.

Classical Mechanics
.

.
..

Nguyen Thi Hong Van

INSTITUTE OF PHYSICS, HANOI

December 3, 2013

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Nguyen Thi Hong Van

. Contents

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1

Chapter 1:
Introduction to classical mechanics
Motion in one dimension
Motion in three dimension

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...
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2

Chapter 2: Forces and Newtons laws of motion

Chapter 3: Work and energy

Chapter 4: Momentum conservation

Chapter 5: Circular motion

Chapter 6: Rotational motion

Chapter 7: Angular momentum

Chapter 8: Law of gravity

Chapter 9: Fluids mechanics

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Nguyen Thi Hong Van

. Evaluation

Attendance/Attitude: 5 %
Class exercise(s): 10 %
Mid-term test: 25 %
Final exam: 60 %

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Nguyen Thi Hong Van

. Major sources

.
Major sources
..
.. Classical Mechanics: an introductory course, Richard Fitzpatrick
1
(professor of Physics, the University of Texas at Austin)

...

R. Resnick, D. Halliday, and K.S. Krane, Fourth edition, Vol. 1

(John Wiley & Sons, New York NY, 1992)

...

G.R. Fowles, Third edition (Holt, Rinehart, & Winston, New York
NY, 1977).

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..

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Nguyen Thi Hong Van

. Chapter 1: Overview of Classical Mechanics (CM)

CM is the study of the motion of bodies in accordance with the general
principals first enunciated by Issac Newton (1687)
CM has many applications in different areas of science such as
astronomy, Chemistry, Geology, and Engineering
Types of motion studied in CM:
Translational motion: a body shifts from one point in space to
another
Rotational motion: an extended body changes orientation, with
respect to other bodies in space, without changing position
Oscillatory motion: continually repeats in time with a fixed period
Circular motion: a body executes a circular orbit about another
fixed body.

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Nguyen Thi Hong Van

. Chapter 1: Units of measurement (1)

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mks units (Meter, Kilogram, Second)
..

Three fundamental quantities which are subject to measurement used in

CM:
Interval in space length
Quantities of inertia, or mass, processed by various bodies
Interval in time
SI system (Systemme International) mks units
SI system is a standard units for basis quantities. It was established
in 1960 by an international committee
mks system is for length (meter), mass (kilogram) and time (second)

.
..

Derived quantities:
Velocity: [v ] = ms 1
Acceleration: [a] = ms 2
angular momentum: [p] = kgms 1
mks units of these quantities are the corresponding combination of the
mks units of length, mass and time.
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Nguyen Thi Hong Van

. Chapter 1: Units of measurement (2)

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Standard prefixes
..

.
..

A set of standard prefixes is a modification of the mks units of length, mass

and time which is devised to deal more easily with very small and very large
quantities (the motion of molecules and the motion of stars in the Galaxy).

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Nguyen Thi Hong Van

. Chapter 1: Uncertainty and significant figures (1)

.
Uncertainty
..

When physical quantities are measured, the measured values are known
only to within the limits of the experimental uncertainty.

.
..
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Significant figures
..

The value of uncertainty depends on:

quality of apparatus
the skill of the experimenter
the number of measurements performed

Example:
5.5 2 significant figures
0.1 1 significant figures

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Nguyen Thi Hong Van

.
..

Multiplicity rule: when multiplying several quantities, the number of

significant figures in the final answer is the same as the number of
significant figures in the least accurate (having the lowest number of
significant figures) of the quantities being multiplied. The same rule
applies to division.
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. Chapter 1: Uncertainty and significant figures (2)

.
Significant figures
..

Zero may NOT be significant figures: those used to position the decimal
point such as: 0.03 (1 significant figure) and 0.0075 (2 significant figures).
Zero may be significant figures: when zeros come after other digits.
However there is the possibility of mis-interpretation should use
scientific notation to indicate the number of significant figures:
1500 1.5 103 if there are 2 SFs
1500 1.50 103 if there are 3 SFs
1500 1.500 103 if there are 4 SFs
0.00023 2.30 104 if there are 3 SFs.

.
..

When numbers are added or subtracted, the number of decimal places in

the result should equal the smallest number of decimal places of any term
in the sum:
123 + 5.35 = 128
1.002 - 0.998 = 0.004

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Nguyen Thi Hong Van

. Chapter 1: Dimensional analysis

All laws of physics are dimensionally consistent:

A = B [A] = [B]
Application of dimensional analysis: to check the forms of simple
laws of physics.

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Nguyen Thi Hong Van

. Chapter 1: Motion in one dimension (1)

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Displacement
..

.
..
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Velocity
..

Velocity is the rate of change of displacement with time

Average velocity:
v =

x
t

Instantaneous velocity:
x
t
Average speed: the ratio of the total distance it travels to the total time it
takes to travel that distance.
v = limt0

Instantaneous speed = |v |
Nguyen Thi Hong Van

.
..

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. Chapter 1: Motion in one dimension (2)

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Acceleration
..

Acceleration is the rate of the change of velocity with time

Average value:

a=

v
t

Instantaneous value:
a = limt0

v
dv
d 2x
=
=
t
dt
dt 2

Equation of kinematics (for motion with a constant acceleration):

v (t) = v0 + a.t
x(t) = x0 + v0 .t + a.t 2 /2
v (t)2 v02 = 2.a.(x(t) x0 )

.
..

