>IRSQ<><2L@B2CL<QRB2C?T?2L@B2>LC<>ID@2R<2ZL@P?>2><ZBQBR?>2<iLIRI>PB@P<T<@P<2B2T<PQ?>F 5<B2

q n (t ) 8 q n

2=B>2C??QR<@BRB>2R<2CBRB2ZL@P?2Z<>BR?2@22FFF2pMJ2pOJ2NJ2OJ2MFFF

62C?@>IR<Q<T?>2=B2<@<Qk[B2CI@SPICB2R<2CBRB2ZL@P?2C?T?\222

T=

m 2
qn
2
2222222222222222222222222222222222222222222222222^E,,,FO`

:B2<@<Qk[B2Z?P<@CIB=2<>2R<=2PIZ?2Q<CLZ<QBPIU?2C?T?2=B2=<V2R<2j??~<2<@PQ<2R?>2ZL@P?>2BRVBC<@P<>2R<2=B2
1
1
U = mv 2 (q q ) 2 = (q q ) 2
1
n
+
n
n +1
n
2
2
CL<QRBJ2R<2T?R?2iL<\2
22222222222222222222222222222222222222222222222222222222222222222^E,,,FM`
:L<k?2>L2lL@CID@2R<2:BkQB@k<2><Q]\2
2

1
1
L = m q mv(q q ) 2
n
n +1
n
2
2
2222222222222222222222222222222222222222222222222222222222222222
22

22222222222222222222222222^E,,,Fe`

.>2C=BQ?J2?2R<W<Q[B2><Q=?2BiL[2<@2=B2C=B><2E,,,J2iL<2=B>2<CLBCI?@<>2R<2T?UITI<@P?2iL<RB@\2

m q j mv 2 (q j +1 2q j + q j 1 )= 0

22222222222222222222222222222222222222222222222222222222222

q (t ) 8 A cosuk x n ; S t v

/LVB2 >?=LCID@2 <>2 R<2 =B2 l?QTB2 n

ZQ<C<R<@P<2==<UB2B2=B2Q<=BCID@2R<2RI>Z<Q>ID@\

22222222222^E,,,F_`

2 iL<J2 B=2 ><Q2 Q<<TZ=BKBRB2 <@2 =B2 <CLBCID@2

mw 2 A cos(kx n wt ) mw 2 A cos(kx n wt )(2 cos ka 1)

2222222222222222222222222222

w 2 = 2v 2 [1 cos(ka )]

4WUI?2>I2 k O2
222222222222222222222222222222222222222222222222

cos( ka ) 1

1 2 2
1

k a w 2 = 2v 2 1 1 + k 2 a 2
2
2

/?@>IR<Q<T?>2=B2k<@<QB=IKBCID@2B2L@B2CL<QRB2C?@PI@LB2UB=<2R<CIQ2<@2<><2CB>?\2

m
8 ( ; lim a 8 c
a %0 a
a %0

22222222222222222222222222^E,,,Fc`2

22222222222^E,,,Fa`

lim

22222222222222222222222222222222222222222222222222222222222222222222222222

2 2

22222222222222222222222222^E,,,Fn`

293

MECNICA CLSICA

:L<k?\

x =

xn =
1 2
1 m
1

(
)
m
q
(
t
)
=
q
x
,
t
a

q(x n , t ) dx

n
n

2
2

x n = 2 a
x =
2
222222222222222222222222222222 n =

1 2
2
mv [q n +1 (t ) q n (t )]

n = 2

xn =

2222222222^E,,,Fo`

2
x =
1 m 2 2 q
1 2 q

c dx
v a (x n , t ) a

2
2
a
x
xn =
x =
x

2222222^E,,,Fm`
2222222222
22
.=2=PIT?2PSQTI@?2R<yI@<2=B2ZQ?ZI<RBR2=?CB=2R<2=B2I@P<QBCCID@F2.=2PSQTI@?2<@PQ<2C?QCh<P<>2Z<QTIP<2R<yI@IQ2
=B2lL@CID@2R<2:BkQB@k<2C?T?\

dq ( x n , t )
2
L = q ( xn , t )
dx dx
2
dx

2
2222222222222222222222222222222222222222222222222222222

22222222^E,,,FON`

:L<k?2 =B2 R<@>IRBR2 =BkQB@kIB@B2 c 2 @2 >I>P<TB>2 C?@PI@L?>2 ><2 C?TZ?QPB2 <@2 l?QTB2 <iLIUB=<@P<2 B2 =B2
=BkQB@kIB@B2R<2>I>P<TB2RI>CQ<P?>2:F
4WUIBT<@P<2=B2<CLBCID@2R<2T?UITI<@P?2<>2Bh?QBJ2C?@22c = vaJ2

22222222222222222222222222222222222222222222222222222222222

2
2
2q
2q
2 q
2 q
=

=
c
t 2
x 2
t 2
x 2 2

q ( x, t ) 8 A cos(kx ; wt ) 8 A cos(kx ; ckt )

22222222222222222222222^E,,,FOO`

/LVB2>?=LCID@2<>2
.@2=?2>LC<>IU?2R<2<>P<2BZBQP<J2R<@?PBQ<T?>2C?@2:2B2=B2R<@>IRBR2=BkQB@kIB@BJ2BWL>B@R?2R<2=B2@?PBCID@2
C?@2=B2ZQ<P<@>ID@2Z<RBkDkICB2R<2<@lBPIKBQ2>L2B@B=?k[B2C?@2=B2=BkQB@kIB@B2ZQ?ZIBT<@P<2RIChB\
2

2222222222222222222222222222

lagrangiana 8 ! Ld

222222222222222222222222222222222222222^E,,,FOM`

hBQ<T?>2 =B2 R<>CQIZCID@2 R<=2 CBTZ?2 T<RIB@P<2 ZQI@CIZI?>2 UBQIBCI?@B=<>2 B2 ZBQPIQ2 R<=2 ZQI@CIZI?2 R<2
jBTI=P?@\
222222222222222222222222222222222222222222222222222222222222222222

0 = Lagrangiana = Ldx u

L
L
0 = + +
( i )dx u

( i )

22222222222222222222222222222222222222222222222222
22

L
L
L
dx u +
i ( )dx u + dx u

( i )

2
222222222222222222222222222222222222222222
=

294

22

22222222^E,,,FOe`

22222222^E,,,FO_`

22222222^E,,,FOc`

NELSON FALCN V.

L
L d L
dx u
0 = i
dt
( i )

2222222222222222222222222222222222222222222222222222
22

222222222222222222222222^E,,,FOa`

L<2><2U<QIyICB2>I<TZQ<2iL<\

L
d L L
=0

+ i

dt
( i )

2222222222222222222222222222222222222222222222222222222222222222222222
2

5<2R<yI@<2=B2R<QIUBRB2lL@CI?@B=2^UBQIBCI?@B=`2C?T?\
2222222222222222222222222222222222222222222222222222

L
L
d
L
L
L

u
=
i
( )
j j dx ( i j ) j
i
j

2222222222222222222222222222222222222222222222222222222222222222222222

L
d
u
dx ( )
i
j

5I<@R?2<=2=PIT?2PSQTI@?2R<2^E,,,FOn`2@L=?J2C?@2=?2CLB=\2
2222222222222222222222222222222222222222222222222222222222222222222222222222222222

D
d B L
B
dt B 2=
j
C

A
? L
80
?;
? q j
@

22222222^E,,,FOn`

22222222^E,,,FOo`

22

22222222^E,,,FOm`

22

22222222^E,,,FMN`

;@]=?kBT<@P<2 Z?R<T?>2 C?@>PQLIQ2 L@B2 R<@>IRBR2 hBTI=P?@IB@B2 J2 iL<2 @L<UBT<@P<J2 BWL>B@R?2 R<2 =B2
@?PBCID@2R<@?TI@BT?>2j2<@2<>P<2BZBQPBR?F

22222222222222222222222222222222222222222222222222222222222222222222222222222222222222 H = L 22222222222222222222222222222222222222222222222222222222222222222222^E,,,FMO`22
C?@22T?T<@P?>2CB@D@IC?>2PB=<>2iL<2><B@2=B>2R<QIUBRB>2R<2=B2densidad lagrangiana L

22 2

2
22
2
222222222222222222222222222222222222222222
5IkLI<@R?2<=2ZQ?C<RITI<@P?2R<=2CBZ[PL=?pC=B><2aJ2P<@<T?>\

22222222222222222222222^E,,,FMM`

H
H
H
H
Hamiltoniano = H d = d j +
d j +
d ( i j )+
dt d
j
( i j )
t

222222^E,,,FMe`
2222222222

L

0 = j d j + j d j
dtd

222222222222222222222222222222222222222222222222222222222222
2 2

L<2U<QIyICB2=B>2@L<UB>2<CLBCI?@<>2R<2jBTI=P?@2ZBQB2=B2R<@>IRBR2hBTI=P?@IB@B2j\
H

22222222222222222222

= j

H
L
=
t
t

H
= j
j

22222222^E,,,FM_`

222222222222222222222^E,,,FMc`
295

MECNICA CLSICA

42WI<@\222

d
H
H
= j

j dxi ( i k )

22222222222

2 2

222222222222222222222222^E,,,FMa`

Ejemplo 8.15: .@CLS@PQ<><2=B2R<@>IRBR2:BkQB@kIB@B2R<=2campo de Klein Gordon

u
2222222222222222222222222222222222222222222

; m2 E 8 0

2222222222222222222222222222222222222222222222222222225<B2

2 8 e ipux

o sea

uwuw

; m2

2L@B2>?=LCID@2PB=2iL<2

v 2 80 2

222222222222222222222222^E,,,FMn`

pup u 8 ;m 2

22222222^E,,,FMo`

:?2iL<2kBQB@PIKBQ[B22iL<2=?>2CBTZ?>2ZL<R<@2><Q2CLB@PIKBR?>2Z?Q2ZBQP[CL=B>2=IWQ<>2C?@2TB>B2TJ2R?@R<22

; m 2 8 pup u

.@2<l<CP?\

F2

2222222222222222222222222222222222222222222222

22 8 i 2 pup u e ipux

22222222222222222222222222222222222222222222222222222222222222

uwuw

; m2 2 8 0

.@2<l<CP?\2

22222>LkI<Q<2222

222222222222222222222222222

; m 22 8 ;m 2 e ipux

; m 2 2 8 0 ;m 2 8 pup u

222 2

1
1
Lu2 , wu2 v 8 ; wu2w u 2 ; m 22 2
2
2

wu

22222222222222222222222222222222222222222222222222222222222222222222222222

2222222222222222222222222222222222222222222222222222222222222222222222222
+<2=?2CLB=2<>2C=BQ?2iL<\
222222222222222222222222222222222222222222 wu

wL
wL
;
80
w (wu2 ) w2
u

wu (;w 2 ) ; m 2 8 0

222 2

2222222222222222222222222222222222222222222222222222

D=A
g g B 2 ?
C @

2222222222222222222222222^E,,,FMm`
2

22222222^E,,,FeN`

22222222^E,,,FeO`

22

22222222^E,,,Fee`

22

wL
1
8 ;wu w n 2 ] L 8 ; wu2 w n 2 g g u2 v
w (wu2 )
2

wL
m2
2
8 ;m 2 ] L 8 ;
2
w2
2

22

22222222^E,,,FeM`

222222222222222222222222^E,,,Fe_`

R?@R<2k2<>2L@B2lL@CID@22R<2 2 2F262kx2<>2L@B2lL@CID@2>?=?2R<2 2 22F2:L<k?2Z?R<T?>2<>CQIWIQ\

2222222222222222222222222222222222222222222222222222222222222222222

1
m2 2
L(2 , wu2 ) 8 ; wu2w u 2 ;
2
2
2

/]=CL=?2R<=2hBTI=P?@IB@?2^R<@>IRBR2hBTI=P?@IB@B`\2

296

2222222222222222222222222222222222222^E,,,Fec`

NELSON FALCN V.

H 8 ~ 2; L 8
22222222222222222222222222222222222222222222222222222222222222222222222222

222222222222222222222

wL

2; L
=
w2

22222222222222222222222222222222222222222222222222^E,,,Fea`

w D 1
1
m A D 1
1
m A
B ; 2 ; 5 uwk2k v2 ; 2 2 ?? 2 ; BB ; 2 ; 5 uwk2k v2 ; 2 2 ??
= B
2 k
2 @ C 2
2
2 @
w2 C 2
=2

2222222222222222222222222222222222222222222222222222222222222

=2

=2
2
1 =2 1
m
; 2 g 2 g 5 uwk2k v g 2 2
2
2 k
2

u v

2222222222222222222222222222222222222222222222222222222222222222222222

1 =2 1
8 2 g
K2k
2
2

m 2
2
2

22222222^E,,,Fen`

22222222^E,,,Feo`

22

22222222^E,,,Fem`

22

22222222^E,,,F_N`

j2<>2R<yI@IR?2Z?>IPIU?F21DP<><2iL<2=B2<CLBCID@2R<2T?UITI<@P?2BRTIP<2>?=LCI?@<>2R<2PIZ?22

e ipux

;Z=ICBCID@\2<=2campo de Yukawa
5I2

2 (t , x) 8 2 (r )

J2<@P?@C<>\

22222222222222222222222222222222222222222222222222

222222222222222222222222222222222222222222222222222

jBCI<@R?2<=2CBTWI?2

v u v

; m 2 2 x u 8 0 ] K2 ; m 2 2 ur v 8 0
2

1 d
d
(r2 ) ; m 22 8 0 ] 2 (r2 ) 8 m 2 (2r )
2
r dr
dr

U 8 r2

2222222222222222222222222222222222222222222222222

P<@<T?>\222222222222222222222222222222

c
d U
8 m 2 dr 2 % ln U 8 mr g ] 2 8 e mr
r
U

22222222222222222222222222222^E,,,F_O`

1DP<><2>I@kL=BQIRBR2<@2Q22N2^2lL<@P<2R<=2CBTZ?2`2<@P?@C<>2L>B@R?2<=2ZQI@CIZI?2R<2j<I><TW<Qk2
Z?R<T?>2<@C?@PQBQ\22

KEKt R h ] KMc 2 Kt R h ] Kt 8

22222222222222222222222222222222

Kt R 4,3 10

/?T?22
@C=<?2BPDTIC?\

;24

h
6,62 10 ;27
8
c 2 Mpr 9 10 201,7 10 24

2222222222222222222^E,,,F_M`

>22222<=2B=CB@C<2R<2=B2lL<QKB2R<26L~BgBJ2Q<>L=PB2R<2=B>2RIT<@>I?@<>2R<=2

222222222222222222222222222222222222222222222222222222222222222222222222

d 8 cKt R 1,3 10 ;13 cm

222222222222222222222222^E,,,F_e`
297

C"#$% 9: R%"#/(0(-#- %$&%!(#" * '%$/'()5(-#

+<2l?QTB2B@]=?kB2B=2Q<>P?2R<2=?>2CBZ[PL=?>2><2ZQ<><@PB2>D=?2<=2l?QTB=I>T?2R<2=B>2P<?Q[B>2V2C?@C<ZP?>J2
>?>=BVB@R?2=B>2ITZ?QPB@P<>2Q<=BCI?@<>2R<2=B2P<?Q[B>2y[>ICB>2C?@2<=2ZQ?C<>?2hI>PDQIC?2iL<2=<2ZQ<C<RIDF262<==?2
<>2B>[2Z?QiL<2<>PB2?WQB2lL<2<>CQIPB2ZBQB2<=2CLQ>?2R<23<C]@ICB2/=]>ICB2R<2=PIT?>2Bq?>2R<2=B2=IC<@CIBPLQB2
<@2A[>ICB2V?2ZQIT<Q?>2Bq?>2R<2Z?>PkQBR?J2R<2T?R?2iL<2C?@C<ZP?>2R<2>ITL=PB@<IRBR2Q<=BPIUB2V2R<PB==<>2
C?T?2<=2<dZ<QIT<@P?2R<23ICh<=>?@p3?Q=<VJ2=B2R<>C?@<dID@2<@PQ<2<=<CPQ?RI@]TICB2C=]>ICB2V2=B2T<C]@ICB2
R<21<gP?@J2<@P<2?PQ?>2><2>LZ?@<@2VB2lL<Q?@2PQBPBR?>2<@2CLQ>?>2B@P<QI?Q<>F

