A1 Particle Kinematics

Law of Motion :

F=

d ( mv ) = m A dt
mass constant

To use the equation, must be able to mathematically represent both sides of the equation RHS Kinematics: describing motion mathematically r , v , A

r = r op

v = e v op

d r op = ev p = dt

observer watching how a particular position vector changes in both magnitude AND direction

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same vector -- different observer

op

dr = dt dR = dt
e

d r a op = v dt d R a qp = v dt

qp

If base point fixed in frame of differentiation, drop it from notation

e

dr e p = v dt

v =
p

dR dt

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Correspondingly,

d ed r ed e v p A implies = dt dt dt
e p

d ev p e p a p ad a v p A A = dt dt
frame MUST be inertial

Law of Motion:

F = m iAp
second derivative of a position vector with terminal point at p and base point fixed in i

Derivative must be taken in inertial frame but inertial frame is not always a convenient working frame

"working" frame -- set of unit vectors in which r , v , A are expressed

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When frame of differentiation and working frame are not the same, use

Basic Kinematic Equation (BKE)

Let Q be any vector that we wish to differentiate

dQ = dt

dQ a b + Q dt

Rate of change of Q as seen in a

Rate of change of Q as seen in b

angular velocity of b wrt a

Infinite variety of unit vectors can be used as working frames. Some standard sets have emerged. Standard sets may be convenient but are NOT required.

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Example I. Cartesian (Rectangular) Coordinates e

Use e to generate math descriptions of the kinematic quantities: position, velocity, acceleration
Define 3 scalar quantities that can be used to identify location of P (3 distances) variables: x, y, z
Define the motion of the working frame e

e : inertial

r = x ex + y e y + z ez

mathematical description of position o p in terms of Cartesian coordinates

dr v = dt
p

r expressed in same frame in which position will be differentiated (no need for BKE)

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e

v p = x ex + y e y + z ez

d ev p A = dt
p

vp

already expressed in e (no need for BKE)

A p = x e x + y e y + z ez

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Example II. Cylindrical Coordinates u

Assume that e is an inertial frame but u is the working frame

Describe location of P (2 distances, 1 angle) variables: R, , z

Define the motion of the working frame u wrt the inertial frame e

u : rotates about u z = ez

u = uz

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r = R uR + z u z
e

d r ud r e u = + r v = dt dt
p

same velocity

= R uR + z u z + u z ( R uR + z u z )

v p = R uR + R u + z u z

d ev p ud ev p e u e p A = = + v dt dt
p

same acceleration

= R u R + ( R + R ) u + z u z + u z ( R uR + R u + z u z )

A p = ( R R 2 ) uR + ( R + 2 R ) u + z u z

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Example III. Spherical Coordinates a

Assume that e is an inertial frame but a is the working frame

Describe location of P (1 distance, 2 angles) variables: r, ,

Define the motion of the working frame a wrt the inertial frame e
ar parallel to r a = u a = a ar

a : rotates such that

a = e u + u a = uz + a

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r = r ar
e

d r ad r e a v = = + r dt dt
p

still same velocity

e

v p = r ar + r sin a + r a

d ev p ad ev p e a e p A = = + v dt dt
p

same acceleration

A p = ( r r 2 r 2 sin 2 ) ar + ( r + 2 r r 2 sin cos ) a + ( 2 r sin + r sin + 2 r cos ) a