Formularium klassieke mechanica

- Snelheid en versnelling in poolcoordinaten:

v = r
r + (r)
.

a = (
r r2 )
r + (r + 2r )
- Snelheid in sferische co
ordinaten:

v = (r
r + r + r sin ).
- Sinus en cosinus expansie:
sin(x) = x

x3
+ ...
3!

cos(x) = 1

x2
+ ...
2!

- Goniometrische formules:
cos(s + t) = cos s cos t sin s sin t,

cos(/6) =

3/2,

sin(/6) = 1/2,

sin(s + t) = sin s cos t + cos s sin t

cos(/4) = 1/ 2,

sin(/4) = 1/ 2,

cos(/3) = 1/2

sin(/3) =

3/2.

- Vector identiteiten:
a (b c) = (a c)b (a b)c
a (b c) = c (a b) = b (c a)
- Enkele traagheidsmomenten:
circular hoop : I = M a2 ,

2
sfeer : I = M a2 ,
5

- Vergelijking ellips in poolcoordinaten:

1
a
= 2 (1 + e cos ).
r
b
1

1
circular disk : I = M a2 .
2

Hoofdstuk 7: Orbits in central field

- Behoud van angulair moment als beweging in vlak plaatsvindt (poolcoordinaten):

mr2 = L.
- Energievergelijking in poolcoordinaten:
1
2 ) + V (r) = E.
m(r 2 + (r)
2
- Radial motion equation:
1 2
L2
mr + V (r) +
= E.
2
2mr2
- Path equation (met u = 1/r en m = 1) :
f (1/u)
d2 u
+u= 2 2 .
2
d
L u
- For an attractive inverse square field, with f (r) = /r2 , the path
equation can be written as
1

= 2 (1 + e cos( ))
r
L
with one focus at O.
- The L-formula (applies to both elliptic and hyperbolic orbits):
L2 =

b2
.
a

- The E-formula are:

E=

2a

E=0

(E < 0)

(Ellipse)

(Parabola)

E=+
2a

(E > 0)

(Hyperbola)

- Period formula for an ellipse:

a3
= 2

1/2
.

- The Kepler equation gives the time as a function of position on the

elliptical orbit:
t=

( e sin ).
2
2

Hierbij is sin =

b sin
a(1+e cos ) .

- For a respulsive inverse square field the path equation can be written
as
1

= 2 (1 + e cos( ))
r
L
which can only be the far branch of a hyperbola.
- Axisymmetric scattering cross section:


p
dp
() =
.
sin d
Hierbij is p =

qQ
mV 2

cot(/2) voor het geval van Rutherford scattering.

- Rutherfords scattering cross-section:



1
q 2 Q2
.
() =
16E 2 sin4 (/2)
- Lift-off speed and Rendez-vous speed of the spacecraft in Hohmann
orbit:

1/2

1/2
2B
2A
L
R
V =
,
V =
.
A(B + A)
B(B + A)
- Journey time (half the period):
T2 =

2 a3
2 (B + A)3
=
.

Hoofdstuk 10: Collisions

- If target particle is initially at rest (lab frame), and the collision is elastic,
we have
cos =

(m1 m2 )u2
2m1 u1

provided that u1 6= 0, where is the opening angle.

- In the ZM-frame we have
p1 0 + p2 0 = 0.

p1 + p2 = 0,

- In the ZM-frame the magnitudes of the initial and final momenta are
related as


2Qm1 m2
02
2
p =p +
.
m1 + m2
3

- Relationship between final velocities in the ZM and lab-frame:

u1 = v1 0 + V,

u2 = v 2 0 + V

where u1 , u2 are the final velocities observed in the lab-frame.

- The Elastic collision formulae that give the properties of the final state
in terms of the ZM scattering angle are:
tan 1 =

sin
,
cos +

2 =

1

and

tan =

+1
1


cot

1

,
2

4
1

E2
=
sin2
2
E0
( + 1)
2

with = m1 /m2 and E0 = E1 + E2 . We have 1 as the lab scattering angle,

and 2 as the lab recoil angle.
- The relative motion equation is


m1 m2
r = F (r)
r.
m1 + m2
- Orbits of two particles P1 and P2 are similar ellipses (two body interaction)
with period given as
2 =

4 2 a3
G(m1 + m2 )

with a the semi-major axis of the relative orbit. This is also the period of
the relative orbit.
- The two body Rutherford scattering formulae are
tan 1 =

4p2 E 2

4q1 q2 pE
,
(1 2 )q12 q22

tan 2 =

2pE
q1 q2 (1 + )

with E = 21 m1 u2 the energy of the incident particle.