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Nguyen Thi Hong Van

. Chapter 1: Motion in one dimension (3)

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Motion with constant velocity
..

Problem: given v = const, find displacement x with time t?

Answer:
v = dx/dt dx = v .dt x = v .t + C
C =? : t = 0 x = x0 (displacement of the object at t = 0 or initial
displacement).
x(t) = x0 + v .t
Problem: Plot the graph of displacement versus time for a body moving
with constant velocity?
Conclusion with motion with constant velocity:
The graph of x versus t is a straight line.
v = x/t gradient of the graph/straight line.
a = d 2 x/dt 2 = 0 v = const: consistent with the definition!
x increases v > 0 OR object moving to the right,
x decreases v < 0 OR object moving to the left,
x = const v = 0 OR object remains at rest.

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Nguyen Thi Hong Van

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. Chapter 1: Motion in one dimension (4)

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Motion with constant acceleration
..

Prob.: a = const v =?; x =?

a = dv /dt dv = a.dt v (t) = v0 + a.t straight line

dx = v .dt x = x0 + v0 .t + a.t 2 /2 parabola.
Conclusion:
S = x x0 = v0 .t + a.t 2 /2 the net distance traveled after t
seconds
v = v0 + a.t

v 2 = v02 + 2.a.S

.
..
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Free-fall under gravity
..

Galileo: all bodies in free-fall close to the Earth surface accelerate

vertically downward with the same acceleration: g = 9.81m/s 2

t=

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Nguyen Thi Hong Van

2h
g

???

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. Chapter 1: Motion in three dimensions (1)

To deal with 3-dimensional motion, it is necessary to set up a suitable
coordinate system.
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Vectors
..
Cartesian coordinates

Cartesian coordinate system consists

of three mutually perpendicular axes.

Vector and scalar quantities

.
..

Scalar quantity is specified by a single value with an appropriate unit

and has no direction such as temperature, volume, mass, time
A vector quantity has both magnitude and direction. Examples:
displacement,velocity, accelerator, force.
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Nguyen Thi Hong Van

. Chapter 1: Motion in three dimensions (2)

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Some properties of vector
..

Equality of two vectors:

~ =B
~ |A|
~ = |B|
~ & A
~ and B
~ point in the same direction.
A
Vector addition
Sum of two vectors is the vector down from the tail of the first
vector to the tip of the last vector.
~ +B
~ =B
~ +A
~
Parallelogram rule of addition A
~ + (B
~ +C
~ ) = (A
~ + B)
~ +C
~
Associative law of addition: A

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..
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Components of a vector and unit vectors
..

~ + (A)
~ = 0 have the same magnitude but
Negative of a vector: A
point in opposite direction.
~ B
~ =A
~ + (B)
~
Subtracting vector: A

Components of a vector are the projections of that vector along

~ = (Ax , Ay , Az ).
coordinate axes: A

?? Can the components of a vector ever be greater than the magnitude of

the vector?
~
~
~
hint: Ax = |A|.sin.cos
; Ay = |A|.sin
sin ; Az = |A|.cos
Nguyen Thi Hong Van

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. Chapter 1: Motion in three dimensions (3)

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Components of a vector and unit vectors
..

Unit vectors
a unit vector is a dimensionless vector having a magnitude of exactly
1. It is used to specify a given direction and have no other physical
significance:
~i x ; ~j y ; ~k z.
|~i| = |~j| = |~k| = 1
~i.~j = ~i.~k = ~j.~k = 0
~ = Ax .~i + Ay .~j + Az .~k.
A

Vector magnitude: A = A2x + A2y + A2z

Scalar multiplication:
~
S = .~r , is a number/scalar
~
S = (x, y , z) = (x, y , z): multiplying all the components of
the original.
Scalar product of two vectors:

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Nguyen Thi Hong Van

~ B
~ = Ax .Bx + Ay .By + Az .Bz
A.
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. Chapter 1: Motion in three dimensions (4)

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Vector displacement, vector velocity and vector acceleration
..

Vector displacement: ~r (t) = [x(t), y (t), z(t)]

Vector velocity:
~v (t) = limt0
vx =

~r (t + t) ~r (t)
d~r
=
t
dt

dx
dy
dz
; vy =
; vz =
dt
dt
dt

Vector acceleration:
~a(t) = limt0

~v (t + t) ~v (t)
d~v
d 2~r
=
= 2
t
dt
dt

dvx
d 2x
=
dt
dt 2
dvy
d 2y
ay =
=
dt
dt 2
d 2z
dvz
= 2
az =
dt
dt

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..

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Nguyen Thi Hong Van

ax =

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. Chapter 1: Motion in three dimensions (5)

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Motion with constant velocity
..

~r (t) = ~r0 + ~v .t

The trajectory of the object is parallel to ~v a straight-line

.
..
.
Motion with constant acceleration
..

~r (t) = ~r0 + ~v0 .t + ~a.t /2

~
S = ~v0 .t + ~a.t 2 /2
~v (t) = ~v0 + ~a.t

v (t)2 = v02 + 2~a.~

S

.
..
.
Projectile motion
..

~ 0, v0 .sin
Given: ~a = (0, 0, g ) ; v 0 = v0 .cos,
?? Find horizontal range R = v02 .sin2/g Rmax = v02 /g when = 45o

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Nguyen Thi Hong Van

.
..