.@2OmNcJ2=B2h?V2R[B2R<@?TI@BRBJ2P<?Q[B2R<2=B2Q<=BPIUIRBR2<>Z<CIB=2lL<2ZQ<><@PBRB2Z?Q2;=W<QP2.I@>P<I@2<@2>L2
PQBWBt?2Sobre la electrodinmica de los cuerpos en movimiento'F2^.I@>P<I@J2;=W<QP2LQ2.=<~PQ?RV@BTI~2
W<g<<P<Q2z|Z<Q2;@@B=<>2R<Q27hV>ICI~J2On2OmNc`F2.@2<==?>2.I@>P<I@2ZBQP<2R<2R?>2ZQ<TI>B>2?2Z?>PL=BR?>2
W]>IC?>\
OF :B2U<=?CIRBR2R<2=B2=LKJ2<@2<=2UBC[?J2<>2C?@>PB@P<2^<@2<=2><@PIR?2R<2><Q2I@R<Z<@RI<@P<2R<2=B2
U<=?CIRBR2Q<=BPIUB2<@PQ<2<TI>?Q2V2Q<C<ZP?Q`F2
MF w?R?>2=?>2>I>P<TB>2I@<QCIB=<>2>?@2<iLIUB=<@P<2^7QI@CIZI?2R<2Q<=BPIUIRBR`2

14w;2 OF2 +IChB2 U<=?CIRBR2 <>2 L@B2 @L<UB2 C?@>PB@P<2 L@IU<Q>B=2 R<@?PBRB2 C?@2 c2 ^R<=2 =BP[@2 C<=<QIPV2
iL<2 >Ik@IyICB2 U<=?CIRBR`2 V2 >L2 UB=?Q2 <@2 <=2 <>ZBCI?2 UBC[?2 <>2 <dBCPBT<@P<2 C?T?2 =?2 Z?>PL=B2 =B2 P<?Q[B2
<=<CPQ?TBk@SPICB2 c 8

un v

;1

2R?@R<2

2<>2=B2Z<QTI>IUIRBR2<=SCPQICB2R<=2UBC[?2V

n0

2>L2Z<QT<BWI=IRBR2

TBk@SPICBF2 4WUIBT<@P<J2 =B2 U<=?CIRBR2 R<2 =B2 :LK2 R<Z<@R<Q]2 R<=2 [@RIC<2 R<2 Q<lQBCCID@2 R<=2 T<RI?2 =L<k?2

V 8 c / 8

u n v F2;>[2<@2L@2T<RI?2C?T?2<=2BkLBJ2=B2U<=?CIRBR2R<2=B2=LK2ZLRI<QB2><Q2I@C=L>?2T<@?Q2
;1

iL<2=B2U<=?CIRBR2R<2=B2QBRIBCID@2<@2<=2T<RI?J2Z<Q?2BTWB>2T<@?Q<>2B2=B2U<=?CIRBR2R<2=B2=LK2<@2<=2UBC[?2^c`F2
+<2h<Ch?2<@2=?>2Q<BCP?Q<>2@LC=<BQ<>2PIZ?2ZI>CI@B2><2?W><QUB2<>P<2l<@DT<@?2R<2iL<2=B2QBRIBCID@2UIBtB2
B2TBV?Q2U<=?CIRBR2iL<2=B2=LK2<@2RICh?2T<RI?2^QBRIBCID@2/<Q<@~?U`2>I@2C?@PQBRICCID@2C?@2=B2P<?Q[B2R<2=B2
Q<=BPIUIRBR2<>Z<CIB=F

14w;2MF25<2<@PI<@R<2Z?Q2sistema inercial2B2BiL<=2CLVB2U<=?CIRBR2<>2C?@>PB@P<2Q<>Z<CP?2B2?PQ?2?W><QUBR?QJ2
UB=<2R<CIQ2iL<2<=2T?UITI<@P?2Q<=BPIU?2<@PQ<2<==?>2<>2Q<CPI=[@<?2V2L@Il?QT<F2.@2PB=<>2>I>P<TB>2=B>2=<V<>2R<2
=B2T<C]@ICB2>?@2<iLIUB=<@P<>2?2Q<=BPIUB>J2V2<>B2<iLIUB=<@CIB2<>PB2ZQ<>CQIPB2Z?Q2L@2PIZ?2<>Z<CIB=[>IT?2R<2
PQB@>l?QTBCI?@<>2 <@PQ<2 <>ZBCI?>2 R<2 C??QR<@BRB>J2 C?@?CIR?>2 C?T?2 PQB@>l?QTBCI?@<>2 R<2 :?Q<@PKF2 .>PB2
C?@RICID@2IR<B=IKBRB2><2CLTZ=<2ZBQB2<>ZBCI?>2R?@R<2=?>2CBTZ?>2kQBUIPBCI?@B=<>2>?@2L@Il?QT<>J2V2Z?Q2
<@R<J2R?@R<2=B>2RIT<@>I?@<>2R<=2<>ZBCI?2>?@2PB=<>2iL<2ZL<R<2C?@>IR<QBQ><2Z=B@?F2:B2k<@<QB=IKBCID@2B2
?PQ?>2>I>P<TB>2@?2I@<QCIB=<>2C?@==<UD2B2.I@>P<I@2B2l?QTL=BQ2L@B2P<?Q[B2T]>2k<@<QB=2R<2=B2Q<=BPIUIRBRJ2C?@2
<><2@?TWQ<J2<@2<=2CLB=2=B2@?QTB2VB2@?2<>PB2RBRB2Z?Q2=B2l?QTB2<=<T<@PB=2^mF_`2USB><2T]>2BWBt?F
14w;/,01\2<@2P?RB2=B2C=B><pCBZ[PL=?2><2L>B2=B2C?@U<@CID@2R<2iL<2=?>2[@RIC<>2kQI<k?>2Q<yI<Q<@2B2PSPQBRB>2
?2_pU<CP?Q<>2V2UB@2R<=2O2B=2_J2TI<@PQB>2iL<2=?>2[@RIC<>2=BPI@?>2>?@2PQIU<CP?Q<>2R<=2O2B=2eF2wBTWIS@2><2
299

MECNICA CLSICA

<dZ=ICIPB2=B2L@IRBR2C?@2<=2<TZ=<?2R<2=B2C?@>PB@P<2c2V2><2L>B2<dZ=[CIPBT<@P<2=B2R<Z<@R<@CIB2ITBkI@BQIB2
C?@2iJ2B2yI@2R<2<@lBPIKBQ2<=2CBQ]CP<Q2@?2T<@>LQBW=<2R<2=B2C?TZ?@<@P<2ITBkI@BQIB2ZLQBF2;RICI?@B=T<@P<2
><2L>B2=B2@?PBCID@2BWQ<UIBRB2><k@2=B2CLB=2=?>2>LW[@RIC<>2Q<Z<PIR?>2><2Q<yI<Q<@2B2>LTBP?QIB>J2?TIPI<@R?2
<=2BC?>PLTWQBR?2>[TW?=?2>IkTB2^`F

9.1 Transformaciones de Lorentz

/?@>IR<Q<T?>2 L@2 <>ZBCI?2 R<2 3I@~?g>~I2 ?2 CLBRQI<>ZBCI?J2 R?@R<2 =B2 Z?>ICID@2 UI<@<2 RBRB2 Z?Q2 =B2
PSPQBRBF

( x1 , x2 , x3 , ict )

^mFO`

4W>SQU<><2 iL<2 ><2 PQBPB2 R<2 L@2 <>ZBCI?2 R<2 eO2 RIT<@>I?@<>J2 1?2 <>2 C?QQ<CP?2 R<CIQ2 iL<2 <>2 L@2 <>ZBCI?2
R<2 _2 RIT<@>I?@<>J2 Z?QiL<2 =B2 RIT<@>ID@2 P<TZ?QB=2 <>2 ITBkI@BQIB2 ZLQBJ2 TI<@PQB>2 iL<2 =B>2 ?PQB>2 PQ<>2
RIT<@>I?@<>2>?@2Q<B=<>2^<>ZBCI?2.LC=[R<?`F
+<yI@IT?>2=B2@?QTB2R<2

C?T?\

= ( x12 + x 22 + x32 c 2 t 2 )

^mFM`
:B2 @?QTBJ2 Z?Q2 ><Q2 <>CB=BQJ2 ><2 ZQ<><QUB2 B@P<2 <=2 CBTWI?2 R<2 C??QR<@BRB>2 R<=2 >I>P<TB2 ZQITBR?2 B=2 @?2
ZQITBR?2V2UIC<U<Q>BF

22222222222222222222222222222222222222222222222222222222222222222222222222 =
:B2TSPQICB2R<=2<>ZBCI?2R<23I@~?g>~I2<>2<@P?@C<>\
2

222222222222222222222222222222222222222222

ds 2 = d d = d d = dx12 + dx 22 + dx32 c 2 dt 2

^mFe`

22 2222222222222222222222222222222^mF_`

/?@>IR<Q<T?>J2 >I@2 ZSQRIRB2 R<2 k<@<QB=IRBR2 iL<2 BTW?>2 >I>P<TB>2

I@<QCIB=<>2 ^AIkLQB2 mFO`2 ><2 TL<U<2 <@PQ<2 >I2 C?@2 L@B2 U<=?CIRBR2 Q<=BPIUB2
vJ2ZBQB=<=B2B=2<t<2x1J2TB@P<@I<@R?2ZBQB=<=?>2=?>2<t<>2x22V2x3F2+<yI@BT?>2
BR<T]>2 <=2 ZBQ]T<PQ?2 BRIT<@>I?@B=2 R<2 U<=?CIRBR2 Q<=BPIUB2 <@PQ<2

8v c

F2
>I>P<TB>2C?T?2
/?@>IR<Q<T?>2 <@P?@C<>2 <=2 Z=B@?2 C?TZ=<t?J2 R?@R<2 <=2 PQIp<>ZBCI?2

"

<LC=[R<?2 ><2 R<@?PB2 C?T? X ^<t<2 R<2 =B>2 ?QR<@BRB>`2 V2 =B2 C??QR<@BRB22
x4=ict222R<><TZ<qB2<=2ZBZ<=2R<2=B>2BWCI>B>F

Figura 9.1:25I>P<TB2R<2Q<l<Q<@CIB2
I@<QCIB=<>242V24x2<@2T?UITI<@P?2
Q<=BPIU?2C?@2U<=?CIRBR2U2<@PQ<2<==?>

7?R<T?>2Z<@>BQ2iL<2<=2CBTWI?2R<2L@2>I>P<TB2I@<QCIB=242B2?PQ?2>I>P<TB2
I@<QCIB=24x2C?T?2L@B2Q?PBCID@2<@2RICh?2Z=B@?2C?TZ=<t?2^yIkLQB2mFM`2ZBQB2
?WP<@<Q2=B>2Q<=BCI?@<>2R<2=B>2PQB>l?QTBRB>2R<2C??QR<@BRB>F
/B=CL=BT?>\

tan( i ) =

300

vt i iv
= = i
ict i c

^mFc`

NELSON FALCN V.

8PI=IKB@R?2UBQIBW=<2C?TZ=<tB2>BW<T?>2iL<\2

tanh(' ) 8 tan(' i ) 8 & v c

Figura 9.2: -?PBCID@2Z?Q2<=2]@kL=?2

C?TZ=<t?2I2<@2<=2<>ZBCI?2R<23I@~?g>~I

/?T?22

cosh 2 ' senh 2'

1
;
8
2
2
cosh ' cosh ' cosh 2 '

1 ; tanh 2 ' 8

1
cosh 2 '

^mFa`

2<@P?@C<>.
^mFn`

<@P?@C<>2>L>PIPLIT?>2^mFa`2<@2=B2<dZQ<>ID@2B@P<QI?Q2V2R<>Z<tBT?>2cosh .:
2
2222222222222222222222222222222222222222222222222222222222222222222222222222222

><2PI<@<

cosh 2 ' 8

2?2<=2factor de Lorentz:

1
1; 2

222222222222222222222222222222222222222222222222222222222222222222222222222222222222

1
1; 2

&o

cot gh 2' ; 1 8

C?T?\222222222222222222222222222222222222222222222222222222222222222

>L>PIPLV<@R?2^mFa`2<@2=B2<CLBCID@2V2R<>Z<tB@R?2

^mFo`

senh 2'

^mFm`

1
senh 2'

^mFON`

?WP<@<T?>\

1
cot gh 2 1

=
senh =
1 2
senh 2 =

^mFOO`
^mFOM`

:B2Q?PBCID@2<@2<=2Z=B@?2C?TZ=<t?2C?@==<UB2B2iL<2P?R?2CLBRQIU<CP?Q2><2PQB@>l?QTB2R<2BCL<QR?2C?@2=B2
Q<=BCID@\

22222222222222222222222222222222222222222222222222222222222222222222222 = =

x 8 x3

R?@R<2 } Q<ZQ<><@PB2=B2TBPQIK2R<2Q?PBCID@2R<=2>I>P<TBJ2BR<T]>2><2PI<@<2iL<2 x2 8 x2 2V2 3

11

0
=
0

41

0 0 14 cos(i )

1 0 0
0
=

0 1 0
0

0 0 44 sen(i )

0 0 sen(i )

1 0
0
0 1
0

0 0 cos(i )

