Professional Documents
Culture Documents
PHY34210
Course textbook,
Fundamentals of Physics,
http://www.wiley.com/WileyCDA/WileyTitle/productCd-EHEP001575.html
REGAN 4
PHY34210
Course notes and past papers/solns can be found at the following link:
http://personal.ph.surrey.ac.uk/~phs1pr/lecture_notes/notre_dame/
REGAN 5
1st Section: PHY34210
• 1: Measurement
– Units, length, time, mass
• 2: Motion in 1 Dimension
– displacement, velocity, acceleration
• 3: Vectors
– adding vectors & scalars, components, dot and cross products
• 4: Motion in 2 & 3 Dimensions
– position, displacement, velocity, acceleration, projectiles,
motion in a circle, relative motion
• 5: Force and Motion: Part 1
– Newton’s laws, gravity, tension
• 6: Force and Motion: Part 2
– Friction, drag and terminal speed, motion in a circle
REGAN 6
2nd Section: PHY34210
http://www.ph.surrey.ac.uk/~phs1pr/lecture_notes/phy34210_13.ppt
and
http://www.ph.surrey.ac.uk/~phs1pr/lecture_notes/phy34210_13.pdf
REGAN 9
1: Measurement PHY34210
• 1012 = Tera = T
For convenience, sometimes,
when dealing with large or small • 109 = Giga = G
units, it is common to use a prefix • 106 = Mega = M
to describe a specific power of 10
with which to multiply the unit. • 103 = Kilo = k
e.g.
• 10-3 = milli = m
• 10-6 = micro = m
1000 m = 103 m = 1E+3 m = 1 km
• 10-9 = nano = n
0.000 000 000 1 m = 10-10 m = 0.1 nm • 10-12 = pico = p
• 10-15 = femto = f
REGAN 12
Converting Units PHY34210
Later the standards was changed to the distance between two lines
on a particular standard Platinum-Iridium bar kept in Paris.
From HRW, p6
But, a day does not have
a constant duration!
1 u = 1.66054 x 10-27 kg
Orders of Magnitude
It is common for physicists to ESTIMATE the magnitude of
particular property, which is often expressed by rounding up (or
down) to the nearest power of 10, or ORDER OF MAGNITUDE,
e.g.. 140,000,000 m ~ 108m,
REGAN 16
Estimate Example 1: PHY34210
4 3
Volume of string, V d L r
2
3
r r radius of ball 10cm/2 5cm 0.05m
assume cross - section of string ~ 3mm square
d
V 0.05m 3mm L 0.003m L
4 3 2 2
d 3
0.05m 3 4 0.05 0.05 0.05m 3
4
L 3
0.003m 2
0.003 0.003m 2
L 55.5m 60m
REGAN 17
PHY34210
E.g., 2: Estimate Radius of Earth (from the beach.)
From Pythagoras , d h
d 2 r 2 r h r 2 2rh h 2
2
d 2 2rh h 2 , but h r r
d 2 2rh r
From HRW
REGAN 20
PHY34210
The average VELOCITY is defined
by the displacement (Dx) divided
by the time taken for this
displacement to occur (Dt).
x2 x1 Dx
vav
t 2 t1 Dt
The SLOPE of the (x,t) plot gives
average VELOCITY.
Like displacement, velocity is a
VECTOR with the same sign as
the displacement.
x x0
v v0 at (1) recalling that vav , then
t 0
since by definition , vav
v0 v
, 2vav v v0
2
1
substituti ng into (1) for v0 gives vav v0 at ,
2
1 2 d x x0
x x0 v0t at (2) , note v v0 at
2 dt
combining (1) and (2) to eliminate t , a and v0 gives
dv d 2 x
a 2 by definition dv a dt
dt dt
dv a dt and thus for a constant
v at C , evaluated by knowing that at
t 0, v v0 v0 a 0 C thus, v v0 at (1)
dx
v dx v dt , v not constant, but v0 is, therefore
dt
by substituti on, dx v
0 at dt dx v0 dt a t dt
1 2
integratin g gives, x v0t at C , calculate C by
2
1
knowing x x0 at t t0 C x0 and x x0 v0t at 2 (5)
2
REGAN 25
Free-Fall Acceleration PHY34210
At the surface of the earth, neglecting any effect due to air resistance
on the velocity, all objects accelerate towards the centre of earth
with the same constant value of acceleration.