?? Find altitude of the projectile h = v02 .sin2 /2g hmax = v02 /2g when
= 90o
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. Chapter 1: Motion in three dimensions (6)

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Relative velocity
..

~v12 velocity of object (1) with respect to frame (2)

~v23 velocity of frame (2) with respect to frame (3)
~v13 velocity of object (1) with respect to frame (3)
~v13 = ~v12 + ~v23

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..

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Nguyen Thi Hong Van

. Chapter 2: Forces and Newtons laws of motion

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Newtons first law of motion
..

If the motion of a given body is not disturbed by external influences then

that body moves with constant velocity

~r = ~r0 + ~v .t
~r0 , ~v ; constant vectors

~v = 0 the body simply remains at rest.

.
..
.
Newtons second law of motion
..

.
..
.
Newtons third law of motion
..

~fab : force exerted on (a) by (b)

~fab : force exerted on (b) by (a)
Newtons third law: ~fab = ~fba
Nguyen Thi Hong Van

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..

Momentum: ~p = m.~v
p
Second law: d~
= ~f net influence/force
dt
m = const ~f = m.~a

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. Chapter 2: Hookes law

The force exerted on an object by a coiled spring:

~f = k.~l
~l = ~l ~
l0 extension of the spring
~l actual length; ~
l0 natural length.
Application of Hookes law: to quantify the magnitude and direction of
the force exerted on a given body by means of a spring
F0 = 1N = 1kg .m/s 2 = k.l0 , l0 critical extension
F l = .l0 is the value of the force we want to quantify.
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Nguyen Thi Hong Van

. Chapter 2: Everyday forces

Gravitational force: ~fg = m.~g
The normal force/normal reaction and weight:
Weight: the weight W of a body is the magnitude of the downward
force it exerts on any object which supports it.
Normal force: under the influence of the weight of the object,
obeying the Newtons third law, the surface of the supporting object
will act back on the surface of the object this called normal
reaction or normal force
Normal force is a force exerted by one surface on another i a
direction perpendicular to the surface of contact.
The magnitude of the weight = the normal force.
Exercise:
Find weight of an object resting on a table?
Find weight of an object of mass m resting on the floor of an
elevator moving with acceleration ~a?
Relation between mass and weight: W = m.g in case of accelerator of
the frame = 0 and ~fg = m~g is perpendicular to the surface.
Friction: f = .Rn , where : coefficient of friction and Rn is normal
reaction of the surface.
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Nguyen Thi Hong Van

. Chapter 3: Work and energy

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Energy
.
..
Potential energy; kinetic energy; electrical energy; thermal energy;
chemical
energy; nuclear energy.
.
..
.
.
An example of energy conservation: energy conservation during free-fall .
..
S; ~a = ~g ; ~
S = h2 h1
v22 v12 = 2~a.~
2
2
~
v2 v1 2~g .S

mv22
mv12

= mgh2 + mgh1
2
2

1
1
mv22 + mgh2 = mv12 + mgh1
2
2
Total energy E of the mass m is conserved: E = mv 2 /2 + mgh
K = mv 2 /2 kinetic energy
U = mgh potential energy
E conserved K = U

.
..

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Nguyen Thi Hong Van

. Chapter 3: Work and energy

.
Work
..

W = ~f .~
S = |~f |.|~
S|.cos: assuming that the force doesnt vary with
position.
Work-Energy theorem: ?? prove:
K = W
2

using v =

+ 2.~a.~
S

Find back the energy conservation during free-fall using work-energy

theorem?

.
..

v02

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Nguyen Thi Hong Van

. Chapter 3: Work
Work of the force varies with position ~f = ~f (~r )
W =

N
N
B

~fi .~ri = limN ~fi .~ri = ~f (~r ).d~r line-integral

i=1

i=1

Work performed by a 1-dimensional force: From W =

xB

f (x)dx,

xA

prove: W = K ?
d 2x
f =m 2 W =
dt

xB

d 2x
m 2 .dx =
dt

xA

tB

d 2 x dx
m 2 . .dt =
dt dt

tA

tB

[
d
dt

m
2

dx
dt

)2 ]

tA



dx 
dx 
, vB =
x(tA ) = xA , x(tB ) = xB , vA =
dt t=tA
dt t=tB
1
1
W = m.vB2 mvA2 = K
2
2
B
The object is acted by many forces: Wi = ~fi (~r ).d~r
W =

)
B (
B
B ~
~fi (~r ) .d~r = ~f (~r ).d~r ;
Wi =
fi (~r ).d~r =

~f (~r ) = ~fi (~r )

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Nguyen Thi Hong Van

. Chapter 3: Conservative and non-conservative force-field

A non-uniform force-field ~f (~r )
acts upon an object which moves
along curved trajectory (from
point A to point B) labeled by
path 1 and path 2.

Work W1 performed by ~f (~r ) along path 1: W1 =

path1

~f .d~r

AB

Work W1 performed by ~f (~r ) along path 2: W2 =

path2

~f .d~r

AB

If W1 = W2 ~f (~r ) is a conservative force-field: the line-integral doesnt

depend on the path taken between the end points; Ex: gravitational force.
If W1 6= W2 ~f (~r ) is a non-conservative force-field: the line-integral
depends both on the end points A, B and the path taken between them;
Ex: frictional force.
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Nguyen Thi Hong Van

. Chapter 3: Work and energy

.
Consequences of conservative and non-conservative force-field
..

