PHYSICS 2231 - SOLUTION SET 1

Problem 1: Derive the acceleration ~ a in polar coordinates and the unit vectors r and Solution to Problem 1: r d First, nd d dt and dt as they will be needed later: dr d sin + sin = = i cos + j sin = i j i sin + j cos = dt dt d d r cos sin = i cos + j sin = = i sin + j cos = i j dt dt Now nd ~ a: d~ v d d~ r ~ a= = dt dt dt d d = (r r ) dt dt d dr = r r + r dt dt d = r r + r dt dr + r + r d =r r + r +r dt dt 2 =r r + r + r + r r r 2 + r + 2r )~ a=r r r Problem 1.7: Let a and b be unit vectors in the xy plane making angles and with the x axis, respectively. Show that a = cos i + sin j, b = cos i + sin j , and using vector algebra prove that cos( ) = cos cos + sin sin .
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PHYSICS 2231 - SOLUTION SET 1

Solution to Problem 1.7: a = ai i + aj j ai = a i = |a || i| cos = cos aj = a j = |a || j | cos = sin 2 )a = cos i + sin j b = bi i + bj j bi = b i = | b|| i| cos

= cos = sin bj = b j = | b|| j | cos 2 ) b = cos i + sin j a b = |a || b| cos ( ) a b = cos cos + sin sin ) = cos cos + sin sin

) cos (

Problem 1.11: ~ be an arbitrary vector and let n Let A be a unit vector in some xed direction. Show ~ ~ ~ that A = (A n ) n + ( n A) n . Solution to Problem 1.11: Use the vector triple product identity: ~ a (~ b ~ c) = ~ b(~ a ~ c) ~ c(~ a ~ b). ~ ~ Note that (~ a b) ~ c= ~ c (~ a b). ~ n ~ ~n n A = ( nn ) A A n ~ n ~ ~n n A =A A n ~ = (A ~n ~) n )A ) n + ( nA Problem 1.15: By relative velocity we mean velocity with respect to a specied coordinate system. a. A point is observed to have velocity ~ vA relative to coordinate system A. What is its velocity relative to coordinate system B , which is displaced from system A by distance ~? R b. Particles a and b move in opposite directions around a circle with angular speed ! , as shown. At t = 0 they are both at the point ~ r = l j , where l is the radius of the circle. Find the velocity of a relative to b.

PHYSICS 2231 - SOLUTION SET 1

Solution to Problem 1.15: Part a: d~ rA dt d~ rB ~ vB = dt ~ ( t) ~ rB = ~ rA R ~ vA = ~ vB = d~ rA dt ~ dR dt ~ dR dt

)~ vB = ~ vA Part b:

~ ra = l sin i + l cos j ~ rb = l sin i + l cos j Where is measured from the positive j axis. At t = 0, ~ r = l j . Since = ! t, we can quickly check our position vectors: ~ ra (t) = l sin(! t) i + l cos(! t) j ~ ra (t = 0) = l sin(0) i + l cos(0) j = l j X ~ rb (t) = l sin(! t) i + l cos(! t) j ~ rb (t = 0) = l sin(0) i + l cos(0) j = l j X The relative position and velocity can be found by: ~ rarelb = ~ ra ~ rb = 2l sin i

)~ rarelb = 2l sin(! t) i d ~ varelb = ~ rarelb dt )~ varelb = 2l! cos(! t) i Problem 1.19: A tire of radius R rolls in a straight line without slipping. Its center moves with constant speed V . A small pebble lodged in the tread of the tire touches the road at t = 0. Find the pebbles position, velocity and acceleration as functions of time.

PHYSICS 2231 - SOLUTION SET 1

Solution to Problem 1.19: Let ~ rt be the vector from the origin (in the gure, or really any stationary point to measure the system from) to the center of the tire, let ~ rp be the vector from the origin to the pebbles location on the tread of the tire, and let ~ rrel be the vector from the center of the tire to the pebble. ~ rt = V tx + Ry ~ rp = ~ rt + ~ rrel The center of the tire is moving with constant speed V , so the tire is rolling with constant angular velocity, ! = V j axis on the center of the R . Also, measure the angle ! t from the wheel. ~ rrel = R sin(! t) i R cos(! t) j Vt Vt = sin i R cos j R R Vt Vt = V t R sin i + R R cos j R R d~ rp = dt Vt Vt = V V cos i + V sin j R R d~ vp = dt Vt Vt = V 2 sin i + V 2 cos j R R

)~ rp ~ vp )~ vp ~ ap )~ vp