^mFOe`

2 2222222222222222222222222222^mFO_`
301

MECNICA CLSICA

/?T?2><2=?>2UB=?Q<>2R<2=?>2C?<yICI<@P<>2

mij

R<2=B2TBPQIK2><2PI<@<@2=B>2>IkLI<@P<>2Q<=BCI?@<>

11 = cos(i ) = cosh =
44 = cos(i ) = cosh =

41 = sen(i ) = isenh = i

14 = sen(i ) = isenh = i

r
As A = ( A, ict ) se transforma como: A = A
.>2lBCI=2U<QIyICBQ2iL<2=B2TBPQIK2R<2=B>2wQB@>l?QTBCI?@<>2R<2:?Q<@PK2<>2PB=2iL<\
22222222222222222222222222222222222222222222222222222222222222222222

1 = t

A = 1 A

22

^mFOc`

2222222222222^mFOa`

2222222222222^mFOn`

5L>PIPLV<@R?2=?>2C?<yICI<@P<>2<@2=B2TBPQIK2?WP<@<T?>2=B>2transformaciones de Lorentz:

x1

x 2 0
x = 0
3
x i
4

0
1
0
0

0 i x1

0 0 x 2
1 0 x3

0 x 4
22

.@2l?QTB2R<2C?TZ?@<@P<2><2?WPI<@<2=B>2<CLBCI?@<>2Q<>L=PB@P<>\2

x1 = ( x1 + ix 4 )

222222222222222222222222222222222222222222222222222222222222222

x1 =

v2
c2

^mFOo`

x2 8 x 2 22

x2 = x 2 x3 = x3

x 4 = ( x 4 ix1 ) t =
222222222222222222222222222222222222222222222222222222222222222

x1 vt

v
x1
c2
v2
1 2
c 2

2222222222222^mFOm`

x 8 ict

+?@R<2><2hB2<dZQ<>BR?2=B>2PQB@>l?QTBCI?@<>2>L>PIPLV<@R?2=B>2R<yI@ICI?@<>2 2J2 2V2 4

F2
4W>SQU<><2iL<2>I2O2UB=<2R<CIQ2>I2=B>2U<=?CIRBR<>2>?@2Z<iL<qB>2C?TZBQBRB>2C?@2=B2U<=?CIRBR2R<2=B2=LK2
?WP<@<T?>2tL>PBT<@P<2=B>2PQB@>l?QTBCI?@<>2R<2rB=I=<?2R<2=B2T<C]@ICB2@<gP?@IB@BJ2><k@2=B2CLB=2BTW?>2
?W><QUBR?Q<>2C?TZBQP<@2<=2TI>T?2PI<TZ?2^<@2^mFOm`2t = t `2V2=B>2C??QR<@BRB>2R<2R<>Z=BKBTI<@P?2<@2
^mFOo`2Q<>L=PB@2x=x+vtF2.Qk?2=B>2PQB@>l?QTBCI?@<>2R<2:?Q<@PK2C?@PI<@<@2C?T?2CB>?2ZBQPICL=BQ2^ZBQB2WBtB>2
U<=?CIRBR<>2C?TZBQBRB>2C?@2=B2:LK`2B2=B>2PQB@>l?QTBCI?@<>2R<2rB=I=<?2V2Z?Q2<dP<@>ID@2=B2CI@<T]PICB2
302

NELSON FALCN V.

-<=BPIUI>PB2C?@PI<@<2B2=B2CI@<T]PICB2@<gP?@IB@B2C?T?2CB>?2ZBQPICL=BQ2R<2WBtB>2U<=?CIRBR<>F
5<2>BW<2iL<2

J2<@2ZBQPICL=BQ2=B2TSPQICBJ
2

222222222222222222222222222222222222222222222222222222222222

.>2l]CI=2U<Q2iL<2
I@UBQIB@P<F
/?T?2R>M2

2222222222222^mFMN`

J2C?@2=?2CLB=2=B2TSPQICB2Z?Q2><Q2L@2<>CB=BQJ2Q<>L=PB2:?Q<@PK2

2<>2L@2:?Q<@PK2I@UBQIB@P<J2>I2<>2TL=PIZ=ICBR?2Z?Q2i2V2RIUIRIR?2<@PQ<2c2iL<2>?@2C?@>PB@P<>J2
2><kLIQ]2>I<@R?2:?Q<@PKpI@UBQIB@P<F

<@P?@C<>2RIChB2CB@PIRBR2
;>[
222222222222222222222222222

<>2L@2:?Q<@PK2b2I@UBQIB@P<F2.=2>IkLI<@P<2<t<TZ=?2>IQU<2ZBQB2BC=BQBQ2>L2>Ik@IyICBR?2y[>IC?F2

222222222222^mFMO`

/?@>IR<Q<T?>2L@2>I>P<TB2R?@R<2L@B2ZBQP[CL=B2<>PS2<@2Q<Z?>?2T?T<@P]@<BT<@P<F
:L<k?2
ZL<R<2@?PBQ2iL<2d

J2C?@2=?2CLB=2
3=dt; B>[2Z?R<T?>2C?@C=LIQ2iL<\
222

J2R<2=?2iL<2><2
2

222222222222^mFMM`

22 2

2222222222222^mFMe`

Tiempo propio <>2<=2I@P<QUB=?2R<2PI<TZ?2T<RIR?2C?@2L@2Q<=?t2C?TDUI=2C?@2=B2ZBQP[CL=BF

.@2?PQ?2>I>P<TB2RIkBT?>2
2
222222222222222222222222222222222222222222222222222222222

w?TB@R?2CLBRQBR?>2V2TL=PIZ=ICB@R?2V2RIUIRI<@R?2P?R?2Z?Q2
2222222
222222222222222222222222222222222222222222222222222222222

dt 2
dt
d" 8 2 ] d" 8
2
2

2V2RI>PQIWLV<@R?2><2?WPI<@<\

2222222222222^mFM_`

L<2U<QIyICB2iL<2<@2<l<CP?2<=2PI<TZ?2ZQ?ZI?2d32<>2L@2I@UBQIB@P<2:?Q<@PK

2222222222222^mFMc`

303

MECNICA CLSICA

/?T?2

2<>2I@UBQIB@P<2:?Q<@PK2><2PI<@<\2

2222222222222222222222222222222222222222222222222222222222222222222222
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

22

2222222222222^mFMa`

2222222222222222222222222222^mFMn`

Dilatacin temporal: 7BQB2L@2?W><QUBR?Q2<@2T?UITI<@P?2Q<=BPIU?2B=2Q<=?tJ2=?>2I@P<QUB=?>2R<2PI<TZ?2><2

B=BQkB@F
+I=BPBCI?@2P<TZ?QB=2<@2=?>2QBV?>2CD>TIC?>F

.>PIT<2=B2UIRB2T<RIB2R<2L@2T<>D@2?2UIBtB@R?2B2v=NJmoc2iL<2<>2R<P<CPBR?2<@2=B2>LZ<QyICI<2R<2=B2PI<QQB2
=L<k?2R<2BPQBU<>BQ2ONKm R<2BPTD>l<QBF
Solucin\

:B2RI>PB@CIB2Q<C?QQIRB2Z?Q2<=2T<>D@2UI<@<2RBRB2Z?Q2=B2<dZQ<>ID@\2
VUPxJ2?><B2PxVU
7?Q2PB@P?2C?@2=?>2RBP?>2BZ?QPBR?>2Z?Q2<=2<@L@CIBR?2P2><Q]

t 8 10 km / c \ 0,000034 s

;h?QB2WI<@J2hBCI<@R?2L>?2R<2=B2RI=BPBCID@2P<TZ?QB=2><2?WPI<@<22
22PxNJNNNOn2>F2+?@R<2NFOmomm2V22<>2<=2PI<TZ?2ZQ?ZI?2?2<=2
PI<TZ?2R<2UIRB2T<RIB2R<=2T<>D@F
Figura 9.3: /?TZQ?WBCID@2<dZ<QIT<@PB=2R<2=B2
RI=BPBCID@2P<TZ?QB=2R<2T<>?@<>
<@2=B2BPT?>l<QB

4W>SQU<><2iL<2=B2R<P<CCID@2B2@IU<=2R<2>LZ<QyICI<2>?=?2><2<dZ=ICB2
>LZ?@I<@R?2 iL<2 <=2 PI<TZ?2 R<2 UL<=?2 ><2 B=BQkB2 y[>ICBT<@P<J2
ZL<>2 >L2 UIRB2 T<RIB2 <>2 T<@?Q2 iL<2 <=2 PI<TZ?2 R<2 PQB@>IP?2 <@2 =B2
BPTD>l<QBF
Ejemplo 9.2:2/?@PQBCCID@2R<2=?@kIPLR2R<2:?Q<@PKpAIPKk<QB=R

/L]=2<>2=B2=?@kIPLR2R<=2>I>P<TB24x2iL<2><2TL<U<2C?@2L@B2U<=?CIRBR2

Solucin\

Figura 9.42/?@PQBCCID@2R<2=?@kIPLRJ2T<RIRB>2
>ITL=PB@<B>2<@2<=2Q<l<Q<@CIB=24

304

5L>PIPLV<@R?2=B>2Q<=BCI?@<>2R<2=B2RI>PB@CIB2d2?WP<@IRB>2B2ZBQPIQ2
R<2=B2TBPQIK2R<2PQB@>l?QTBCID@2R<2:?Q<@PK2I@U<Q>B2?2PQB>ZL<>PBJ2
><2?WPI<@<

NELSON FALCN V.

+<2=?2iL<2iL<RB2iL<\

2222222222222222222222222222222222222222222222222222222222222222222

l 0 8 o ux1b ; x1a v & o l

22222222222222222222222222222222222222222222222222222222222222222^mFMo`

.@2<>P<2<t<TZ=?2><2<UIR<@CIB2=B2C?@PQBCCID@2R<2=B2=?@kIPLRJ2==BTBRB2PBTWI<@2C?@PQBCCID@2R<2:?Q<@PKp
AIPKk<QB=R2iL<2UI<@<2RBR?2Z?Q2=B2<dZQ<>ID@\
2 2

2222222222222222222222222222222222222222222222222222222222222222222222222

2222222222222^mFMm`

.>2@?PBW=<2BR<T]>2iL<2=B>2T<RIRB>2>?@2>ITL=P]@<B>2<@242^
`2Z<Q?2<@24x2^
`2Z?Q2=?2CLB=2
R<W<@2L>BQ><2=B>2PQB@>l?QTBCI?@<>2I@U<Q>B>J2>I2><2R<><B2hBC<Q2<=2TI>T?2ZQ?W=<TB2R<2l?QTB2I@U<Q>BF
Ejemplo 9.3: -<k=B2R<2BRICCI?@2R<2U<=?CIRBR<>
/?@>IRSQ<><2>I>P<TB>24J24x2V24xx2PB=<>2iL<2<=2>I>P<TB24xx2><2TL<U<2Q<>Z<CP?2B24x2C?@2U<=?CIRBR2Q<=BPIUB2
UM2V2<>P<2B2>L2U<K2Q<>Z<CP?2B=2>I>P<TB242C?@2U<=?CIRBR2UOF2.@CL<@PQ<2L@B2Q<k=B2k<@<QB=2R<2BRICID@2R<2
U<=?CIRBR<>2<@PQ<242V24xxF

Figura 9.5: 5I>P<TB>2T=PIZ=<>2<@2T?UITI<@P?2Q<=BPIU?J2BRICCID@2R<2U<=?CIRBR<>2<@2Q<=BPIUIRBR2<>Z<CIB=F

Solucin:
/?@>IR<Q<T?>2=B>2TBPQIC<>2R<2:?Q<@PK2R<2PQB@>l?QTBCID@2<@PQ<2=?>2>I>P<TB>\

22222222222222222222

:L<k?2

2222222222222222222222222222

/?TZBQB@R?2C?@2=B2TBPQIK2R<2:?Q<@PK2^mFOn`2><2ZL<R<2U<Q2iL<\

222222222222222222222222^mFeN`

2 2

2222222222222^mFeO`

305

MECNICA CLSICA

2222222222222222222222222222222222222222222222222222222222222222222222222222222

+<2=B>2<CLBCI?@<>2B@P<QI?Q<>2><2?WPI<@<\

22222222222222222222222222222222222222222222222222222222222222222222222222222222

v8

222222222222222222222222222222222222222222222222222222222222222222222222222

1 g 2
1 g 1 2

v1 g v 2
1 g v1v 2 / c 2

2
2

222

2222222222222^mFeM`

2222222222222^mFee`

2222222222222^mFe_`

Regla de adiccion de velocidades . 4WUIBT<@P<2>I2BTWB>2U<=?CIRBR<>2>?@2TLCh?2T<@?Q<>2iL<2CJ2><2

>IkL<2iL<2v 8 v1+v2J2iL<2<>2=B2-<k=B2R<2BRICCID@2R<2U<=?CIRBR<>2<@2=B2BZQ?dITBCID@2R<2rB=I=<?2?2T<CB@ICB2
@?2Q<=BPIUI>PBF
5I2<@2=B2<CLBCID@2R<2BRICID@2R<2U<=?CIRBR<>2><2>L>PIPLV<2

v8

22222222222222222222222222222222222222222222222222222222222222222222222222

2V2

2c
cgc
8
8c
2
2
1 g c .c / c

2<@P?@C<>\

2222222222222^mFec`

22 2

2222222222222^mFea`

2222222222222^mFen`

:?2iL<2R<TL<>PQB2=B2C?@>I>P<@CIB2C?@2<=2Z?>PL=BR?2R<=2=[TIP<2>LZ<QI?Q2R<2U<=?CIRBR<>J2ZBQB2=B2U<=?CIRBR2
R<2=B2=LK2<@2<=2UBC[?F
9.2 Relacin Momentum-Energa
.=2CLBRIU<CP?Q2

2><2R<@?TI@B2cuadrivelocidad:

22222222222222222222222222222222222222222222222222222222222222

4W>SQU<><2 iL<2 =B2 R<QIUBRB2 ><2 hB2 P?TBR?2 Q<>Z<CP?2 B=2 PI<TZ?2 ZQ?ZI?2 V2 @?2 Q<>Z<CP?2 B=2 PI<TZ?2 PJ2 iL<2
R<Z<@R<2R<=2Q<l<Q<@CIB=2<@2CLV?2CB>?2=B2U<=?CIRBR2@?2><Q[B2L@B2TBk@IPLR2WI<@2R<yI@IRBF
222222222222222222222222222222222222222222222222222222222222222222222222222222222222

"
vn 8 o uv , ic v

222 2

;@]=?kBT<@P<J2>I2R<@?PBT?>2C?@2TN2=B2TB>B2<@2<=2>I>P<TB2C?T?UI=2C?@2=B2ZBQP[CL=BJ2R<@?TI@BR?2masa en
reposoJ2Z?R<T?>2C?@>PQLIQ2L@2@L<U?2CLBRQIU<CP?Q2C?@2=B2U<=?CIRBRJ2R<@?TI@BR?2cuadrimomentum.
2222222222222222222222222222222222222222222222222222222
306

22222222222222222222222222222222222222222222222^mFeo`

NELSON FALCN V.