- Two-body scattering cross section is given as:



d
sin
TB
ZM ().
(1 ) =
sin 1
d1
- After determining everything in terms of 1 , this becomes


q12 q22
4(1 + )2 ( cos 1 + S)2
TB

=
16E 2 S(1 + sin2 1 S cos 1 )2
with

S=

1 2 sin2 1
4

1/2
.

Hoofdstuk 8: phase space

The system of equations

x1 = F1 (x1 , x2 , t),

x2 = F2 (x1 , x2 , t)

can be written in polar form as

r =

x1 F2 x2 F1
=
r2

x1 F1 + x2 F2
,
r

Hoofdstuk 12: Lagranges equations

- Principle of dAlembert: if the constraint forces do no virtual work,

then
N
X

mi v i

vi

i=1

N
X
i=1

X
ri
ri
mi v i
=
FSi
qj
qj
i=1

- Any standard system satisfies



d T
T
= Qj

dt qj
qj

(1 j n)

P
ri
with Qj = i FSi q
the generalised force corresponding to the coordij
nate qj .
t) is defined as
- The energy function h = h(q, q,
h=

n 
X
L
j=1

qj


qj

L.

Hoofdstuk 13: Calculus of Variations

- Suppose that F = F (x, x).

Then any function that satisfies the E-L

equation


d F
F

=0
dt x
x
also satisfies the first order differential equation
x

F
F =c
x

for some value of the constant c. The converse is also true for non-constant
solutions.

Hoofdstuk 14: Hamiltons equations

f
- Let f = f (u1 , . . . , un ) and let vi = u
for each i = 1, . . . , n. Then the
i
Legendre transform of f to g is defined as

g=

n
X

ui vi f.

i=1

- The canonical equations or Hamilton equations are

qj =

H
,
pj

pj =

H
qj

(1 j n).

Hoofdstuk 15: Small Oscillations

- Small oscillation equations:

n
X

(tjk qk + vjk qk ) = 0

(1 j n)

Tq
+ V q = 0.

k=1

- A solution of the small oscillation equations with the form

q = a cos(t )
is called a normal mode of the system.
- Equations for the amplitude vector is
(V 2 T) a = 0.
- Determinantal equation for is
det(V 2 T) = 0.
- Normal coordinates can be found as
= P1 q = (PT T) q.

Hoofdstuk 16 en 17: Rigid body motion

- Particle velocity (fixed rotation axis) is

v = (r b)
where B is any point on the rotation axis.
- For a rigid body in general motion, with B one of its particles, we have
v = vB + (r b),
6

where the angular velocity is independent of the choice of the reference

particle.
- We have the fundamental relations for the true rates of changes of the
basisvectors e0j :


de0j
dt

= e0j

with the angular velocity of F 0 with respect to F .

- Relationship between true and apparent value of du
dt is:
 
 
du
du
=
+ u.
dt F
dt F 0
- Relationship between true and apparent velocities of particles:
v = V + r0 + v 0
where v0 is the apparent velocity of P and r0 is the positionvector of P
relative to F 0 .
The acceleration transformation formula is
r0 + 2 v0 + ( r0 ) + a0 .
a=A+
- The fictitious force equation is
r0 ) + (2m v0 ) + (m ( r0 )).
ma0 = F + (mA) + (m
- Projectile equation on rotating Earth:


dv
m
+ 2 v = mgk,
dt
where k and g are constants.
-The Earths angular velocity is
= ( sin i + cos k),
where is the angle between the apparent vertical at O and the Earths
rotation axis. It is called the co-latitude of O.
- If a system is apparently conservative when viewed from a rotating reference frame with a fixed origin and constant angular velocity, energy conversation holds in the modified form
1
T + V IA 2 = E,
2
with IA the moment of inertia about the rotation axis.
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