PH 221-3A Fall 2009

Motion in Two and Three Dimensions

Lectures 4, 5
Chapter 4 (Halliday/Resnick/Walker, Fundamentals of Physics 8th edition)
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Chapter 4
Motion in Two and Three Dimensions
In this chapter we will continue to study the motion of objects without the restriction we put in chapter 2 to move along a straight line. Instead we will line consider motion in a plane (two dimensional motion) and motion in space (three dimensional motion). The following vectors will be defined for twoand three- di d th dimensional motion: i l ti Displacement g y Average and instantaneous velocity Average and instantaneous acceleration We will consider in detail projectile motion and uniform circular motion as examples of motion in two dimensions. l f i i di i Finally we will consider relative motion, i.e. the transformation of velocities between two reference systems which move with respect to each other with constant velocity.
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Position Vector
r The Th position vector r of a particle is d fi d as a vector whose tail is at iti t f ti l i defined t h t il i t a reference point (usually the origin O) and its tip is at the particle at p point P. Example: The position vector in the figure is:

r r = xi + yj + zk
r r = 3i + 2 + 5k m j
P

Displacement Vector
r r For a particle that changes postion vector from r1 to r2 we define the displacement r r r r vector r as follows: r = r2 r1 r r The position vectors r1 and r2 are written in terms of components as: r r + y1 + z1k r1 = x1i r2 = x2i + y2 + z2 k j j

r The displacement r can then be written as: r r = ( x2 x1 ) i + ( y2 y1 ) + ( z2 z1 ) k = xi + yj + zk j

x = x2 x1
y = y2 y1 z = z2 z1
t1 t2
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Problem 2. A watermelon seed has the following coordinates: x = 5.0m, y = 8.0m, z = 0m. Find its position vector (a) in unitvector notation and as (b) a magnitude and (c) an angle relative to the positive direction of the x axis. (d) Sketch the vector on a right handed coordinate system. If the seed is moved to the xyz coordinates (3.00m, 0m, 0m) what is its displacement (e) in unit-vector notation as as (f) a magnitude and (g) ( ) an angle relative to the positive x di ti ? l l ti t th iti direction? r
(a) The position vector, according to

r = xi + yj + zk
=

r is r = ( 5 .0 m ) + ( 8 .0 m )j . i

r (b) The magnitude is | r | =

x2 + y2 + z2

( 5 .0 m ) 2 + (8 .0 m ) 2 + ( 0 m ) 2 = 9 .4 m .

(c) Many calculators have polar rectangular conversion capabilities which make this computation more efficient than what is shown below. Noting that the vector lies in the xy plane and using tan=ry/rx, we obtain:

= ta n 1

8 .0 m = 5 8 o r 1 2 2 5 .0 m

where the latter possibility (122 measured counterclockwise from the +x direction) is chosen since the signs of the components imply the vector is in the second quadrant. (d) The sketch is shown on the right. The vector is 122 counterclockwise 122 from the +x direction.
r r r r (e) The displacement is r = r r where r is given in part (a) and r r r = (3 .0 m ) Therefore, r = (8 .0 m ) (8 .0 m )j . i. i

r (f) The magnitude of the displacement is | r | =

( 8 .0 m ) 2 + ( 8 .0 m ) 2 = 1 1 m .

(g) The angle for the displacement, using tan=ry/r x, is

8 .0 m ta n 1 = 4 5 o r 1 3 5 8 .0 m
where we choose the former possibility (45, or 45 measured clockwise from +x) since the signs of the components imply the vector is in the r fourth quadrant. A sketch of r is shown on the right.