Work done around a close loop for:

Conservative force-field:

~f .d~r +
~f .d~r = W1 W2 = 0
W =
AB

BA

Non-conservative force-field:

.
..

W = W1 W2 6= 0

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Nguyen Thi Hong Van

. Chapter 3: Potential energy

Consider a body moving in a conservative force-field ~f (~r ). Pick arbitrarily
some point O in this field.
Define:
R
U(R) = ~f .d~r
(3.1)
O

(3.1) U(O) = 0
U(R) defined by (3.1) is unique in conservative force-field since in
this field, the work of the field depends only on the fix points but
NOT the path taken between them.
(3.1) makes no sense in non-conservative force field since there will
be an infinite number of different values corresponding to the infinite
number of different paths the body coild take between O and R.
Consider the object move between A and B
From the work-energy theorem:
B
B
A
B
K = ~f .d~r = ~f .d~r = ~f .d~r ~f .d~r = U
A

E = K (A) + U(A) = K (B) + U(B) = K + U = constant

U represents some form of potential energy
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Nguyen Thi Hong Van

. Chapter 3: Some conclusions about potential energy

Possible to associate a potential energy with any conservative

force-field.
Any force-field for which we can define a potential energy must
necessary be conservative.
The concept of potential energy is meaning-less in a
non-conservative force-field.
Potential energy define to within an arbitrary additive constant so
we can choose an arbitrary point at which U = 0.
Potential energy is not a property of the body BUT a property of
the force-field within which the body moves.

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Nguyen Thi Hong Van

. Chapter 3: Hookes law

Force: f = kx
xB
xB
Work: W = f (x)dx = k x.dx = [kxB2 /2 kxA2 /2]
xA

xA

Potential energy: U(xB ) U(xA ) =

xB

f (x).dx = kxB2 /2 kxA2 /2

xA

U(x) = kx 2 /2
f =
In three-dimensional;

(
~f =

dU
dx

U U U
,
,
x y z

Example in gravitational force-field: U = mgz

~f = (0, 0, mg )
Total energy of the mass: E = K + U
.
Power
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Nguyen Thi Hong Van

.
..

.
dW
P=
= ~f .~v
dt

31

. Chapter 4: Conservation of momentum:

Two component systems

Consider a system of two

objects
~ 1 , ~f12
m1 : F
~ 2 , ~f21
m2 : F
Newtons second law for:
m1 : m1 x1 = F1 + f12
m2 : m2 x2 = F2 f21
m1 x1 + m2 x2 = F1 + F2 (1)
Center of mass
m1 x1 + m2 x2
xcm =
m1 + m2
(1) & (2) (m1 + m2 )
xcm = F1 + F2
dP/dt = F where P = M x cm , M = m1 + m2 , F = F1 + F2
If F1 = 0 = F2 xcm = 0
vcm = x cm =

(2)

m1 x 1 + m2 x 2
= const m1 x 1 + m2 x 2 = const
m1 + m2
P = P1 + P2 = const

Total momentum is a conserved quantity provided there is no net external

force acting on the system!
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Nguyen Thi Hong Van

. Chapter 4: Conservation of momentum:

Multi-component systems

Consider a system of N mutually interacting point mass objects which

move in 3-dimensions
Internal force: ~fij = ~fji ; i, j = 1, N, i 6= j
~i
External force: F
Second law of Newton for object i : mi~ri =

j6=i

~fij + F
~i
j=1,N

Summing over all objects:

j6=i

mi~ri =

i=1,N

~; M =
M~rcm = F

i,j=1,N

~fij +

i=1,N

~ =
mi , F

i=1,N

~i =
F

~i
F

i=1,N
N

~ i ; ~rcm =
F

i=1,N

mi~ri

i=1
N

mi

i=1
N
N
N
~ = ~0 ~rcm = mi~ri / mi = const OR P
~ = mi~ri = const
If F
i=1

i=1

i=1

~
~
In general case: d P/dt
=F
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Nguyen Thi Hong Van

. Chapter 4: Collisions in 1-dimension

m1 and m2 collide in
1-dimension
ignore zero net external force in
the direction of moving
Momentum conservation gives
m1~vi1 + m2~vi2 = m1~v1f + m2~vf 2

(1)

In 1-dimention: m1 vi1 + m2 vi2 = m1 vf 1 + m2 vf 2

.
There are many types of collision
..
Elastic collision: Total kinetic energy of the two colliding objects is

conserved

1
1
1
1
m1 vi12 + m2 vi22 = m1 vf21 + m2 vf22
2
2
2
2
Inelastic collision: some fraction of the initial kinetic energy of the
colliding objects is usually converted into some other form of energy.

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Nguyen Thi Hong Van

.
..