Z?Q2?PQ?2=BR?2<>CQIWI<@R?2<@2CLBRQIU<CP?Q2<@2P<QTI@?>2R<=2PQIU<CP?Q2T?T<@PLT2P<@<T?>\

r
r
p = ( p, p ) = (mv , p )

4
4
22222222 2
22222222222222222222222222222222222222222222222222222222222222222222222222222
+?@R<2=B2C?TZ?@<@P<2ITBkI@BQIB2R<=2CLBRQIT?T<@PLT2><2R<yI@<2C?T?\

2222222222222222222222222222^mFem`

2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

iE
c 22

2222222222222^mF_N`

r
r
m
v
=

m
v
0
222222222222222222222222222222222222222222222222222222222222222222222222222222222222
2

222222222222^mF_O`2

2222222222222^mF_M`

p4

,kLB=B@R?2=B>2C?TZ?@<@P<>2R<2=?>2PQIU<CP?Q<>2R<2^mFeo`2V2^mFem`2P<@<T?>\
L<2PQIUIB=T<@P<2Z<QTIP<2R<yI@IQ2=B2masa relativista\

m 8 o m0 8

22222222222222222222222222222222222222222222222222222222222222222222222222

m0
1; v2 c2

.>2l]CI=2C?TZQ<@R<Q2iL<2<>PB2Q<=BCID@2ZQ<RIC<2<=2I@CQ<T<@P?2R<2=B2TB>B2C?@l?QT<2=?>2?Wt<P?>2><2TL<UB@2
B2U<=?CIRBR<>2ZQDdITB>2B2=B2U<=?CIRBR2R<2=B2=LK2<@2<=2UBC[?F2wBTWIS@2<>2?WUIB2=B2ByIQTBCID@2><k@2=B2CLB=2
L@2?Wt<P?2TBP<QIB=2@?2ZL<R<2B=CB@KBQ2=B2U<=?CIRBR2c2V2TB@P<@<Q2L@B2TB>B2yI@IPBF24WUIBT<@P<2@?2hBV2
C?@PQBRICCID@2C?@2=?>2l?P?@<>J2iL<2UIBtB@2B2=B2U<=?CIRBR2c2Z<Q?2>L2TB>B2<@2Q<Z?>?2<>2@L=B2Z?Q2=?2CLB=2=B2
Q<=BCID@2^mF_M`2@?2=<>2<>2BZ=ICBW=<2^ 0 / y `F

,kLB=B@R?2=B2CLBQPB2C?TZ?@<@P<2R<=2CLBRQIT?T<@PLTJ2^mFem`2C?@2=B2CLBQPB2C?TZ?@<@P<2R<=2CLBRQIU<CP?Q2
^mF_N`2P<@<T?>\
222222222222222222222222222222222222222222222222222222222222222222222222

p4 =

iE
= icm0 = icm
c
2 2

+?@R<2h<T?>2>L>PIPLIR?2=B2TB>B2Q<=BPIUI>PB2^mF_O`2<@2=B2=PITB2IkLB=RBRF
2
+<2R?@R<2><2Q<?WPI<@<2=B2relacin masa-energa\
2
222222222222222222222222222222222222222222222222222222222222222222222222222222222222222 E = mc 2 2

2222222222222^mF_e`2

2222222222222^mF__`

w?TB@R?2<=2TDRL=?2R<=2CLBRQIT?T<@PLT2^mFeo`2Q<C?QRB@R?2=B2R<yI@ICID@2^mF_N`2P<@<T?>\
2
E
r E r E r
P P = P, i P, i = P 2 2
c
c
c 222 2

22222222222222222222222222222222222222222222222222222222222

7<Q?2PBTWIS@2R<2^mFeo`2V2R<=2TDRL=?2R<2^mFen`2<>2l]CI=2U<QIyICBQ2iL<\
22222222222222222

2222222222222222222222222222^mF_c`

r
2
2
2
2
p p = m0 v v = m0 2 (v 2 c 2 ) = m0 c 2 2 (1 v 2 c 2 ) = m0 c 2

2222222222222^mF_a`
307

MECNICA CLSICA

,kLB=B@R?2^mF_c`2V2^mF_a`2?WP<@<T?>2=B2relacin masa relativista

2222222222222222222222222222222222222222222222222222222222222222222222222222

r
2
E 2 = p 2 c 2 + mo c 4 22

2222222222222^mF_n`

22

2222222222222^mF_o`

222222222222^mF_m`

22

2222222222222222222222222222^mFcN`

:B>2 @?QTB>2 ?2 TDRL=?>2 R<2 ^mF_c`2 V2 ^mF_a`2 >?@2 :?Q<@PK2 I@UBQIB@P<>J2 =L<k?2 <=2 <>CB=BQ2 ^mF_n`2 hB2 R<2 ><Q2
PBTWIS@2L@2I@UBQIB@P<2R<2:?Q<@PKF
9.32Cuadrifuerza
5BW<T?>J2R<2=B2><kL@RB2=<V2R<21<gP?@2iL<\

r
r dP
F
dt
r
r
dv
F =m
dt 22
222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

/?T?2><2hIK?2<@2<=2CB>?2R<2=B2CLBRQIU<=?CIRBRJ2ZBQB2iL<2=B2R<QIUBCID@2><B2L@IU?CBJ2<>2R<CIQ2><B2IkLB=2
ZBQB2P?R?>2=?>2?W><QUBR?Q<>J2R<W<2P?TBQ><2Q<>Z<CP?2B=2PI<TZ?2ZQ?ZI?F27?Q2=?2PB@P?2=B2cuadrifuerza:2

Fn 8

222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
.@2C?TZ?@<@P<>\

dPn
d

r i dE
F = F ,

c
dt

222222222222222222222222222222222222222222222222222222222222222222222222222

;h?QB2WI<@2=B2Z?P<@CIB2?2<@<Qk[B2Z?Q2L@IRBR2R<2PI<TZ?2><2R<yI@<2<@2k<@<QB=2 F v 8

" i " "

Fn 8 o [ F , F u ]
c

dE
dt

2F2;>[\2

22 2
2
2222222222222222222222222222^mFcO`2
2222222222222222222222222222222222222222222222222222222222222222222222222222
Ejemplo 9.42wQB@>l?QTBCID@2R<2=B2CLBRQIlL<QKBF
5<2BZ=ICB2L@B2lL<QKB2A2<@2L@2>I>P<TB24J2<@CLS@PQ<><2=B>2Q<k=B>2R<2PQB@>l?QTBCID@2R<2=B2CLBRQIlL<QKB2<@2
<=2>I>P<TB24x2iL<2><2TL<U<2Q<>Z<CP?2B242C?@2U<=?CIRBR2C?@>PB@P<2vJ2C?T?2<@2=B2yIkLQB2mFO2^USB><`
Solucin:
.TZ=<B@R?2PQIUIB=T<@P<2 } F

222222222222222222222222222222222222222222222222222222222222222222222
308

F = F 0
F1

F2 0
F = 0
3
F i
4

0 0 i F1

1 0 0 F2
0 1 0 F3

0 0 F4 2

2222222222222^mFcM`

NELSON FALCN V.

F1 = F1 + i F4 F1 = F1
F2 = F2
F3 = F3
2222222222222222222222222222222

F4 = i F1 +

F u
c

r r
r r
i r r
F u F u = c F1 + F u
c
22

2222222222222^mFce`2

2222222222222^mFc_`

22

2222222222222222222222222222^mFcc`

Cuadrivector de la aceleracin: 7BQB2?WP<@<Q2<=2CLBRQIU<CP?Q2R<2=B2BC<=<QBCID@2R<yI@IT?>J2B@]=?kBT<@P<2

B2=B2T<C]@ICB2@?2Q<=BPIUI>PBJ2Z<Q?2L>B@R?2=B2R<QIUBCID@2Q<>Z<CP?2B=2PI<TZ?2ZQ?ZI?\
222222222222222222222222222222222222222222222222222222222222222222222222222222222222222

r
dv

d 2

r
r
dt
Como v = (v , ic ) y d =

r
r
2
(dv , d (ic ))
dv d (ic )
, a = ,
a =

dt
dt dt
2222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222222

"
an 8 o 2 ua ,0 v] an 8 o 2 ua x , a y , a z ,0 v

22

2222222222222^mFca`

2222222222222^mFcn`

Ejemplo 9.5: +<>BQQ?==B@R?2=B2<CLBCID@2R<=2T?UITI<@P?2^mF_o`J2R<TLS>PQ<><2iL<2=B2lL<QKB2<>2ZBQB=<=B2

B2=B2BC<=<QBCID@2>?=?2CLB@R?2=B2U<=?CIRBR2<>2ZBQB=<=B2?2Z<QZ<@RICL=BQ2B2=B2BC<=<QBCID@J2V2?WPS@kB><2<2
I@P<QZQSP<><2L@B2Q<=BCID@2ZBQB2=?>2C?<yICI<@P<>2R<2=B2BC<=<QBCID@2<@2<>P?>2R?>2CB>?>F
Solucin:

r i r r
F = F , F u
c
2
5<2PI<@<2iL<2<=2U<CP?Q2R<2=B2lL<QKB2<>22

7BQB2U<Q2>L2PQB@>l?QTBCID@2<@2<=2>I>P<TB2TDUI=2><2PI<@<2iL<J22222

a1

a 2 0
a = 0
3
a i
2222222222222222222222222222222222222222222222222222222222222222 4
:B>2BC<=<QBCI?@<>2>?@2=B>2>IkLI<@P<>\

a x =

2222222222222222

ax

1 v

c 2

a y =

a = a

0 0 i a1

1 0 0 a
0 1 0 a3

0 0 a 4
222 2
ay

v
c2

a z =

2222222222222222222222222222^mFco`2

2222222222222222222222222222^mFcm`22

az
v2
1+ 2
c

222222222222222^mFaN`
309

MECNICA CLSICA

:B>2C?TZ?@<@P<>2R<2=B>2CLBRQIlL<QKB>2>?@2PB=<>2iL<\
2
2

Fy = Fy

Fx = Fx
Fx = ma x

Fy = m 2 a y

Fx = m 3 a x
Fx = m 4 a x =

Fz = Fz
Fz = ma z

Fy = ma y

ma x

Fy = m 3 a y =

(1 )

Fz = m 2 a z

ma y

Fz = m 3 a z =

(1 )

3/ 2

ma z

(1 )3 / 2

2222222222^mFaO`
2
5<2ZL<R<2?W><QUBQ2iL<2<@2CBRB2L@B2R<2=B>2RIQ<CCI?@<>2R<2=B2lL<QKB2><2PI<@<2iL<2=B2BC<=<QBCID@2PBTWIS@2<>P]2
RIQIkIRB2<@2<>B2RIQ<CCID@J2Z?Q2=?2CLB=2=B2BC<=<QBCID@2<>2ZBQB=<=B2B2=B2lL<QKB2<@2>L>2Q<>Z<CPIUB>2RIQ<CCI?@<>2
PQB@>U<Q>B=2V2=?@kIPLRI@B=F2:?>2C?<yICI<@P<>2R<2=B2BC<=<QBCID@2<@2<>P?>2CB>?>2>?@2=?>2>IkLI<@P<>F

a' x =

ax

(1 v c )
2

2222222222222222222222222222222
22
Ejemplo 9.6: /?h<P<2Q<=BPIUI>PB

a' y =

ay
2

1 v c

a' z =

az
1 v2 c2

22222222222222222222222222222222222^mFaM`

+<TLS>PQ<><2iL<2>I2@?2hBV2lL<QKB>2<dP<Q@B>2>?WQ<2L@2C?h<P<2R<2TB>B2I@ICIB=2m02iL<2UBQ[B2>L2TB>B2Z?Q2
<dZL=>ID@2R<2=?>2kB><>2C?@2U<=?CIRBR2C?@>PB@P<2a2BRiLI<Q<2L@2lBCP?Q2R<2U<=?CIRBR2RBR?2Z?Q\
2a

22222222222222222222222222222222222222222222222222222222222222222222222
Solucin\
,@ICIB=T<@P<\2

222222222222222222222222222

m c

1
m0

=
2a
m c

1 +
m0

pcohetei = (mv , mci )

2 2

2222222222222^mFae`

2222222222222^mFa_`

:L<k?2R<2L@2PI<TZ?2dt2=B2TB>B2hB2CBTWIBR?2<@2dm2V2=B2U<=?CIRBR2<@2dvJ2=L<k?2=B2UBQIBCID@2<@2p2<>2R<WIRB2
B2BTW?>2<l<CP?>J2B>[\

pcohetei

2222222222222222222222222222222

pcambio + pcambio en la

(m' v

masa

velocidad

, im' c) g + (m + m )[v + d (v ), ic + d (ic )]

VB2iL<2Z?Q2C?@><QUBCID@2R<=2CLBRQIT?T<@P?2P<@<T?>2iL<2
2

310

222222222222222222222222222222222222222

pi 8 p f

2><2PI<@<\

mv = (m + m )[v + d (v )] mv g g

22

2222222222222^mFac`

2222222222222^mFaa`

NELSON FALCN V.

+?@R<2><2hB2L>BR?2iL<2=B2UBQIBCID@2R<2TB>B2R<=2C?h<P<2<>2@<kBPIUB\2 Km' 8 ; Km
2
222222222222222222222222222222222222222222222222222222

mic = (m + m )[ic + d (ic )] icm g

:L<k?2R<=2]=k<WQB2C?QQ<>Z?@RI<@P<\

22

2222222222222222222222222222^mFan`

md (v ) = vdm + v g g dm
md (v ) = vdm + v g [md + dm]
g dm = md + dm

v
md (v ) = vdm + v g m 2 dv + v g dm
c
222222222222222222222^mFao`
22222222222222222222222222

v 8 0,0,;v g
/?T? v 8 u0,0, u v2V2 g
2><2PI<@<\

mv 2
m
c du v v dm
du
udm
=

g
g
2
1
1 2
22222222222222222222222222222222222222222222
2
v

2222222222222222222222222222^mFam`

:B2U<=?CIRBR2R<2=?>2kB><>2 g 2Q<=BPIUB2B=2?W><QUBR?Q2yIt?2><2<dZQ<>B2<@2PSQTI@?>2R<2=B2U<=?CIRBR2 a 2
<@2Q<=BCID@2B=2C?h<P<2T<RIB@P<2=B>2PQB@>l?QTBCI?@<>2R<2:?Q<@PKJ2=L<k?\
222222222222222222222222222222222222222

v ' = g ( v g ,0,0, ic )

v = a ( a,0,0, ic )

a c
c
v g =
c a 2
2222222222222222222222222222222222222222222222222222222222222222222222222

2222222222222^mFnO`

du
dv a c
a c
= 1 2 u m
1 2 c
dm
dm c a
c a
du
m
+ a 1 2 = 0
dm
2 2
222222222222222222222222222222222222222222

2222222222222^mFnM`

2222222222222222222222222222^mFnN`
2

AI@B=T<@P<\

2 2

5<ZBQB@R?2=B>2UBQIBW=<>2<2I@P<kQB@R?2?WP<@<T?>\

2222222222222222222222222222222222222222222222222222222222222222222222222222222222

2a

m c

1
m0

=
2a
m c

1 +
m0

2222222222222^mFne`
311

MECNICA CLSICA

9.4 Formulacin lagrangiana y hamiltoniana de la Mecnica relativista

5<2UI?2<@2=B2ZBQP<2B@P<QI?Q2iL<2

2Z<Q?2

J2=L<k?