Average and Instantaneous Velocity

Following the same approach as in chapter 2 we define the average velocity as: displacement
average velocity = time interval

r r xi + yj + zk xi yj zk r vavg = = = + + t t t t t

We define as the instantaneous velocity ( (or more simply the velocity) as the limit: py y)
t t + t

r r r dr r v = lim = t dt t 0

If we allow the time interval t to shrink to zero, the following things happen: r r r 1. Vector r2 moves towards vector r1 and r 0 r r r 2. The direction of the ratio (and thus vavg )approaches the direction t of the tangent to the path at position 1 f th t t t th th t iti r r 3. vavg v
y r d dx dy + dz k = v i + v + v k yj z v= xi + yj + zk = i + i j k j x dt dt dt dt

The three velocity components are given by the equations:

t t + t

vx =

dx dt

r r dr v= dt

dy vy = dt
vz = dz dt
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 j Problem 6. An electron position is given by r = 3.00ti 4.00t 2 + 2.00k , r with t in seconds and r in meters. (a) In unit-vector notation, what is the r r electron s electron's velocity v (t )? At t = 2 00 s, what is v (b) in unit-vector notation 2.00 and as (c) a magnitude and (d) an angle relative to the positive direction of the x axis?
( ) q (a) Eq.

r r dr v= dt
v(t ) =

leads to
d (3.00t 4.00t 2 + 2.00k) = (3.00 m/s)i (8.00t m/s) i j j dt

r (b) Evaluating this result at t = 2.00 s produces v = (3.00i 16.0j) m/s.

r (c) The speed at t = 2.00 s is v = |v |= (3.00 m/s) 2 + ( 16.0 m/s) 2 = 16.3 m/s.

r (d) The angle of v at that moment is

16.0 m/s tan t 1 79 4 = 79.4 or 101 3.00 m/s

where we choose the first possibility (79.4 measured clockwise from the +x direction, or 281 281 counterclockwise from +x) since the signs of the components imply the vector is in the fourth quadrant.
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Average and Instantaneous Acceleration

The average acceleration is defined as: g

change in velocity average acceleration = time interval

r aavg

r r r v v v = 2 1= t t

We define as the instantaneous acceleration as the limit:

r r dv v dv d r + v y + vz k = dvx i + y + dvz k = ax i + a y + az k = = a = lim vx i j j j t dt dt dt dt dt t 0

Note: Unlike velocity, the acceleration vector does not have any specific relationship
with the path. The three acceleration components are g p given by y the equations:

dv ax = x dt

ay =

dv y dt

dvz az = dt

r dv r a= dt

r P ro b le m 1 3 . T h e p o sitio n r o f a p a rtic le m o v in g in a n x y p la n e is g iv e n b y r r r = ( 2 .0 0 t 3 5 .0 0 t ) i + ( 6 .0 0 7 .0 0 t 4 ) , w ith r in m e te rs a n d t in se c o n d s. j r r r (a ( (c (d In u n it-v e c to r n o ta tio n , c a lc u la te ( ) r , (b ) v , ( ) a fo r t = 2 .0 0 s. ( ) W h a t is th e a n g le b e tw e e n th e p o sitiv e d ire c tio n o f th e x a x is a n d a lin e ta n g e n t to th e r dv r dr p a rtic le a t t = 2 .0 0 s? ax = x v= dt dt In parts (b) and (c), we use . For part (d), we
find the direction of the velocity computed in part (b) since that represents the asked for (b), asked-for tangent line. (a) Plugging into the given expression, we obtain

r r

t = 2 .0 0

[ 2 . 0 0 ( 8 ) 5 . 0 0 ( 2 ) ] + [ 6 . 0 0 7 . 0 0 ( 1 6 ) ] j = i

( 6 . 0 0 1 0 6 j) m i

(b) Taking the derivative of the given expression produces

r v ( t ) = ( 6 . 0 0 t 2 5 . 0 0 ) 2 8 . 0 t 3 j i

where we have written v(t) to emphasize its dependence on time. This becomes, at h h i ( ) h i i d d i Thi b r t = 2.00 s, v = ( 1 9 . 0 2 2 4 j ) m / s . i
r (c) Differentiating the v ( t ) found above, with respect to t produces 1 2 . 0 t 8 4 . 0 t 2 j , i r which yields a = ( 2 4 . 0 3 3 6 j ) m / s 2 at t = 2.00 s. i

r (d) The angle of v , measured from +x, is either

ta n
1

2 2 4 m /s = 8 5 .2 o r 9 4 .8 1 9 .0 m /s

where we settle on the first choice (85.2, which is equivalent to 275 measured counterclockwise from the +x axis) since the signs of its components imply that it is in 10 the fourth quadrant.