Totally inelastic collision: two objects stick together after the collision
vf 1 = vf 2
34

. Chapter 4: Collisions in 1-dimension: Elastic collision

In the laboratory frame:
~vcm =

m1~vi1 + m2~vi2
m1~vf 1 + m2~vf 2
=
m1 + m2
m1 + m2

(3)

In the center of mass frame: v~0 = ~v ~vcm

m2
m1
vi10 =
(vi2 vi1 ); vi20 =
(vi2 vi1 )
m1 + m2
m1 + m2
m2
m1
vf01 =
(vf 2 vf 1 ); vf02 =
(vf 2 vf 1 )
(4)
m1 + m2
m1 + m2
m1 m2
0
0
pi1
= pi2
= (vi2 vi1 ); pf0 1 = pf0 2 = (vf 2 vf 1 ); =
(5)
m1 + m2
0
0
0
0
pi1 + pi2 = pf 1 + pf 2 = 0 trivial !
This result is valid also for inelastic collision!
The center of mass kinetic energy conservation equation:
0 2
p0 2
p0 2
p0 2
pi1
+ i2 = f 1 + f 2
2m1
2m2
2m1
2m2

(1)&(7) vf 1

(6)

(5)&(6) vi2 vi1 = (vf 2 vf 1 )

(7)
m1 m2
2m2
2m1
m1 m2
=
vi1 +
vi2 ; vf 2 =
vi1
vi2
m1 + m2
m1 + m2
m1 + m2
m1 + m2
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Nguyen Thi Hong Van

. Chapter 4: Totally inelastic collisions

We have: vf = vf 1 = vf 2
m1 vi1 + m2 vi2 = m1 vf 1 + m2 vf 2 = (m1 + m2 )vf
vf =

m1 vi1 + m2 vi2
= vcm
m1 + m2

two objects remain stationary in the center of mass velocity frame.

Suppose that vi2 = 0

m1
vi1
m1 + m2
The fractional loss in kinetic energy of the system due to the collision
is
m1 vi12 (m1 + m2 )vf2
Ki Kf
m2
f =
=
=
Ki
m1 + m2
m1 vi12
vf =

If m2  m1 the loss in energy is small

If m2  m1 the loss is almost 100 %

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Nguyen Thi Hong Van

. Chapter 4: Collision in 2-dimensions

Suppose vi2 = 0; m1 , m2 , vi1 known
Collision is NOT head-on
Unknown: vf 1 , vf 2 , 1 , 2
m1~vi1 = m1~vf 1 + m2~vf 2 (1)
(1)/ox:
m1 vi1 = m1 vf 1 cos 1 + m2 vf 2 cos 2
(1)/oy: m1 vf 1 sin 1 = m2 vf 2 sin 2
Elastic collision:
m1 vi12 /2 = m1 vf21 /2 + m2 vf22 /2 need
one more condition!

Totally inelastic colliding:

Unknown: f , vf
m1~vi1 + m2~vi2 = (m1 + m2 )~vf (2)
(2)/ox:
m1 vi1 + m2 vi2 cos i = (m1 + m2 )vf cos f
(2)/oy: m2 vi2 sin i = (m1 + m2 )vf sin f
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Nguyen Thi Hong Van

. Chapter 5: Circular motion

An object executes a circular orbit of
radius r with uniform tangential speed
~v with |~v | doesnt change.
t = 0 : = 0 (t) = .t
angular velocity of the object =
const in case of uniformly rotating

o
2
arc length: S = 360
o .r .( )
o
2
Define radian unit for angle: (rad) = 360
o ( )
S = r .
S = r . arc length in an interval time t
v = S/t & = /t v = r .
Repetition period of the circular motion (time to execite a complete
circle): T = 2/
Repetition frequency: f = 1/T = /(2); [f ] = Hz cycles per second
38
Nguyen Thi Hong Van

. Chapter 5: Centripetal acceleration

An object executing a circular orbit of radius r with uniform tangential
speed v : magnitude |~v | is constant while its direction is continuously
changing exist an acceleration !
Object moves from P Q between time t, t + t, rotate an angle of
during the time interval t

From the diagram one can see:

~v is directed towards the center of the circle
v = 2v sin(/2)
is small sin
v = v .
a = v /t = v ./t = v . = v 2 /r = r . 2
Centripetal force: f = ma = mv 2 /r

39
Nguyen Thi Hong Van

. Chapter 5: The conical pendulum

~ +T
~ = m~a
P
oy:
mg + T cos = 0 T cos = mg
ox: T sin = ma = m 2 r
tan = 2 r /g ; also tan = r /h

2 r /g = r /h = g /h

h = l cos = g /l cos
Example:
l = 0.2m, = 30o
=

9.81
= 7.53 rad/s
0.2 cos 30o
f =

= 1.20 Hz
2
40

Nguyen Thi Hong Van

. Chapter 5: Non-uniform circular motion (1)

The vertical pendulum: an example
of non-uniform circular motion
Object mass m attached to the end of
a light rigid rod, or light string, of
length r
at = 0 v
Find v in order for the object to
execute a complete vertical circle?

mv 2 /2 = mv 02 /2 + mgr (1 cos )
(1)
v 02 = v 2 2gr (1 cos )
(2)
Newton law at B: mv 02 /r = T mg cos
T = mv 02 /r + mg cos
T = m[v 2 2gr (1 cos )]/r + mg cos = mv 2 /r + mg (3 cos 2)
In case of string:
T 0 mv 2 /r + mg (3 cos 2) 0 with v 2 > 5rg
In case of rigid rod: v 02 0 (2) v 2 4gr
Nguyen Thi Hong Van

41

. Chapter 5: Non-uniform circular motion (2)

Motion on curved surfaces

Object mass m slides without friction

around the inside of the hoop
?? Condition for the object to execute
a complete vertical circle? Find v?