22222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222

L 8 -m 1 ; v 2 / c 2 c ; U (q1 ...q n )

22

2222222222222^mFn_`2

2222222222222^mFnc`

2222222222222^mFna`

2222222222222^mFnn`

2222222222222^mFno`

2222222222222^mFnm`

5I@2ZSQRIRB2R<2k<@<QB=IRBR2><2ZL<R<2<>CQIWIQ2<=2lagrangiano relativista2C?T?\
2

22222222222222222222222222222222222222222222

;@]=?kBT<@P<2=B>2<CLBCI?@<>2R<2T?UITI<@P?\

22222222222222222222222222222222

5<2 >IkL<2 <@P?@C<>2 =B>2 ecuaciones de Euler-Lagrange relativistas, BRUISQPB><2 >L2 >ITI=IPLR2 C?@2 =B>2
<CLBCI?@<>2R<2.L=<Qp:BkQB@k<2V2=B2I@C?QZ?QBCID@2R<=2ABCP?Q2R<2:?Q<@PK\
222222222222222222222222222222222222222222222222222222222222222222

.=2hBTI=P?@IB@?2ZL<R<2><Q2?WP<@IR?2T<RIB@P<2=B2R<yI@ICI?@2L>LB=\

22

2222222222222222222222222222222222222222222

H = q i pi L = vi mi vi + mi 1 v 2 / c 2 + U i

;kQLZB@R?2PSQTI@?>2<@2=?>2R?>2ZQIT<Q?>2>LTB@R?>J2<>2lBCI=2U<Q2iL<\
222222222222222222222222222222222222222222222222222222222222222222222222222222222

H = mi c 2 + U i 2

2222222222222222222222222222222222222222222222222222222222222222222222222
312

2222222222222222222222222222^mFoN`

2222222222222^mFoO`

22

2222222222222^mFoM`

+<2l?QTB2k<@<QB=2><2ZL<R<2<>CQIWIQ2<=2hamiltoniano relativista:

H = mi c 2 + U i = E

222

NELSON FALCN V.

+?@R<2<=2ZQIT<Q2P<QTI@?2R<=2><kL@R?2TI<TWQ?2<>2=B2energa cintica relativistaF2

:B2R<RLCID@2ZQ<C<R<@P<2ZL<R<2k<@<QB=IKBQ><2B2PQBU<>2R<=2ZQI@CIZI?2R<2jBTI=P?@2V2<=2<TZ=<?2<dhBL>PIU?2
R<2=B2l?QTL=BCID@2C?UBQIB@P<F2;>[\
22222222222222222222222222222222222222222222222222222222222222222

222222222222222222222222222222222222222222222222222222222222222222222222

L<2Z?>IWI=IPB2hBC<Q2=B2B@B=?k[B2Q<=BPIUI>PB2>I2><2Z?>PL=B\
22222222222222222222222222222222222222222222222222222222222222222222222222
Ejemplo 9.7:24WPS@kB><2

J2

2V2

B2ZBQPIQ2R<2

2222222222222^mFoe`

2222222222222^mFo_`

2 2

2222222222222^mFoc`

2222222222222222222222222222^mFoa`

Solucion:
+<2l?QTB2I@T<RIBPB2B2ZBQPIQ2R<2=B>2R<yI@ICI?@<>2P<@<T?>\
2222222222222222222222222222222222222222222222222222222222222222222222222222222

22

2222222222222^mFon`

2222222222222^mFoo`

2222222222222^mFom`

222222222222222222222222222222222222222
2222222222222222222222222222222222222222222222222222222222222222222
62ZBQB2L@B2ZBQP[CL=B2=IWQ<
2

2R<2L@B2ZBQP[CL=B2=IWQ<2

22222222222222222222222222222222222222222222222222222222222222222222222222222222

Ejemplo 9.82w<?Q<TB2R<=2EIQIB=2Q<=BPIUI>PB

22

r<@<QB=[C<><2<=2P<?Q<TB2R<=2EIQIB=2ZBQB2<=2CB>?2Q<=BPIUI>PBF
Solucin\

7BQB2hB==BQ2<=2P<?Q<TB2R<=2EIQIB=2R<2/=B>IL>2Q<=BPIUI>PBJ2ZBQPIT?>2R<2=B2CB@PIRBR2UIQIB=2R<2/=B>IL>\
222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222

2222222222222222222222222222^mFmN`
2

2222222222222^mFmO`
313

MECNICA CLSICA

22222222

dG " " DB
mc 2
8 F r g ;
1; 2
2
B
dt
1;
C

222222222222222222222222222222222222222

"

v?? g T 8 F r" g L

2 2222222222222^mFmM`

gT
2

+?@R<2h<T?>2R<@?TI@BR?2:N2B=2=BkQB@kIB@?2Q<=BPIUI>PB2<@2BL><@CIB2R<2lL<QKB>2<dP<Q@B>F
jBCI<@R?2<=2ZQ?T<RI?2>?WQ<2L@2Z<QI?R?2C?TZ=<P?\
2

222222222222222222222222222222222222222222222222

V2>LZ?@I<@R?2iL<2r^`r^N`2P<@<T?>2P<?Q<TB2R<=2EIQIB=2-<=BPIUI>PB\
2

2222222222222222222222222222222222222222222222222222222

" "
; F r 8 Lo g T

2222222222222^mFme`

2222222222222222222222222222^mFm_`

2222222222222222222222222222^mFmc`

2 >I2 ><2 >L>PIPLV<2

2 P<@<T?>2 iL<2 <=2 =BkQB@kIB@?2
1DP<><2 iL<2
Q<=BPIUI>PB2<@2BL><@CIB2R<2lL<QKB>2<dP<Q@B>2<>2L@B2T<RIRB2R<2=B2<@<QkIB2<@2Q<Z?>?\
22222222222222222222222222222222222222222222222222222222222222222

L0 8 ;

;>[2<=2P<?Q<TB2R<=2UIQIB=2BRiLI<Q<2=B2l?QTB\2
222222222222222222222222222222222222222222222222222222222222222222222222

mo c 2

1;

1 ; 2 8 ; mo c 2

2222222222222^mFma`

2222222222222^mFmn`

iL<2 <>2 W]>ICBT<@P<2 =B2 l?QTB2 @?2 Q<=BPIUI>PB2 Z<Q?2 B2 =B2 iL<2 ><2 =<2 BRICI?@B2 =B2 <@<QkIB2 <@2 Q<Z?>?2 R<2 =B>2
ZBQP[CL=B>F
Ejemplo 9.9: 7BQP[CL=B2Q<=BPIUI>PB2<@2L@2CBTZ?2TBk@<P?>P]PIC?F

+<TLS>PQ<><2iL<2L@B2ZBQP[CL=B2-<=BPIUI>PB2<@2L@2CBTZ?2TBk@SPIC?2L@Il?QT<2><2R<>Z=BK2R<>CQIWI@R?2L@2
BQC?2CLV?2QBRI?2R<2CLQUBPLQB2<>2ZQ?Z?QCI?@B=2B=2T?T<@PLT2=I@<B=F
Solucin:

.=2=BkQB@kIB@?2Q<=BPIUI>PB2222222222222 2222222

R?@R<2<=2Z?P<@CIB=2<=<CPQ?TBk@SPIC?2<>\2
2222222222222222222222222222222222222222222222222222222222222222222222222222222
314

2222222222222222222222222222^mFmo`2

^mFmm`2

NELSON FALCN V.

EIT?>2iL<2dT/dt= F.V2^U<B><2><CI?@2mFe`
PI<@<\

2C?@2=?2CLB=2ZBQB292C?@>PB@P<2Q<>Z<CP?2B=2PI<TZ?2><2

r r
d
dT
v .FLorentz =
mc 2 =
dt
dt 22 2
2222222222222222222222222222222222222222222222222222222222222222

/?T?2=B2<@<QkIB2CI@PICB2<>2C?@>PB@P<2Q<>L=PB2v=constante:
222222222222222222222222222222222222222222222

08

d
o mc 2
dt

] o mc 2 8 ctte ] v 8 ctte

2222222222222222222222222^mFONN`2

2222222222^mFONO`

/B=CL=B@R?2=B2<CLBCID@2R<2T?UITI<@P?2><2PI<@<J2R<2=B2<CLBCID@2R<2.L=<Q2b2:BkQB@k<\
2

222222222222222222222222222222222222222222222222222222222
222222222222222222222222222222222222222222

"
q
mv du dt
v u r B 8
c
1 ; , 2 dt ds

"
q
m
du
mv
vu B sin(uB) 8
v
8
2
c
ds
1; ,
1; , 2

222222222222222222222222222222222222222222222222222222222222222222222222222222

:L<k?2<=2QBRI?2R<2CLQUBPLQB2Q<>L=PB2ZQ?Z?QCI?@B=2B=2T?T<@PLT\
222222222222222222222222222222222222222222222222222222222222222222222222222

2R?@R<2R>22=?@kIPLR2R<2=B2CLQUB2

+?@R<2ds2<>2=B2=?@kIPLR2R<2=B2CLQUB2CLV?2QBRI?2R<2CLQUBPLQB24:
2222
2222222222222222222222222222222222222222222

"
Pc
(8
&&
qB sin u B

u v

D1A
BB ??
C!@

2222222222^mFONM`
2222222222^mFONe`

2 2

2222222222^mFON_`

2222222222^mFONc`

2222222222^mFONa`

Ejemplo 9.10: 7QIT<QB2C?QQ<CCID@2Q<=BPIUI>PB2B=2T?UITI<@P?2Z=B@<PBQI?F

j]==<><2=B2<CLBCI?@2R<2=B2PQBV<CP?QIB2R<2L@B2ZBQPICL=B2<@2L@2CBTZ?2R<2lL<QKB>2C<@PQB=<>2<@2=B2BZQ?dITBCID@2
Q<=BPIUI>PBF
Solucion:
3?UITI<@P?2Q<=BPIUI>PB2<@2L@2CBTZ?2R<2lL<QKB>2C<@PQB=<>F2:B>2<CLBCI?@<>2R<2T?UITI<@P?2>?@\

315

MECNICA CLSICA

22222222222222222222222222222222222222222222222222222222222222222
2222222222222222222222222222222222222222222222222222222222222222
/?T?2

" dp# d D
mv
8 BB
F8
dt dt C 1 ; v 2 / c 2

" " dT d D
mc 2
F v 8
8 BB
dt dt C 1 ; v 2 / c 2

2C?@2

2222222222222222222222222222222222222222222222222222222

A
?
?
@

A
?
?
@

2 2

2222222222^mFONn`

22222222222222222222222222^mFONo`

2><2?WPI<@<2R<2^mFONn`\

" " " dD

"= A d D "
"= A
r r F 8 r r Bo m r ? 8 B r r m r ?o
dt C
@
@ dt C
08

222222222222222222222222222222222222222222222222222222222222222222222222

] l&
22222222222222222222222222222222222222222222222222222222222222222

"= A
d D"
B r r m r ?o
dt C
@
"
"=
r r mr
1; 2

2222222222^mFONm`

2222222222^mFOON`

2 2

2222222222^mFOOO`

222222222222222222 2

2222222222^mFOOM`

8 constante

L<2 <dZQ<>B2 =B2 C?@><QUBCI?@2 R<=2 T?T<@P?2 B@kL=BQ2 V2 iL<2 <=2 T?UITI<@P?2 ><2 <l<CPLB2 <@2 L@2 Z=B@?F+<2
^mFONo`2><2PI<@<\
2
22222222222222222222222222222222222222222222

222222222222222222222222222222222222

+<2=?2B@P<QI?Q2<>2C=BQ?2iL<\

mr 2 ' o 8 l ; m c 2 o ;

22222222222222222222222222222222222222222222222222222222222
62=B2U<=?CIRBR2><2<>CQIW<2<@2C??QR<@BRB>2Z?=BQ<>2C?T?\
=2

2222222222222222222222222222222222222222222222222222222222222222222222222
;>[\

mr2

d'
8l
dt

2222222222^mFOOe`

2222222222^mFOO_`

22

2222222222^mFOOc`

2222222222^mFOOa`

v2 r g r 2 ' 2
2 8 2 8
c
c2

2222222222222222222222222222222222222222222222222222222222222222222222222222222222
316

k
8E
r

NELSON FALCN V.

m c2
22222222222222222222222222222222222222222222222222222222222222222222222222222222
2
=2

o ;2

222222222222

r g r2 ' 2
8 1; 2 8 1;
c2

dt k
; 8E
d r

2
2
2
1 D dr A
D dt A
D d' A
] B ? 8 1 g 2 B ? g r 2 B
?
c C d @
C d @
C d @

2222222222^mFOOn`

2 2222222222^mFOOo`

-<<TZ=BKB@R?2^mFOOo`2<@2^mFOOn`2=L<k?2R<=2]=k<WQB2V2R<=2<TZ=<?2R<2^mFOOc`2B2PQBUS>2R<2=B2TL=PIZ=ICBCID@2
Z?Q2^RR`M

2><2?WPI<@<\

222222222222222222222222222222222222222222222222222222222
-<<TZ=BKB@R?2

222222222222222222222222222222222222222222

2
2
m2r 4
r4 D
kA
1 D dr A
2
8 2 4 BE g ? ; 2 B
? gr
2
r@
l
l c C
c C d' @

22222222222222222222222222^mFOOm`2

2><2==<kB2B\

2 22222222222222222222222222^mFOMN`

317

MECNICA CLSICA

)*/# 3(*5'9+(!# ) 9 4 )* $*"* -% "# '%"#/(0(-#- 0(0(7 %()$/%()