Projectile Motion
The motion of an object in a vertical plane under the influence of gravitational force is known as projectile motion

r j The projectile is launched with an initial velocity vo = vox i + voy

The horizontal and vertical velocity components are:

vox = vo cos o g

voy = vo sin o

Projectile motion will be analyzed in a horizontal and a vertical motion along the x- and y-axes, respectively. These two motions are independent of each other. Motion along the x other xaxis has zero acceleration. Motion along the y-axis has uniform acceleration ay = -g
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Horizontal Motion: ax = 0 v x = v0 cos0 ( q ) (eqs.1) ay = g (eqs.3) (eqs 3) Vertical Motion: v y = v0 sin 0 gt

The velocity along the x-axis does not change x xo = vox t = ( vo cos o ) t (eqs.2) ( q ) Along the y-axis the projectile is in free fall gt 2 gt 2 y yo = voy t = ( v0 sin 0 ) t 2 2
2

(eqs 4) (eqs.4)

If we eliminate t between equations 3 and 4 we get: v 2 = ( v0 sin 0 ) 2 g ( y yo ) y

Here xo and yo are the coordinates of the launching point. For many problems the launching point is taken at the origin. In this case xo = 0 and yo = 0 d Note: In this analysis of projectile o o eg ec e e ec s o motion we neglect the effects of air resistance
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The equation of the path: gt 2 x = ( vo cos o ) t (eqs.2) (eqs 2) y = ( v0 sin 0 ) t 2 If we eliminate t between equations 2 and 4 we get: y = ( tan o ) x g 2 ( vo cos o )
2

(eqs.4) (eqs 4)

x2

This Thi equation describes the path of the motion i ib h h f h i

The path equations has the form: y = ax + bx 2 This is the equation of a parabola

Note: The equation of the path seems too complicated to be useful. Appearances can useful deceive: Complicated as it is, this equation can be used as a short cut in many projectile motion problems

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v x = v0 cos 0

(eqs.1)

x = ( vo cos o ) t

(eqs.2)

sin 3/2

gt 2 v y = v0 sin 0 gt (eqs 3) y = ( v0 sin 0 ) t (eqs.3) (eqs 4) O /2 (eqs.4) 2 Horizontal Range: The distance OA is defined as the horizantal range R At point A we have: y = 0 From equation 4 we have:

gt 2 gt = 0 t v0 sin 0 = 0 This equation has two solutions: v0 sin 0 ) t ( 2 2 Solution 1. t = 0 This solution correspond to point O and is of no interest gt = 0 This solution correspond to point A 2 2v0 sin 0 From solution 2 we get: t = If we substitute t in eqs.2 we get: g 2 2 2vo vo sin o cos o = sin 2 o R= g g t A O R has its maximum value when o = 45 Solution 2. v0 sin 0
R 2sin A cos A = sin 2 A

Rmax

2 vo = g

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tA

g
H

Maximum height H
2 vo sin 2 o H= 2g

The Th y-component of the projectile velocity i v y = v0 sin 0 gt f h j il l i is: i At point A: v y = 0 v0 sin 0 gt t =

2

v0 sin 0 g
2

H = y (t ) = ( v0 sin 0 ) t
2 vo sin 2 o H= 2g

v sin 0 g v0 sin 0 gt = ( v0 sin 0 ) 0 2 g 2 g

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tA

Maximum height H (encore)

g
2 vo sin 2 o H= 2g

We can calculate the maximum height using the third equation of kinematics for motion along the y-axis: v y 2 = v 2 + 2a ( y yo ) y axis: yo In our problem: yo = 0 , y = H , v yo = vo sin o , v y = 0 , and a = g
2 vo sin 2 o v = 2 gH H = = 2g 2g 2 yo

v2 yo

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Problem : A car drives straight off the edge of a cliff that is 54m high. The police at the scene of the accident note that the point of impact is 130m from the base of a cliff. How fast was the car traveling when it went over the cliff?