Energy conservation:
1
1
mv 2 = mv 02 + mgr (1 cos )
2
2
v 02 = v 2 2gr (1 cos )
Newton second law at B:
mv 02
= N mg cos
r
N 0 v 2 5gr independent on the mass of the train!
Nguyen Thi Hong Van

42

. Chapter 6: Rotational motion (1)

Rigid body rotation
Consider a rigid body executing
pure rotational motion arround
an axis (the locus of all points
inside the body which remain
stationary as the body rotates).
Instantaneous angular velocity
of the body (t):
= limt0

d
=
t
dt

If the body rotates rogidly should be the same for all points P lying
within the body.
Rotational speed v (tangential speed): v = .
Angular acceleration: (t) = d/dt = d 2 /dt 2
(t) = 0 + .t
(t) = 0 + 0 .t + .t 2 /2
Vector quantity in the rotational motion:
~ = x .
x + y .
y + z .
z
direction along the axis of the rotation.
43
Nguyen Thi Hong Van

. Chapter 6: Rotational motion (2)

.
The vector product
..

d
Scalar product: ~a.~b = ax .bx + ay .by + az .bz = |~a|.|~b|. cos(~a, ~b)
Vector product:
~a ~b = ~c = (ay bz az by , az bx ax bz , ax by ay bx )
d
|~c | = |~a|.|~b|. sin(~a, ~b)
~a ~b = ~b ~a

~rcm =

.
1
M

mi~ri ; M =

i=1

mi ;

mi = (~ri ).Vi

i=1

If the object
under consideration is continuous:
~rcm = M1
.~r .dV ; dV = dxdydz

~r .dV
If the mass density is constant: ~rcm = V1

.
Nguyen Thi Hong Van

.
..

Example: Velocity: ~v =
~ ~r

.
..
.
Center of mass
..

44

. Chapter 6: Moment of inertia (1)

Consider an extended object made of N elements
Total kinetic energy:
N

1
K =
mi vi2
2
i=1
Suppose that the motion of the object consist of rigid rotation at angular
velocity : ~vi =
~ ~ri ;
~ = .~k
K =

where I =

i=1

1 ~
1
mi |k ~ri |2 . 2 = I 2
2
2
i=1

mi |~k ~ri |2 =

mi i2 Moment of inertia of the object

i=1

Reminder: in the translational motion: K = Mv 2 /2

Moment of inertia plays the same role as mass in the translational motion !

For continuous object: I = 2 dV ; = |~k ~r | perpendicular

distance from the axis of rotation.

For constant density object: I = M 2 dV / dV depends not only on

the size and shape of the object but also on the location of the axis about
which the object is rotating.
45
Nguyen Thi Hong Van

. Chapter 6: Moment of inertia (2)

Example:
A thin circular ring about a
symmetric axis z (perpendicular to
the plane of the ring).
Iz = Mb 2
Perpendicular axis theorem:
2
(x + y 2 )dxdy

Iz = M
dxdy
2
y dxdy
x 2 dxdy
Ix = M
; Iy = M
dxdy
dxdy
Ix + Iy = Iz ; Ix = Iy because of symmetry!
Ix = Iy = Iz /2 = Mb 2 /2

.
Parallel axis theorem
..

.
0

I = I + Md

d distance between the two axes

I Inertia moment about an axis passing through the center of mass.
Nguyen Thi Hong Van

46

.
..

. Chapter 6: Moment of inertia (3)

The moment of inertia of a thin rod of mass M and length ` about an axis
passing through the centre of the rod and perpendicular to its length is
I =

1
M`2
12

The moment of inertia of a thin rectangular sheet of mass M and

dimensions a and b about a perpendicular axis passing through the centre
of the sheet is
1
I =
M(a2 + b 2 )
12
The moment of inertia of a solid cylinder of mass M and radius b about
the cylindrical axis is
1
I = Mb 2
2
The moment of inertia of a thin spherical shell of mass M and radius b
about a diameter is
2
I = Mb 2
3
The moment of inertia of a solid sphere of mass M and radius b about a
diameter is
2
I = Mb 2
5
Nguyen Thi Hong Van

47

. Chapter 6: Torque

~f . cos is canceled out by the reaction

at the pivot
M v = f sin ; v = b.
Mb = f . sin
I = f .b. sin ;

where I = Mb 2

I = Torque
= f .b. sin

is a vector quantity:
~ = I

d~

dt

~ = ~r ~f

48
Nguyen Thi Hong Van

. Chapter 6: Power and work

Power: P = ~f .~v , with ~v =
~ ~r
P = ~f .(~
~r ) =
~ .(~r ~f ) =
~ .~
Work:

~
dW
d
= P = ~ .~
;
~ =
dt
dt
~
dW
d

= ~ .
dt
dt
~
dW = ~ .d

~
W = ~ .d

For the case of translational motion, we have

W = ~f .d~r
~ (torque) in the rotaional motion, is an anology of ~f (force)
in the translational motion !
49
Nguyen Thi Hong Van

Chapter 6: analogies between translational and rotational

. motion

50
Nguyen Thi Hong Van

. Chapter 7: Angular momentum

.
Angular momentum of a point particle
..
Find a similar quantity as ~p in rotational motion: ~p = m~v ;
~
` = ~r ~p |~
`| = |~r |.|~p |.sin(~rd
, ~p )

.
d~p /dt = ~f

.
..
.
Angular momentum of an extended object
..
N

~L =
mi~ri ~vi

~p ~p
d~
`
d~p
d~r
=
~p + ~r
=
+ ~r ~f = ~
dt
dt
dt
m

i=1

For rotating object: ~vi =

~ ~ri ;
~ = .~k
N

~L =
mi~ri (~k ~ri )
i=1

.
..