.@2 <=2 ;@@L>2 3IQBWI=I>2 R<2 OmNcJ2 iL<2 I@ICID2 L@B2 Q<U?=LCID@2 <@2 <=2 Z<@>BTI<@P?2
CI<@P[yIC?2Z?>PT?R<Q@?J2;=W<QP2.I@>P<I@2ZLW=ICDJ2BR<T]>2R<2>L2P<>I>2R?CP?QB=J2V2?PQ?>2
CLBPQ?2PQBWBt?>2R<2>I@kL=BQ2ITZ?QPB@CIB2ZBQB2<=2BUB@C<2R<2=B2A[>ICBF2/?@PQIWLCI?@<>2
iL<2=<2UB=I<Q?@2<=27Q<TI?21DW<=2<@2OmMO2Z?Q2>L>2C?@PQIWLCI?@<>2B2=B2A[>ICB2w<DQICB2
V2 B2 =B2 C?TZQ<@>ID@2 R<=2 .l<CP?2 A?P?<=SCPQIC?F.=2 C?T@2 R<2 =B>2 Z<Q>?@B>2 CQ<<2 iL<2
=B2C?@PQIWLCID@2T]>2ITZ?QPB@P<2R<2.I@>P<I@2<>2=B2P<?Q[B2R<2=B2Q<=BPIUIRBR2V2iL<2=B2
T]>2R<2=B>2U<C<>2><2=<2B>?CI<2CB>I2<dC=L>IUBT<@P<2B2=B>2C?@><CL<@CIB>2R<2>?=?2L@?2
R<2 >L>2 ZQIT<Q?>2 PQBWBt?>2 ^><kL@R?2 R<2 =?>2 CLBPQ?2 BZBQ<CIR?J2 BR<T]>2 R<2 >L2 P<>I>2
R?CP?QB=J2RLQB@P<2<=2Bq?2TI=BkQ?>?`\2Sobre la Electrodinmica de los Cuerpos en
MovimientoJ2 ZLW=ICBR?2 <@2 BWQI=2 R<2 OmNc2 V2 <@2 R?@R<2 ><2 ZQ<><@PB2 <=2 l?QTB=I>T?2
R<2 =B2 Teora de la RelatividadF2 :B>2 C?@PQIWLCI?@<>2 R<2 .I@>P<I@2 B=2 R<>BQQ?==?2 R<2 =B2
CI<@CIBJ2lL<Q?@2PB=<>2V2PB@2l<CL@RB>2iL<2RIy[CI=T<@P<2h?VJ2ZL<RB2<@C?@PQBQ><2L@2]Q<B2
R<2=B2y[>ICB2R?@R<2@?2hLWI<QB2Q<B=IKBR?2B=kL@B2BZ?QPBCID@2ITZ?QPB@P<F21?2<>2CI<QP?2
iL<2=B>2R<@?TI@BRB>2P<?Q[B2R<2=B2Q<=BPIUIRBR2><B@2>L>2@ICB>2BZ?QPBCI?@<>J2ZL<>2
hLW?2?PQB>2@?2T<@?>2ITZ?QPB@P<>2<@2OmNc2V2<@2=?>2Bq?>2>IkLI<@P<>J2>?WQ<2P<TB>2
iL<2Z?C?2?2@BRB2P<@[B@2iL<2U<Q2C?@2=B2Q<=BPIUIRBRF2wBTZ?C?2<>2CI<QP?2iL<2<@2RICh?2
PQBWBt?2 Sobre la Electrodinmica de los Cuerpos en Movimiento ><2 <>PBW=<CI<QB2
=B2 lBT?>B2 <CLBCID@2 .TCM2 @I2 iL<2 <dC=L>IUBT<@P<2 Z?Q2 <==B2 =<2 ?P?QkB><2 <=2 7Q<TI?2
1DW<=F2.@2<=2U?=LT<@2On2R<2;@@B=<>2R<Q27hV>IC~J2R<2OmNcJ2><2I@C=LVD2PBTWIS@2>L2
P<QC<QB2C?@PQIWLCID@2PIPL=BRB2Depende la Inercia de un Cuerpo de la Energa que lo
contiene?2R?@R<2BZBQ<C<2Z?Q2U<K2ZQIT<QB2=B2CIPBRB2Q<=BCID@F
2 .=2 ZQIT<Q?2 R<2 =?>2 PQBWBt?>2 ZLW=ICBR?>2 <@2 OmNc2 lL<2 Sobre un punto de vista
heurstico referente a la emisin y transformacin de la luzF2.@2S=2><2C?@CIW<2=B2=LK2
C?T?2L@B2>LC<>ID@2R<2l?P?@<>2<@2C?@C?QRB@CIB2C?@2=B>2IR<B>2R<27=B@C~J2=?>2CLB=<>2
>IkL<@2L@2C?TZ?QPBTI<@P?2<>PBR[>PIC?2I@l<QIR?2R<2=B2P<?Q[B2CI@SPICB2T?=<CL=BQ2R<2
9?=PKTB@@F2/?@2<>PB2I@P<QZQ<PBCID@2@?2l?QTB=2^h<LQ[>PICB`2R<2=B2=LKJ2><2Z?@[B2
yI@2B2=B2hI>PDQICB2C?@PQ?U<Q>IB2>?WQ<2=B2@BPLQB=<KB2R<2=B2:LKF2;R<T]>2R<2<dZ=ICBQ2B2
kLI>B2R<2<t<TZ=?>J2PQ<>2l<@DT<@?>2BRICI?@B=<>2<@PQ<2<==?>2=?>2R<PB==<>2R<=2<l<CP?2
l?P?<=SCPQIC?J2=B2l?P?I?@IKBCID@2R<2kB><>2Z?Q2L=PQBUI?=<PB2V2=B>2Q<k=B>2<TZ[QICB>2R<2
5P?~<>2>?WQ<2=LTI@I>C<@CIBF
2 1I@kL@B2 R<2 <>B>2 C?@PQIWLCI?@<>2 l?QTD2 ZBQP<2 R<2 >L2 P<>I>2 R?CP?QB=2 <@2 A[>ICBJ2
=<[RB2 <@2 tL=I?OmNcF2 8@B2 ZQIT<QB2 U<Q>ID@2 R<2 =B2 Q<=BPIUIRBR2 lL<2 Q<ChBKBRB2 C?T?2
Z?>IW=<2P<>I>2Z?Q2C?@>IR<QBQ><2TLV2<>Z<CL=BPIUBF25L2P<>I>2R?CP?QB=\2Una nueva
determinacin de las dimensiones molecularesJ2Q<yI<Q<2=B2Q<=BCI?@2R<2=B2UI>C?>IRBR2
R<2 L@2 y=LIR?2 C?@2 <=2 PBTBq?2 R<2 =B>2 ZBQP[CL=B>2 iL<2 ><2 RI>L<=U<@2 <@2 S=F2 5L2 P<>I>2
BTZ=IBRB2 lL<2 Z?>P<QI?QT<@P<2 ZLW=ICBRB2 WBt?2 <=2 PIPL=?2 R<2 Sobre el movimiento
que viene impuesto por la Teora Cintica del Calor en partculas en suspensin en
lquidos en reposoF2.>P<2CLBQP?2PQBWBt?2R<2OmNc2><@PD2=?>2CITI<@P?>2R<2=B2P<?Q[B2
R<2RIlL>ID@2R<2ZBQP[CL=B>2^/?<yICI<@P<>2R<2PQB@>Z?QP<2R<2.I@>P<I@`J2V2<dZ=ICBQ2<=2
T?UITI<@P?29Q?g@IB@?F2/?T?2><2hB2Q<=BPBR?J2Z?Q2<>P?>2PQBWBt?>2V2<@2ZBQPICL=BQ2
Z?Q2>L2BZ?QP<2ZBQB2=B2C?TZQ<@>ID@2R<=2.l<CP?2A?P?<=SCPQIC?2=<22UB=I<Q?@2B2.I@>P<I@2
<=27Q<TI?21DW<=2R<2A[>ICB2<@2OmMOF

Dos cosas parecen in-initas: el Universo

y la estupidez humana de la primera no estoy convencido

318

.I@>P<I@

/%.# #0#)1#-* (?: *&'&)"H2&#2&*"&#"$2&2&*'*"$

1. Introduccin

.=2Z<QIh<=I?2R<23<QCLQI?2hB2>IR?2L@2ZQ?W=<TB2ZBQB2=?>2B>PQD@?T?>2R<>R<2PI<TZ?>2TLV2B@PIkL?>J2R<WIR?2
B2iL<2>L2Z<QIh<=I?2ZQ<C<>B2?2Q?PB2Q<>Z<CP?2B=2C<@PQ?2R<2>L2DQWIPB2L@?>2cn_2><kL@R?>2R<2BQC?2Z?Q2>Ik=?J2
TBk@IPLR2iL<2@?2PLU?2<dZ=ICBCID@2hB>PB2=B2==<kBRB2R<2=B2Q<=BPIUIRBR2k<@<QB=2R<2.I@>P<I@F2:B2DQWIPB2R<2
3<QCLQI?2<QB2TLV2C?@?CIRB2Z?Q2=?>2B@PIkL?>2B>PQD@?T?>2V2R<WIR?2B2=B2I@y=L<@CIB2R<2=?>2R<T]>2Z=B@<PB>2
R<=2 >I>P<TB2 >?=BQ2 <QB2 R<2 <>Z<QBQ><2 iL<2 RIChB2 DQWIPB2 PLUI<QB2 L@B2 ZQ<C<>ID@J2 >I@2 <TWBQk?J2 CLB@R?2 ><2
CB=CL=D2<>B2I@y=L<@CIB2<@23<QCLQI?2><2?WPLU?2L@2UB=?Q2R<2ceO2><kL@R?>2R<2BQC?2Z?Q2>Ik=?J2<=2CLB=2<QB2TLV2
RIl<Q<@P<2B=2<>Z<QBR?F2.>P?2ZQ?RLt?2L@B2C?@T?CID@2<@2=B2C?TL@IRBR2CI<@P[yICB2RLQB@P<2>Ik=?>2V2<QB2B=k?2
iL<2Z?@[B2<@2P<=B2R<2tLICI?2=B2UB=IR<K2R<2=B2T<C]@ICB2@<gP?@IB@BF2:<2E<QQI<QJ2iLI<@2hBW[B2R<>CLWI<QP?2B=2
Z=B@<PB28QB@?2Z?Q2T<RI?2R<2=B2kQBUIPBCID@2R<21<gP?@J2@?2><2<dZ=ICBWB2=B2?QWIPB2R<23<QCLQI?J2B>[2iL<J2
hBCI<@R?2L>?2R<2=B2TI>TB2R<RLCCID@J2ZQ?ZL>?2=B2<dI>P<@CIB2R<2L@2Z=B@<PB2I@P<QT<QCLQIB=2iL<2CBL>BWB2
RIChB2ZQ<C<>ID@J2?2iLIK]>2L@2B@I==?2R<2B>P<Q?IR<>2p2=?2iL<2<dZ=ICBQ[B2Z?QiLS2@?2><2hBW[B2?W><QUBR?F2jB>PB2
>L2TL<QP<J2:<2E<QQI<Q2CQ<[B2lL<QP<T<@P<2<@2=B2<dI>P<@CIB2R<2>L2Z=B@<PB2lB@PB>TB2==BTBR?2EL=CB@?F
1?2lL<2>I@?2B2ZQI@CIZI?>2R<=2>Ik=?2J2CLB@R?2.I@>P<I@2l?QTL=D2>L2P<?Q[B2R<2=B2Q<=BPIUIRBR2k<@<QB=J2CLB@R?2
><2<dZ=ICD2<=2T?UITI<@P?2B@DTB=?2R<=2ZQIT<Q2Z=B@<PBF2:?>2B>PQD@?T?>2hBW[B@2?W><QUBR?2I@P<@>BT<@P<2
<@2=B>2Z?>ICI?@<>2ZQ<RIChB>2V2@?2><2hB==D2@I@k@2Z=B@<PB2<@PQ<2=B2DQWIPB2R<23<QCLQI?2V2<=25?=F2wBTZ?C?2
<dI>P[B@2 B>P<Q?IR<>F2 .@P?@C<>J2 iLS2 <>PBWB2 TB=2 4WUIBT<@P<2 =B2 lB==B2 <>PBWB2 <@2 =B2 P<?Q[BF2 ;2 Z<>BQ2 R<2
iL<2 .I@>P<I@2 @?2 ><2 ZQ?ZL>?2 <dZ=ICBQ2 =B2 ZQ<C<>ID@2 R<=2 Z<QIh<=I?2 R<2 3<QCLQI?2 B=2 hBC<Q2 =B2 l?QTL=BCID@2
R<2=B2Q<=BPIUIRBR2k<@<QB=J2S>PB2=<2UI@?2TLV2WI<@2B=2ZQ?W=<TB2V2lL<2L@?2R<2=?>2ZQIT<Q?>2PQIL@l?>2R<2>L2
@?U<R?>B2ZQ?Z?>ICID@F

2. Tratamiento clsico de la rbita de Mercurio.

.=2T?UITI<@P?2R<=2Z=B@<PB23<QCLQI?2B=Q<R<R?Q2R<=25?=2><2ZL<R<2<dZ=ICBQ2L>B@R?2=B2T<C]@ICB2R<2:BkQB@k<F2
.@2<>P<2PQBPBTI<@P?2><2LPI=IKB@2C??QR<@BRB>2Z?=BQ<>2Z=B@B>J2R<WIR?2B2iL<2<=2T?UITI<@P?2?CLQQ<2>?=?2<@2
L@2Z=B@?F.=2=BkQB@kIB@?2C?T?2lL@CID@2R<2=B2TB>B2Q<RLCIRB2
222222222222222222222222222222222222222222222222222222222222222222222

L=

=?2Z?R<T?>2<dZQ<>BQ2C?T?\

2
r& + r 2& 2 U (r )
2
2 2

62=B>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<2ZBQB2=B>2C??QR<@BRB>2k<@<QB=IKBRB>2 r 2V2

d L L d
r 2& = 0
=
&
dt
2222222222222222222222222222222222222222222222222222222222222222 dt
22

U
d L L
=0
= 0 &r& r& 2 +

r
2222222222222222222222222222222222222222222222222222 dt r& r
22
+<2^,FM`2P<@<T?>2=B2C?@><QUBCID@2R<=2T?T<@P?2B@kL=BQ\

319

'

22222222222222^,FO`

22222222222222222222222222222^,FM`
2

22222222222222^,Fe`

MECNICA CLSICA

&

222222222222222222222222222222222222222222222222222222222222222222222222222222222222222 r = l 22 2
5L>PIPLV<@R?2^,FM`2<@2^,F_`J2R<>ZLS>2R<2TL=PIZ=ICBQ2Z?Q2 r! \

&r&r&

222222222222222222222222222222222222222222222222222222222222222222222222

222222222222222222222222222222222222222222222222222222222222^,F_`

l2
U
r& +
r& = 0
3
r
r
22

.>PB2<dZQ<>ID@2=B2Z?R<T?>2Q<>CQIWIQ2C?T?2>IkL<2^U<Q2C=B><2_2ZBQB2R<PB==<>`\

d r& 2
l2
l2
r& 2
0
U
=

+
+ U = E = Const.
+
+

2
dt 2
2 r 2
2 r 2

2
222222222222222222222222222222222222

+<>Z<tB@R?2 r! 2V2<>CQIWI<@R?2<@2@?PBCID@2R<2R<QIUBRB\

2
2
(E U ) l2 2

r 2

dr d
=
d

dt
22222222222222222222222222222222222222222222222222222222222222222222

5L>PIPLV<@R?2<=2UB=?Q2ZBQB2

d' dt 8 l nr 2

22222222222222^,Fa`

22222222222222^,Fn`

dr
r2
l2
2 E 2U

2 2

r 22 2

22222222222222^,Fo`

22222222222222^,Fm`

2<2I@P<kQB@R?J2C?T?2><2hIK?2<@2=B2C=B><2_2^USB><`\
r

22222222222222^,Fc`

l
d = r
0
0
2222222222222222222222222222222222222222222222222222222222222222222

7BQB2CB=CL=BQ2=B2ZQ<C<>ID@2R<=2Z<QIh<=I?2R<23<QCLQI?2R<2l?QTB2C=]>ICB2><2ZQ?Z?@<2L@2CBTZ?2R<2lL<QKB2
R<2=B2l?QTB\
2222222222222222222222222222222222222222222222222222222222222222222222222222222222

f =

k C
+
r2 r3 2

k
C
+ 2
r 2r 2

222222222222222222222222222^,FON`

+?@R<2k V C >?@2C?@>PB@P<>J2=B2ZQIT<QB2Q<=BCI?@BRB2C?@2=B2lL<QKB2R<2kQBU<RBR2<@PQ<2<=25?=2V23<QCLQI?2V2=B2
><kL@RB2C?@2=B2lL<QKB2kQBUIPBP?QIB2<t<QCIRB2Z?Q2=?>2R<T]>2Z=B@<PB>2R<=2>I>P<TB2>?=BQ2>?WQ<23<QCLQI?F
27?R<T?>2CB=CL=BQ2<=2Z?P<@CIB=2B2ZBQPIQ2R<2=B2lL<QKB2=L<k?\
222222222222222222222222222222222222222222222222222222222222222222222222222222222
jBC<T?>2 <=2 CBTWI?2 R<2 UBQIBW=<2
Z?R<T?>2<dZQ<>BQ2C?T?2\
320

x8

U =

dr
1
dx 8 ; 2
r
r 2 <@P?@C<>J2

J2 C?@2 <>P?>2 CBTWI?>2 <=2 Z?P<@CIB=2 =?2

NELSON FALCN V.