This is called FREE-FALL ACCELERATION, or ACCELERATION
DUE TO GRAVITY, g.
At the surface of the earth, the magnitude of g = 9.8 ms-2
Note that for free-fall, the equations of motion are in the y-direction
(i.e., up and down), rather than in the x direction (left to right).
Note that the acceleration due to gravity is always towards the centre
of the earth, i.e. in the negative direction, a= -g = -9.8 ms-2
REGAN 26
Example PHY34210
(a) how long does it take the ball to reach its maximum height ?
(b) v 2
v0
2
2 a ( y y 0 ) (12) 2
2 a y 0 & v 0, v0 12 ms 1
,
1 2
v 2
v 2
0 (12 ms )
a g 9.8ms 2 y 0 2
7.3m
2a 2 9.8ms
REGAN 27
PHY34210
( c) How long does the ball take to reach a point 5m above its initial
release point ?
v0 12ms 1 , a 9.8ms 2 , y y0 5m
1 2 1
1
from y y0 v0t at 5m 12ms t 9.8ms 2t 2
2 2
assuming SI units, we have a quadratic equation, 4.9t 2 12t 5 0
recalling at 2 bt c 0 solutions are given by
b b 2 4ac
t t 0.5s AND 1.9s
2a
Note that there are TWO SOLUTIONS here (two different ‘roots’ to
the quadratic equation). This reflects that the ball passes the same
point on both the way up and again on the way back down.
REGAN 28
3: Vectors PHY34210
b
Any two vectors can be added using the
VECTOR EQUATION, where the sum of s a b
vectors can be worked out using a triangle. a s
Note that two vectors can be b
added together in either order to
get the same result. This is called a
a s
the COMMUTATIVE LAW.
s b a a b
b
Generally, if we have more than
2 vectors, the order of combination b
c b c
does not affect the result. This is
called the ASSOCIATIVE LAW. s = '
a s
r a b c a b c r a r
REGAN 30
Subtracting Vectors, Negative Vectors PHY34210
b
b is the same magnitude as b s a b
but in the opposite direction.
a s
b
b as with usual algebra, we can
a s
re - arrange vector equations,
d
e.g., d a b d b a
d a b a b
Note that as with all quantities, we can only add / subtract vectors
of the same kind (e.g., two velocities or two displacements).
We can not add differing quantities e.g., apples and oranges!)