During this time the car travels a horizontal distance of 130m

Problem : A diver springs upward from a board that is three meters above the water. At the instant she contacts the water her speed is 8.90 m/s and her body makes an angle of 75.0 degrees with respect to the horizontal surface of the water. Determine her initial velocity, both magnitude and direction di ti

The motion of a ballistic missile can be regarded as the motion of a projectile because along the greatest part of its trajectory the missile is in free fall. Suppose that a missile is to strike a target 1000 km away. What minimum speed must the missile have at the beginning of its trajectory? What maximum height does it reach when launched with this minimum speed? How long does it take to reach the target? For these calculations assume that g = 9.8 m/s2 everywhere along the trajectory.

~7.5 min

Problem: A projectile is fired at an initial velocity of 35.0 m/s at an angle of 30.0 degrees above the horizontal from the roof of a building 30.0 m high, as shown. Find a) The maximum height of the projectile b) The time to rise to the top of the trajectory c) The total time of the projectile in the air d) The velocity of the projectile at the ground e) The range of the projectile

Problem 37. A ball is shot from the ground into the air. A t a height of 9.1 m , its velocity is r v = (7.6 i + 6.1 ) m .s, w ith i horizontal and upw ard. (a) To w hat m axim um height does the j j ball rise? (b ) W hat total horizontal distance does the ball travel? W hat are the (c) m agnitude and (d) angle (below the horizontal) of the ball's velocity just before it hits the ground?
We designate velocity when r v 3 and take ground.

r the given velocity v = ( 7 it reaches the max height r v 0 as the launch velocity,

r as opposed to the . 6 m / s ) + ( 6 . 1 m / s ) j as v 1 i r v 2 or the velocity when it returns to the ground as usual. The origin is at its launch point on the

(a) Different approaches are available, but since it will be useful (for the rest of the problem) to first find the initial y velocity, that is how we will proceed. v 12 y = v 02 y 2 g y ( 6 . 1 m / s ) 2 = v 02 y 2 ( 9 . 8 m / s 2 ) ( 9 . 1 m ) which yields v0 y = 14.7 m/s. Knowing that v2 maximum height:
v
2 2 y

must equal 0, we use y = h for the

2 (9 .8 m /s

= v

2 0 y

2 g h

0 = (1 4 . 7

m /s )

)h

which yields h = 11 m. (b) Recalling the derivation of Eq. 4-26, but using v0 y for v0 sin 0 and v0x for v0 cos 0, we have 1 0 = v0 yt g t 2 , R = v0 xt 2 which leads to R obtain

= 2 v

0 x

0 y

/ g .

Noting that v0x = v1x = 7.6 m/s, we plug in values and

R = 2(7.6 m/s)(14.7 m/s)/(9.8 m/s2) = 23 m. (c) Since v3x = v1x = 7 6 m/s and v3y = v0 ( ) Si 7.6 / d
v
3

= 14.7 m/s, we have 14 7 / h

2

2 3 x

+ v

2 3 y

( 7 .6

m /s )

+ ( 1 4 .7
r v
3

m /s )

= 1 7

m /s .

(d) The angle (measured from horizontal) for

ta n
1

is one of these possibilities:

o r 1 1 7

1 4 .7 m 7 .6 m

= 6 3

where we settle on the first choice (63, which is equivalent to 297) since the signs of 21 its components imply that it is in the fourth quadrant.

Uniform circular Motion

A particles is in uniform circular motion it moves on a circular path of p p radius r with constant speed v. Even though the speed is constant, the velocity is not. The reason is that the direction of the velocity vector changes from point to point along the path. The fact that the velocity g p p g p y changes means that the acceleration is not zero. The acceleration in uniform circular motion has the following characteristics: 1. Its vecto points towards the center C of the circular path, thus the name . ts vector po ts towa ds t e ce te o t e c cu a pat , t us t e a e centripetal v2 2. Its magnitude a is given by the equation: a = r
Q r C r r R P

The time T it takes to complete a full revolution is known as the period. It is given by the period . equation:
2 r T= v