51
Nguyen Thi Hong Van

. Chapter 7: Angular momentum of an extended object

Component of ~L along the objects rotation axis:
Lk = ~k.~L =

mi ~k.[~ri (~k ~ri )]

i=1

mi ~k.[(~k ~ri ) ~ri ] =

i=1

mi (~k ~ri ).(~ri ~k)

i=1

mi |~k ~ri |2 = .Ik

i=1

Lx = Ix x ; Ly = Iy y ; Lz = Iz z
Ix , Iy , Iz are the moment of inertia of the object about x, y , z axis
Assume that the origin of the coordinate system lies on the objects axis
of rotation.
x, y , z must be aligned along the so-called principal axes of the object
(objects main symmetry axes).
~L = Ix x .
x + Iy y .
y + Iz z .
z
52
Nguyen Thi Hong Van

. Chapter 7: Angular momentum of a multi-component sys.

Consider a system consisting of N mutually interacting point particles:
~fij = ~fji : third law of Newton
Assume the internal force acting within the system are central forces:
~fij (~ri ~rj )
N

~fij + F
~i
Equation of motion of the i th particle: ~p i =
j=1,j6=i

~ri ~p i =

~i )
(~ri ~fij ) + (~ri F

()

j=1,j6=i

d(~ri ~pi )
d ~L
? We have: ~ri ~p i =
=
dt
dt
N

Total angular momentum of the system: ~L = (~ri ~pi )

i=1

Summing (*) for all particles:

i6=j
N
N

d ~L
~ i )=
~ i ) ~
(~ri F
=
(~ri ~fij ) +
(~ri F
dt
i=1
i=1

()

i,j=1,N

net external torque acting on the system

53
Nguyen Thi Hong Van

. Chapter 7: Conservation of angular momentum

At (**), consider the system is isolated

~ = 0
d ~L
=0:
dt
The total angular momentum of the system is a conserved quantity.

54
Nguyen Thi Hong Van

. Chapter 8: The law of gravity

Newtons law of universal gravitation:
Every particle in the Universe attracts every other particle with a force
that is directly proportional to the product of their masses and inversely
proportional to the square of the distance between them.
~ 12 = F
~ 21 = G m1 m2 r12 ,
F
(1)
r2

where
G = 6.673 1011 N.m2 /Kg 2
universal gravitational constant
measured by experiment.
m1 , m2 masses of particle 1 and
particle 2,
r = |~
r2 r~1 | distance between two
particles,
r12 = (~
r2 r~1 )/|~
r2 r~1 | unit vector
which is directed from particle 1 to
particle 2.
55
Nguyen Thi Hong Van

. Chapter 8: The law of gravity

Properties of the gravitational force given at (1): the gravitational force

exerted by a finite-size, spherically symmetric mass distribution on a particle
outside the distribution is the same as if the entire mass of the distribution
were concentrated at the center.

56
Nguyen Thi Hong Van

. Chapter 8: Free-fall acceleration and gravitational force

Free-fall accelaration of a falling object of mass m located near the
Earths surface:
mME
mg = G
RE2
g =G

ME
RE2

(2)

ME = 5.98 1024 kg and RE = 6.37 106 m are mass and radius of the
Earth.
Free-fall accelaration of a falling object of mass m located a distance h
above the Earths surface:
mg 0 = G

mME
(RE + h)2

g0 = G

ME
(RE + h)2

(3)

Thus, it follows that g 0 decreases with increasing altitude. Because the

weight of a body is mg 0 , we see that as r , its weight approaches
zero.
57
Nguyen Thi Hong Van

. Chapter 8: Keplers laws

...
1

All planets move in elliptical orbits with the Sun at one focal point.

...

The radius vector drawn from the Sun to a planet sweeps out equal areas
in equal time intervals.

...

The square of the orbital period of any planet is proportional to the cube
of the semimajor axis of the elliptical orbit.

58
Nguyen Thi Hong Van

. Chapter 8: The law of gravity and the motion of planets

Keplers Third Law
Consider a planet of mass Mp moving around the Sun of mass MS in a circular
orbit, as shown in the figure. Because the gravitational force exerted by the
Sun on the planet is a radially directed force that keeps the planet moving in a
circle, we can apply Newtons second law to the planet:
GMS Mp
Mp v 2
=
2
r
r
(2r /T )2
GMS
=
r2
r
(
)
4 2
T2 =
r 3 = KS r 3
GMS

(4)

where KS is a constant given by

4 2
= 2.97 1019 s 2 /m3
GMS
Equation (4) is Keplers third law. It can be shown that the law is also valid
for elliptical orbits if we replace r with the length of the semimajor axis a. Note
that the constant of proportionality KS is independent of the mass of the
planet. Therefore, Equation (4) is valid for any planet.
KS =

59
Nguyen Thi Hong Van

. Energy considerations in planetary and satellite motion

Consider a body of mass m moving with a speed v in the vicinity of a massive
body of mass M, where M  m. The system might be a planet moving around
the Sun, a satellite in orbit around the Earth, or a comet making a one-time
flyby of the Sun.