1
U = kx + cx 2
2
2222222222222222222222222222222222222222222222222222222222222222222222222222222
2
+<2<>PB2TB@<QB2^,Fo`2=B2Z?R<T?>2<>CQIWIQ2C?T?2>IkL<\

0 =

dx

2E 2
1
l x
+ kx + Cx 2 2
2

22222222222^,FOO`

dx

2 E 2kx Cx 2 l 2 x 2
+

222222222222^,FOM`

L<2<>2l]CI=T<@P<2I@P<kQBW=<J2=L<k?2R<=2]=k<WQB2C?QQ<>Z?@RI<@P<J2C?T?\

0 =

2222222222222222222222222222222222222222222222222222

dx

C + l 2 2
2 E 2k
x
+

x
l2
l2
l2
2 2
l2
C + l 2

dx

0 =
2222222222222222222222222222222222222222

l2
C + l 2

2 E 2k
C + l 2 2
2 + 2 x
x
l2
l
l
2

;kQLZB@R?2PSQTI@?>2V2C?TZ=<PB@R?2CLBRQBR?>2@?>2iL<RB\

( 0 )

C + l 2
=
l2

k
2 E

2
2
C + l
C + l

2
k
x
C + l 2

k
2 E
b

2
2
C + l
C + l
2

;>[J2Z?R<T?>2<>CQIWIQ2=B2I@P<kQB=2C?T?\

( 0 ) =

jBCI<@R?2<=2CBTWI?2R<2UBQIBW=<22

22222222222^,FO_`

+<yI@IT?>2=?>2>IkLI<@P<>2ZBQ]T<PQ?>J2ZBQB2B>[2lBCI=IPBQ2=?>2C]=CL=?>\

222222222222222222222222222222222222222222222222222222222222

22222222222^,FOe`

dx

2222222222222222222

C + l 2

l2
22222222222222222222222

22222222222^,FOc`

k
a
C + l 2 222222222222222222222222222^,FOa`

dx
b (x a )
2

x;a
dx
] d 8
b
b

22

222222222222222222222222222^,FOn`

2=B2I@P<kQB=2@?>2iL<RB\
321

MECNICA CLSICA

2222222222222222222222222222222222222222222222222

( 0 ' ) = arccos cos[ ( 0 )]= =

5L>PIPLV<@R?2<@2=B2=PITB2<dZQ<>ID@2=B>2=?>2UB=?Q<>2ZBQB2B2V2W2@?>2iL<RB\

cos[ ( 0 )]=
22222222222222222222222222222222222222222222222222222

+<2<>PB2=PITB2<dZQ<>ID@2R<>Z<tBT?>2d\

xa
b 2

22222222222^,FOo`

k
C + l 2

k
2 E

2
2
C + l
C + l

2222222222222222222222222222222222222222222^,FOm`

C + l 2

2
k

C + l 2

2 E 1 cos
(
)

0
l2

2222222222222^,FMN`

C + l 2
=
2
k
2222222222222222222222222222222222222222222222222222222222222222222222222

2 E 1

2222222222222222222222222222222222222222222222222222222222222^,FMO`

x( ) =

222222222222222222222222222

k
k
+
2
C + l
C + l 2

+<yI@IT?>2=B2<dC<@PQICIRBR2C?T?\

+<2<>PB2l?QTB2=B2<CLBCID@2R<2=B2DQWIPB2=?>2iL<RB\

x( ) =

222222222222222222222222222222222222222222222222222

k
C + l 2

C
1 + cos 1 + 2 ( 0 )
l

22222222222222222222222222222222222222^,FMM`

+<U?=UI<@R?2<=2CBTWI?2R<2UBQIBW=<2ZBQB2QJ2=B2=PITB2<CLBCID@2iL<RB2R<2=B2l?QTB\
22222222222222222222222222222222222222222222222222222222222222222222222222222
R?@R<\

2222222222222222222222222222222

C + l 2
l2

r ( ) =

a 1 2
1 + cos 2

C + l 2
= 0 =
2
k

22222222222^,FMe`

k
2 E 1 a =
2 E 2222222222222^,FM_`

=B2<dZQ<>ID@2ZBQB2 r u' v2<>2L@B2<=IZ><2ZBQB2 + 8 1 J2Z<Q?2<>2L@B2<=IZ><2ZQ<C<>B@R?2>I2 + 1 F

+<2<>PB2TB@<QBJ2><2R<TL<>PQB2iL<2=B2DQWIPB2R<23<QCLQI?2<>2L@B2<=IZ><J2V2>L2ZQ<C<>ID@2?2@?2R<Z<@R<Q]2
R<2=?>2UB=?Q<>2R<2 |

7BQB2CB=CL=BQ2<=2UB=?Q2R<2=B2ZQ<C<>ID@\2ZQIT<Q?J2@<C<>IPBT?>2T?R<=BQ2=B2lL<QKB2@<gP?@IB@B2iL<2CBRB2
Z=B@<PB2<t<QC<2<@23<QCLQI?J2C?T?2L@B2WL<@B2BZQ?dITBCID@2Z?R<T?>2Q<<TZ=BKBQ2CBRB2Z=B@<PB2Z?Q2L@2
322

NELSON FALCN V.

B@I==?2R<2R<@>IRBR2R<2TB>B2=I@<B=2L@Il?QT<2RBR?2Z?Q2=B2>IkLI<@P<2<CLBCID@\
2222222222222222222222222222222222222222222222222222222222222222222222222222222222222

i =

Mi
2Ri 2 2

;iL[2 i 2<>2=B2R<@>IRBR2R<2TB>B2=I@<B=2B2=?2=BQk?2R<2=B2DQWIPB2R<=2iS>IT?2Z=B@<PBJ2
>L2QBRI?J2iL<2><2B>LT<2CIQCL=BQF2.>P?2ZQ?RLC<2L@B2lL<QKB2RBRB2Z?Q\

Mi

22222222222^,FMc`

2<>2>L2TB>BJ2V2

Ri

G ma
Fi = 2 i 2 u
Ri a 2
22222222222222222222222222222222222222222222222222222222222222222222222222222
2
2
2
22222222222^,FMa`
Fi
+?@R<2 <>2=B2lL<QKB2QBRIB=2<t<QCIRB2>?WQ<23<QCLQI?2Z?Q2<=2iS>IT?2Z=B@<PBJ2V2a2<>2=B2RI>PB@CIB2R<23<QCLQI?2

B=25?=F28@2C]=CL=?2@LTSQIC?2R<2<>PB2lL<QKB2RB2L@2UB=?Q2R<\
9
a
F (a ) = G m 2 i 2
i = 2 Ri a
222222222222222222222222222222222222222222

= 7,587 1015 N

2 2

222222222222222222222222222^,FMn`

<>P<2 UB=?Q2 @LTSQIC?2 <>2 ?WP<@IR?2 >L>PIPLV<@R?2 =B>2 TB>B>2 V2 QBRI?2 R<2 =B2 ?QWIPB2 R<2 P?R?>2 =?>2 Z=B@<PB>2
22
<dP<Q@?>F22:B2lL<QKB2rQBUIPBCI?@B=2<t<QCIRB2Z?Q2<=25?=2<@23<QCLQI?2<>22 Fo 8 ;1,318 r 10 N J2V2=B2

lL<QKB2P?PB=2<dZ<QIT<@PBRB2Z?Q23<QCLQI?2<>PB2RBRB2Z?Q2 ua v 8 Fo g F ua v
<>PB2<dZQ<>ID@2V2TL=PIZ=ICB@R?2Z?Q2B2\

() o ()
'
'
'
2222222222222222222222222222222222222222222222222222222222222222222222222222 a (a ) = aF o + aF (a )

2F2.@P?@C<>2RIl<Q<@CIB@R?2

22222222222222222222222222222222222222222222222222222222222^,FMo`

+Il<Q<@CIB@R?2=B2<dZQ<>ID@2ZBQB2=B2lL<QKB2<t<QCIRB2Z?Q2<=25?=J2?WP<@<T?>2iL<\
9

22222222222222222222222222222222222222222222222222222222222222222

F ' (a ) = Gm
i =2

i Ri2 + a 2
Ri2 a 2 2

22222222222^,FMm`

22222222222^,FeN`

2GM s
2
= Fo
3
a 2 2
a

222222222222222222222222222^,FeO`

F
62 o J2=B2TBk@IPLR2R<2=B2lL<QKB2<t<QCIRB2Z?Q2<=25?=2>?WQ<23<QCLQI?J2<>PB2RBRB2Z?Q2=B2=<V2R<2kQBUIPBCID@2
R<21<gP?@J

2222222222222222222222222222222222222222222222222222222222222222222222222222222222

+?@R<2

Fo =

GM s m
a2 2

M s 2<>2=B2TB>B2R<=25?=F2+Il<Q<@CIB@R?2<>PB2<dZQ<>ID@\

2222222222222222222222222222222222222222222222222222222222222222222222222222

F0' =

323

MECNICA CLSICA

5L>PIPLV<@R?2<>P?>2Q<>L=PBR?>2<@2^,FMe`2@?>2RB2=B2>IkLI<@P<2<CLBCID@2BZ>IRB=2ZBQB23<QCLQI?\

2 Fo + Gm a i = 2 i
9

3+
22222222222222222222222222222222222222222222222222222

Fo + F (a )

Ri2 + a 2

(R

2
i

a2

22222222222^,FeM`

22222222222^,Fee`

;Z=ICB@R?2B2<>PB2=PITB2<dZQ<>ID@2L@B2<dZB@>ID@2WI@?TIB=J2V2R<>ZQ<CIB@R?2=B>2Z?P<@CIB>2TBV?Q<>2B2=B2

F ua v
F
ZQIT<QB2Z?P<@CIB2R<2 o

Ri2 + a 2
9

Gma i = 2 i
2
F (a )
Ri2 a 2
= 1

Fo
2 Fo

2222222222222222222222222222222222222222222222222222222222222

2 2
T
222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
22

222222222222222222222222222222222222222222^,Fe_`

,@PQ?RLCI<@R?2=?>2UB=?Q<>2@LTSQIC?>2@?>2RB\2 8 ~ 1 g 9,884 r 10
R<=2Z<QIh<=I?2R<23<QCLQI?2Z?Q2Q<U?=LCID@J2<@P?@C<>2<>\

;7

vF2+<2<>PB2TB@<QB2=B2ZQ<><>ID@2

+?@R<2 T 2<>2<=2Z<QI?R?2R<2=B2DQWIPB2R<23<QCLQI?2onJmam2R[B>F2.dZQ<>B@R?2=B2ZQ<C<>ID@2<@2=B>2L@IRBR<>2

PQBRICI?@B=<>\2222222222222222222222222222222222

precesion =

531,07 segundos arco

222222222222222222222222222222222222222222222^,Fec`
siglo

:?>2 >IkLI<@P<>2 C]=CL=?>2 lL<Q?@2 Q<B=IKBR?>2 <@2 <=2 >?lPgBQ<2 TBP<T]PIC?2 3BZ=<2 U<Q>ID@2 ON\2 7<QI?R?2 R<2
3<QCLQI?2<@2R[B>2onFmamJ2]@kL=?2BW>IRB=2OJNNNNNNmooF
:B27Q<C<>ID@2ZMpMw2nJNca2ONpo2iL<2<@2><k2R<2BQC?2Z?Q2>Ik=?2<>2ceOFNnnmF

62U<T?>2iL<2<=2UB=?Q2?WP<@IR?2P<DQICBT<@P<2ZBQB2=B2ZQ<C<>ID@2R<=2Z<QIh<=I?2R<23<QCLQI?2<>2R<2ceOJNn
>Ik=?J2V2RIyI<Q<2R<=2UB=?Q2?W><QUBR?2<@2cn_>Ik=?2b2ceOJNn>Ik=?22_MJm>Ik=?F2.>PB2RIl<Q<@CIB2><Q]2
<dZ=ICBRB2<@2=?2>LC<>IU?2ZBQPI<@R?2R<2=B2P<?Q[B2R<2=B2Q<=BPIUIRBR2k<@<QB=F
3. Tratamiento relativista de la rbita de Mercurio

3<@CI?@BQ<T?>2 >LZ<QyICIB=T<@P<2 =B2 P<?Q[B2 V2 BQkLT<@P?>2 R<2 =B2 Q<=BPIUIRBR2 k<@<QB=2 B=2 BPBCBQ2 <>P<2
ZQ?W=<TBF2E<Q<T?>2iL<2=B>2<CLBCI?@<>2R<2.L=<Qp:BkQB@k<2ZL<R<@2><Q2BTZ=IBRB>2B2<>PB2@L<UB2P<?Q[BF2
5I@2TLChB>2<dZ=ICBCI?@<>J2ZBQPIQ<T?>2R<=2=BkQB@kIB@?2?WP<@IR?2C?@2Q<=BPIUIRBR2k<@<QB=2V2BZ=ICBQ<T?>2

=B>2 Z?R<Q?>B>2 h<QQBTI<@PB>2 R<2 =B2 T<C]@ICB2 =BkQB@kIB@BJ2 Q<R<yI@I<@R?2

PI<TZ?2ZQ?ZI?F
324

x! | 8

dx |
d 2 V2 >I<@R?2 2 <=2

NELSON FALCN V.