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yP xP sin = cos = r r Here xP and yP are the coordinates of the rotating particle r r y P xP r dv v dyP v dxP = v = v i + v j Acceleration a = i + j r r dt r dt r dt dyP dxP We note that: = v y = v cos and = vx = v sin dt dt

r v = vx i + v y = ( v sin ) i + ( v cos ) j j

v2 r v2 a = cos i + sin j r r
tan =
vx = v sin v y = v cos

v2 2 2 a = ax + a y = r

( cos ) + ( sin )
2

v2 = r

ay ax

( v 2 / r ) cos
P

( v 2 / r ) sin

r = tan = a points towards C

( cos ) + ( sin )
2

=1

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Problem 60. An earth satellite moves in a circular orbit 640 km above Earth's surface with a period of 98.0 min. What are the (a) speed and (b) magnitude of the centripital acceleration of the satellite?

2 r to solve for speed v and We apply T = v

v2 a= r

to find acceleration a.

(a) Since the radius of Earth is 6.37 106 m, the radius of the satellite orbit is r = (6.37 106 + 640 103 ) m = 7.01 106 m. Therefore, the speed of the satellite is

2 7.01 106 m 2r v= = = 7.49 103 m / s. T 98.0 min 60 s / min

gb

(b) The magnitude of the acceleration is

a=

v r

c7.49 10 =

m/s
6

7.01 10 m

= 8.00 m / s2 .
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Relative Motion in One Dimension:

The velocity of a particle P determined by two different observers A and B varies from observer to observer. Below we derive what is known as the transformation equation of velocities. This equation gives us the exact relationship between the velocities each observer perceives. Here we assume that observer B moves with a known constant velocity vBA with respect t observer A Ob k t t l it ith t to b A. Observer A and B d t d determine i the coordinates of particle P to be xPA and xPB , respectively.

xPA = xPB + xBA

Here xBA is the coordinate of B with respect to A d d d We take derivatives of the above equation: xPA ) = ( xPB ) + ( xBA ) ( dt dt dt

vPA = vPB + vBA

If we take derivatives of the last equation and take t k d i ti f th l t ti dt k dvBA aPA = aPB =0 into account that dt
Note: Even though observers A and B measure different velocities for P, they measure the same acceleration
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Relative Motion in Two Dimensions:

Here we assume that observer B moves with a known constant velocity vBA with respect to observer A in the xy-plane. xy-plane

Observers A and B determine the position vector of particle P to be r r rPA and rPB , respectively. r r r rPA = rPB + rBA We take the time derivative of both sides of the equation

r r r d r d r d r r r r rPA = rPB + rBA vPA = vPB + vBA vPA = vPB + vBA dt dt dt If we take the time derivative of both sides of the last equation we have: r d r d r d r dv d BA r r vPA = vPB + vBA If we take into account that = 0 aPA = aPB dt dt dt dt
Note: As in the one dimensional case, even though observers A and B measure different velocities for P, P they measure the same acceleration
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Problem 74. A light plane attain an airspeed of 500 km/h. The pilot sets out for a destination 800 km due north but discovers that the plane must be headed 20.0oeast of due north to fly there directly. The plane arrives in 2.00 h. What were the (a) magnitude and (b) direction of the wind velocity?

The destination is D = 800 km j where we orient axes so that +y points north and +x points east. This takes two hours, so the (constant) velocity of the plane (relative to the ^ ground) is vpg = (400 km/h) j . This must be the vector sum of the planes velocity with respect to the air which has (x,y) components (500cos70, 500sin70) and the velocity of the i ( i d) l ti t th th air (wind) relative to the ground vag . Th d Thus, (400 km/h) j = (500 km/h) cos70 i + (500 km/h) sin70 j + vag which yields

uur vag

vag =( 171 km/h)i ( 70.0 km/h)j .

r r km/h) 70.0 km/h) km/h. (a) The ( ) Th magnitude of vag i | vag |= ( 171 k /h) 2 + ( 70 0 k /h) 2 = 185 k /h it d f is
r (b) The direction of vag is

uuu r v pg

uuu r v pa

= tan 1

70.0 km/h = 22.3 (south of west). 171 km/h

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