E =K +U
1
GMm
E = mv 2
2
r
Newtons second law applied to m:
GMm
mv 2
= ma =
2
r
r
E =

GMm
2r

(5) is the total energy of the two-body system. The absolute value of E is also
equal to the binding energy of the system, because this amount of energy must
be provided to the system to move the two masses infinitely far apart.
60
Nguyen Thi Hong Van

. Chapter 9: Fluid Mechanics

A fluid is a collection of molecules that are randomly arranged and held
together by weak cohesive forces and by forces exerted by the walls of a
container. Both liquids and gases are fluids.
.
Pressure
..
Fluids do not sustain shearing stresses or tensile stresses

The only stress that can be exerted on an object submerged in a fluid

is one that tends to compress the object
the force exerted by a fluid on an object is always perpendicular to the
surfaces of the object.
The pressure P in a fluid:
P=

F
, F is the magnitude of the force exerted on a surface area A
A

The pressure at a specific point:

P=

dF
.
dA

The pressure is a scalar quantity and its SI unit is Pascal (Pa):

1 Pa = 1 N/m2 .
.

Nguyen Thi Hong Van

61

. Chapter 9: Variation of pressure with depth (1)

Consider a fluid of density at rest and open to the atmosphere
Assume that is constant (the fluid is incompressible)
Select a sample of the liquid contained within an imaginary cylinder of cross-sectional
area A extending from the surface to a depth h
The pressure exerted by the outside liquid on the bottom face of the cylinder is P
The pressure exerted on the top face of the cylinder is the atmospheric pressure P0
The upward force exerted by the outside fluid on the bottom of the cylinder is PA
The downward force exerted by the atmosphere on the top is P0 A
The mass of liquid in the cylinder:
M = V = Ah.
The weight of the liquid in the cylinder
Mg = Ahg .
Because the cylinder is in equilibrium, we have
PA P0 A Mg = 0,
PA P0 A Ahg = 0
P = P0 + gh.
Nguyen Thi Hong Van

(1)

62

. Chapter 9: Variation of pressure with depth (2)

The pressure P at a depth h below the surface of a liquid open to the

atmosphere is greater than atmospheric pressure by an amount gh.
We usually take atmospheric pressure to be:
P0 = 1.00 atm = 1.013 105 Pa.
(1) the pressure is the same at all points having the same depth,
independent of the shape of the container.

63
Nguyen Thi Hong Van

. Chapter 9: Buoyant force and Archimedess principle (1)

The upward force exerted by water on any immersed object is called a
buoyant force.
Archimedess principle: the magnitude of the buoyant force always
equals the weight of the fluid displaced by the object.
The buoyant force acts vertically upward through the point that was the
center of gravity of the displaced fluid.

.
Forces acting on a totally submerged object
..

Consider an object is totally submerged in a fluid of density f

The magnitude of the upward buoyant force is B = f V0 g , where V0 is
the volume of the object.
Weight of the object: Fg = Mg = 0 V0 g (the object has a mass M and
density 0 )
The net force exerted on the object: B Fg = (f 0 )V0 g .
If 0 < f Fg < B, and the unconstrained object accelerates
upward.
If 0 > f Fg > B, and the unsupported object sinks.

.
Nguyen Thi Hong Van

.
..

64

. Chapter 9: Buoyant force and Archimedess principle (2)

.
Forces acting on a floating Object
.
..
Consider an object of volume V0 in static equilibrium floating on a
fluid (only partially submerged)
The upward buoyant force is balanced by the downward
gravitational force acting on the object.
The buoyant force: B = f Vf g , where Vf is the volume of the fluid
displaced by the object.

.
..

From the condition of equilibrium of the object we have B = Fg , or

f Vf g = 0 V0 g .
Vf
0
=

f
Vo

65
Nguyen Thi Hong Van

. Chapter 9: Fluid dynamic

Because the motion of real fluids is very complex and not fully
understood, we make some simplifying assumptions in our approach. In
our model of an ideal fluid, we make the following four assumptions:

...

The fluid is non-viscous: internal friction is neglected. An

object moving through the fluid experiences no viscous force.

...

The flow is steady: the velocity of the fluid at each point

remains constant.

...

The fluid is incompressible: the density of an incompressible

fluid is constant.
.4. The flow is irrotational: the fluid has no angular momentum
about any point. If a small paddle wheel placed anywhere in the
fluid does not rotate about the wheels center of mass, then the flow
is irrotational.
3

66
Nguyen Thi Hong Van

. Chapter 9: Streamlines and the equation of continuity

The path taken by a fluid particle
under steady flow is called a
streamline. The velocity of the
particle is always tangent to the
streamline, as shown in the figure. A
set of streamlines form a tube of flow.
Equation of continuity: the product
of the area and the fluid speed at all
points along the pipe is a constant for
an incompressible fluid.
A1 v1 = A2 v2 = constant

Bernoullis equation: in laminar

flow, the sum of the pressure (P),
kinetic energy per unit volume ( 12 v 2 ),
and gravitational potential energy per
unit volume (gy ) has the same value
at all points along a streamline.
67
Nguyen Thi Hong Van