.@2=B2P<?Q[B2R<2=B2Q<=BPIUIRBR2k<@<QB=J2=B2<CLBCID@2R<2.I@>P<I@2

Rn 8 0

2@?>2ZQ?U<<2L@2C?@tL@P?2R<2

<CLBCI?@<>2@?p=I@<B=<>2<@2<=2P<@>?Q2TSPQIC?2 | V2>L>2ZQIT<QB>2V2><kL@RB>2R<QIUBRB>2<dZQ<>B@2=B>2
ZQ?ZI<RBR<>2k<?TSPQICB>2R<=2<>ZBCI?2CLQU?F2:B2>?=LCID@2R<2=B>2<CLBCI?@<>2R<2.I@>P<I@2iL<2C?QQ<>Z?@R<@2
B2=B2l?QTB2TSPQICB2<@2=B2U<CI@RBR2R<2L@B2CBQkB2kQBUIPBCI?@B=2I@R<Z<@RI<@P<2R<=2PI<TZ?2V2R<2>IT<PQ[B2
<>lSQICB2 C<@PQBRB2 <@2 r 8 0 2 C?T?2 <=2 5?=J2 ><2 ==BTB2 =B2 >?=LCID@2 R<2 5ChgBQK>ChI=R2 V2 <>P]2 RBRB2 Z?Q2 =B2
TSPQICB2R<25ChgBQK>ChI=RF

ds 2 = (1

2m 2
)dt
r

1
dr 2 r 2 (d 2 + sen 2d )
2m
1
r
2 2

222222222222222222222222222222222222
22222222222^,Fea`
+?@R<2m2<@2<>P<2CB>?2<>2=B2TB>B2R<=25?=2<@2L@IRBR<>2Q<=BPIUI>PB>F
5<2C?@>IR<QB2B23<QCLQI?2C?T?2L@B2TB>B2R<2ZQL<WB2T?UIS@R?><2B2=?2=BQk?2R<2L@B2k<?RS>ICB2P<TZ?QB=J2
<=2=BkQB@kIB@?2<@2<>P<2CB>?2<>2IkLB=2B2=B2<@<Qk[B2CI@SPICBF

2 m &2
1
m 2 m
2
2 &2
2
2 &2
)t
L = v = (1
r& r r sen ) 1
2m
2
2
r

2
r
2222222222222222222222222
0

22222222222^,Fen`

3
2
hBkBT?>2iL<2 x 8 t J2 x 8 r J2 x 8 ' 2V2 x 8 2 J2BZ=ICB@R?2=B>2<CLBCI?@<>2R<2.L=<Qp2:BkQB@k<\

L
d L

=0

d x&
x

4WP<@<T?>2ZBQB2<=2CB>?2 | 8 0

d
d
222222222222222222222222222222222222222222222222222222222222222222222222222
7BQB2 | 8 2

^,Feo`

2m &
1 r t = 0

222222222222222222222222222222222222222222222222222222222222222222^,Fem`2

d 2&
r r 2 sen cos & 2 = 0

d
222222222222222222222222222222222222222222222222222222222222
22222222222222222222222222222222222222222222222222222222222^,F_N`
d 2
r sen 2& = 0
d

222222222222222222222222222222222222222222222222222222222222222222222^,F_O`
22222222222222222222222222222222222222222222222222222222222222222222222222

( )

1?2Q<B=IKBT?>2<=2CB>?2 | 8 1 2Z?Q2><Q2T]>2C?TZ=ICBR?2V2Z?QiL<2@?2<>2@<C<>BQI?2R<WIR?2B2iL<2P<@<T?>2
L@2>I>P<TB2R<2_2<CLBCI?@<>2C?@2_2I@CDk@IPB>2B=2L>BQ2<>PB>2e2<CLBCI?@<>2V2<=2=BkQB@kIB@?F

!
/?@>IR<Q<T?>2 <=2 T?UITI<@P?2 <@2 <=2 Z=B@?2 <CLBP?QIB=2 V2 B>LTBT?>2 iL<2 M2 R<2 T?R?2 iL<2 ' 8 0

J2 R<2 ^,F_N`2 U<T?>2 iL<2 d

ur '!v8 0 ] r '! 8 constante J2 >I2 M2 <@P?@C<>2

2

2
5L>PIPLV<@R?2<>P?>2UB=?Q<>2<@2^,F_O`2U<T?>2iL<\2 r 2! 8 h

r 2'! 8 0 <@2 P?R?2 F2

325

MECNICA CLSICA

+?@R<2h2<>2L@B2C?@>PB@P<2iL<2Q<ZQ<><@PB2<=2T?T<@P?2B@kL=BQF25ITI=BQT<@P<2^,Fem`2@?>2ZQ?Z?QCI?@B\

2m &
1
t = k
r
2222222222222222222222222222222222222222222222222222222222222222222222222222222222
2

5I<@R?2k2L@B2C?@>PB@P<F25L>PIPLIT?>2<>PB2<CLBCID@2<@2<=2=BkQB@kIB@?2C?@2<=2UB=?Q2R<2

r& 2
k2

r 2& 2 = 1
2m
2m
1
1
r
r
22222222222222222222222222222222222222222222222222222222222222222
22
h
2
2! 8 2 8 hu
r
/?T?2
2C?@2<=2CBTWI?2R<2UBQIBW=<2LOQJ2?WP<@<T?>\

'8

22222222222^,F_M`

~
2 2

222222222222222222222222222^,F_e`

du
h
2
d
k
h 2u 2 = 1
1 2mu
22222222222222222222222222222222 1 2mu
2
2

+?@R<2><2hB2LPI=IKBR?\2

r& =

2222222222222222222222222222222222

1
dr
d 1
=
= 2
d d u
u

3L=PIZ=ICBT?>2^,F__`2Z?Q2

1 ; 2mu
h2

22222222222

du d
1
= 2
u
d d

du 2
du
hu = h
d 2
d

22222222222^,F_c`

1 2mu
k 2 du
u 2 (1 2mu ) =
2
h2 2
d
222222222222222222222222222222222222222222222222 h

-<?QkB@IKB@R?2?WP<@<T?>\

22222222222^,F__`2

222222222222222222222222222222222222222222^,F_a`

du
2m
k 2 1
+ u 2 = 2 u +
+ 2mu 3
2

d
h
h

22222222222222222222222222222222222222222222222222222222
2

22222222222^,F_n`

d 2u
m
+ u = 2 + 3mu 2
2
d
h
2222222222222222222222222222222222222222222222222222222222222222222222
2 2

22222222222^,F_o`

;h?QB2R<QIUBT?>2Q<>Z<CP?2B2 2 2V2RIUIRIT?>2<@PQ<2R?>2ZBQB2?WP<@<Q\

326

NELSON FALCN V.

.>PB2<CLBCID@2RIl<Q<@CIB=2<>2><T<tB@P<2B2=B2iL<2><2ZL<R<2<@C?@PQBQ2C?@2<=2T?UITI<@P?2@<gP?@IB@?J2
Z<Q?2C?@2L@2PSQTI@?2BRICI?@B=\2emuM22<=2CLB=J2B2=B2U<QRBRJ2<>2TLV2Z<iL<q?J2R<=2?QR<@2R<2ONpn2ZBQB2<=2CB>?2
R<23<QCLQI?F

7BQB2Q<>?=U<Q=?J2L>BQ<T?>2L@2TSP?R?2R<2Z<QPLQWBCI?@<>J2I@PQ?RLCIQ<T?>2L@2ZBQ]T<PQ?2

R<2Bh?QB2<@2BR<=B@P<2<dZQ<>BQ<T?>2=B2R<QIUBRB2R<2L2Q<>Z<CP?2B2 2 2C?T?2 u F

u + u =
222222222222222222222222222222222222222222

;>LTIQ<T?>2iL<2=B2>?=LCID@2<>2R<2=B2l?QTB2
ZBQB2I@C=LIQ=B2<@2^,F_m`2<@P?@C<>

u 0 + u 0
222222222222222222222222222222222222222222

h 2u 2
m

+
h2
m

22 2

2V2

222222222222222222222222222^,F_m`

+ O( 2 ) = 0

2 2

222222222222222222222222222^,FcN`

u 8 u 0 g u1 g O( 2 )

h 2u0
m

u
+
u

1
1
m
h2

3m 2
h2

V2hB==BT?>2>L2><kL@RB2R<QIUBRB2

.@2L@B2ZQIT<QB2BZQ?dITBCID@2hBC<T?>2P?R?>2=?>2C?<yICI<@P<>2R<2 J 2V2>LZ<QI?Q2B2C<Q?J2R<2T?R?2iL<2

u0 8

m
(1 g e cos 2 )
h2
F2;h?QBJ2L>BT?>2<>PB2>?=LCID@2V2=B2I@C=LIT?>2<@2<=2C?<yICI<@P<2R<2 . 2ZBQB2hB==BQ2

u1 J2U<T?>2iL<\

222222222222222222222222222222

u1 + u1 =

2222222222222222222222222222222222222222222222

h 2 u 02
m
m
2
= 2 (1 + e cos ) = 2 1 + 2e cos + e 2 cos 2
m
h
h
2

u1 + u1 =

m
h2

me 2
1 2 2me
1
cos

cos 2
e
+
+
+

2
2h 2
2 h
2

22222222222^,FcM`

22222222222^,Fce`

me 2
6h 2 22

22222222222^,Fc_`

/?@2<=2TSP?R?2R<2C?<yICI<@P<>2I@R<P<QTI@BR?>2ZQ?WBT?>2L@B2>?=LCID@2R<2=B2l?QTB\
222222222222222222222222222222222222222222222222222222222222222222222 u1 = A + Bsen + C cos 2 22

V2@?PBT?>2iL<2=?>2C?<yICI<@P<>2>?@\2
222222222222222222222222222222222222222

A=

m
h2

1 2
1 + e
2

B=

me
h2

C=

22222222222^,FcO`

327

MECNICA CLSICA

+<2T?R?2iL<\222222222222222222222

u1 =

me 2
m 1 2 me

cos 2
sen
e
1
+

6h 2
h2 2 h2
2222222222222222222222222222222222222222222^,Fcc`

5I2 ==<kBT?>2 >?=?2 hB>PB2 =B>2 >?=LCI?@<>2 k<@<QB=<>2 R<2 ZQIT<Q2 ?QR<@2

u R u 0 g u1

2 V2 R<>ZQ<CIBT?>2 =?>2

me
2sen2
2
u
1
2?WP<@RQ<T?>2L@B2>?=LCID@2k<@<QB=2
PSQTI@?>2R<2 2T<@?>2<=2PSQTI@?2R?TI@B@P<2iL<2<>2 h
>ITZ=IyICBRB2R<2=B2l?QTB\
22222222222222222222222

m
(1 + e cos + e sen ) u m2 [1 + e cos( (1 ))]
2
h
h
222222222222222222222222222222222^,Fca`

.>PB2<>2=B2<CLBCID@2R<2L@B2<=IZ><2iL<2ZQ<C<>B2>I2 u1 ; v 2<>2C<QCB@?2B2=B2L@IRBRF2.=2Z<QI?R?2R<2<>PB2
<CLBCID@2<>P]2RBR?2Z?Q\
222222222222222222222222222222222222222222222222222222222222222222

periodo =

2
2 (1 + )
1
22

22222222222^,Fcn`

62B>[2=B2ZQ<C<>ID@2R<=2Z<QIh<=I?2R<23<QCLQI?2<@2L@IRBR<>2Q<=BPIUI>PB>J2<>P]2RBR?2B=2>L>PQB<Q2 2~ 2R<2>L2

Z<QI?R?J2V2C?T?2h<T?>2L>BR?2RIChB>2L@IRBR<>2R<W<T?>2hBC<Q2<=2CBTWI?2R<2 mr V2 hr 2B2L@IRBR<>2T]>2
C?@U<@CI?@B=<>\

precesin 2 =

22222222222222222222222222222222222222222222222222222222222

6mr2 6G 2 m 2
=
hr2
c2h2 2 2

222222222222222222222222222^,Fco`

+?@R<2G2<>2=B2C?@>PB@P<2kQBUIPBCI?@B=J2m2<>2=B2TB>B2R<=25?=J2c2<>2=B2U<=?CIRBR2R<2=B2=LK2V2h2<>2<=2T?T<@P?2
B@kL=BQ2R<23<QCLQI?2Z?Q2L@IRBR<>2R<2TB>BF27BQB2hB==BQ2L@2UB=?Q2@LTSQIC?2LPI=IKBQ<T?>2=B>2=<V<>2R<2
~<Z=<Q2ZBQB2<@C?@PQBQ2TBk@IPLR<>2C?@?CIRB>2R<2=B2DQWIPB2R<23<QCLQI?F2J2R<2=B2P<QC<QB2=<V2R<2z<Z=<Q\

T2 =

2222222222222222222222222222222222222222

4 2 a 3
4 2 a 3
16 4 a 6 1

G 2m2 =
G (m + mm )
Gm
T2 T2 2
2

62R<2=B2><kL@RB2=<V2R<2z<Z=<Q2Z?R<T?>2hB==BQ2L@B2<CLBCID@2ZBQB2 T ZL<>P?2iL<\2

dA
l
l
hT
8
] ~ab 8
TR
dt 2 n
2n
2

22222222222^,Fcm`

b 2 8 a 2 (1 ; e 2 )

2V2C?T?2ZBQB2L@B2<=IZ><2
2P<@<T?>2iL<\
22222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
dA
l
l
hT
y como para una elipse b 2 = a 2 (1 e 2 ) tenemos que:
=
ab =
T
dt 2
2
2

4 2 (1 e 2 )a 4
h2
5L>PIPLV<@R?2<>P<2UB=?Q2<@2^,FaN`V2=L<k?2>L>PIPLV<@R?2<@2=B2ZQ<C<>ID@\2
T2 =

precesin =

22222222222222222222222222222222222222222222222222222222222222222222222
328

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c 2T 2 (1 e 2 ) 2

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Para hacer coincidir las unidades, convenimos la velocidad de la luz en metros /da

2590185600 1013
El periodo de mercurio en das es:

5,791 1010
La excentricidad de la rbita
E= 0.206
0.205
El semieje mayor de la rbita en metros es:
A=57.91e9
5,791 1010
La diferencia en la precesin es el valor p dividido entre el periodo lo que da precesin
5,70784017 10-9
Finalmente convenimos las unidades a segundos de arco/siglo
42. 95699312

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