REGAN 31
Components of Vectors PHY34210
a a xiˆ a y ˆj a z k , b bxiˆ by ˆj bz kˆ
ˆ
then if s a b using vector addition by components
s (a x bx )iˆ (a y by ) ˆj (az bz )kˆ s xiˆ s y ˆj s z kˆ
REGAN 33
Vector Multiplication PHY34210
The VECTOR PRODUCT of two vectors a and b
produces a third vector whose magnitude is given by
c ab sin The direction of the
is the angle between resultant is perpendicular
the two initial vectors to the plane created by the
initial two vectors, such that
also a b b a and
b
a b a xiˆ a y ˆj a z kˆ bxiˆ by ˆj bz kˆ c a
but a xiˆ bxiˆ a xbx iˆ iˆ 0 and
a xiˆ by ˆj a x by iˆ ˆj a xby kˆ, thus
a b a y bz by a z iˆ a z bx bz a x ˆj a xby bx a y kˆ
REGAN 35
Example 1: PHY34210
3
a r
c
x
b
Example 2: REGAN
PHY34210
36
What are the (a) scalar and (b) vector products of the two vectors
aˆ 2iˆ 3 ˆj 4kˆ and bˆ 4iˆ 20 ˆj 12kˆ
(a) Scalar Product : a . b ab cos 2iˆ 3 ˆj 4kˆ . 4iˆ 20 ˆj 12kˆ
recalling only iˆ.iˆ ˆj.ˆj kˆ.kˆ 1, iˆ.ˆj iˆ.kˆ ˆj.kˆ 0
then a . b a x bx a y by a z bz (2.4) (3. 20) (4.12)
a . b 8 - 60 - 48 -100
(b) Vector Product, a b 2iˆ 3 ˆj 4kˆ 4iˆ 20 ˆj 12kˆ
recalling a b a y bz by a z iˆ a z bx bz a x ˆj a x by bx a y kˆ
a b
(3).(12) (20).( 4) iˆ (4).( 4) (12).( 2) ˆj (2).( 20) (4)(3) kˆ
36 80 iˆ (16 24) ˆj (40 12) kˆ
a b 44 iˆ 40 ˆj 52 kˆ 4 . 11 iˆ 10 ˆj 13kˆ
REGAN 37
PHY34210
4: Motion in 2 and 3 Dimensions
The use of vectors and their components is very useful for describing
motion of objects in both 2 and 3 dimensions.
Position and Displacement
If in general the position of a particle can be
descibed in Cartesian co - ordinates by
r xiˆ yˆj zkˆ , then the DISPLACEME NT is
Dr r2 r1 x2 i y2 ˆj z 2 k x1i y1 ˆj z1kˆ
ˆ
x x i y y ˆj z z kˆ
2 1 2 1 2 1
v0
Max. height occurs when v0 sin
v y 0, i.e., v0 sin 0 gt
v0 cos
REGAN 41
PHY34210
The Equation of Path for Projectile Motion
Given that x x0 v0 cos 0 t and y y0 v0 sin 0 t
1 2
gt
2
x x0 1 x x0
2
y y0 v0 sin 0 g
v 0 cos
0 2
0v cos
0
1 x x0
2
y y0 tan 0 x x0 g
2 v0 cos 0 Note that this is an
equation of the form
y=ax+bx2 i.e., a parabola
(also, often y0=x0=0.)
REGAN 42
The Horizontal Range PHY34210
yp xp
v v x i v y j v sin i v cos j , but sin
ˆ ˆ ˆ ˆ and cos , thus
r r
vyp ˆ vxp ˆ dv v dy p ˆ v dx p ˆ
v i j . Accelerati on is a i j
r r dt r dt r dt
dy p dx p v
but v yp v cos and v xp v sin
dt dt yp r
v dy p ˆ v dx p ˆ v 2 cos ˆ v 2 sin ˆ
a i j i j xp
r dt r dt r r
v2 v2
magnitude, a a x a y
2 2
cos sin , thus, a
2 2
r r
v 2 sin
a y r sin
ACCELERATI ON DIRECTION from tan tan ,
a x v cos cos
2
r
i.e., , accelerati on is along the radius.... towards centre of circle
Relative Motion REGAN
PHY34210
46
Note that Newtonian mechanics breaks down for (1) very fast speeds,
i.e. those greater than about 1/10 the speed of light c, c=3x108ms-1
where it is replaced by Einstein’s theory of RELATIVITY and (b)
if the scale of the particles is very small (~size of atoms~10-10m),
where QUANTUM MECHANICS is used instead.
Newton’s Laws are limiting cases for both quantum mechanics and
relativity, which are applicable for specific velocity and size regimes
Newton’s First Law REGAN
PHY34210
48
‘ If no force acts on a body, then the body’s velocity can not change,
i.e., the body can not accelerate’
This means that
(a) if a body is at rest, it will remain at rest unless acted
upon by an external force, it; and
(2) A spaceship shot into space will continue to move in the direction
and speed unless acted upon by some (gravitational) force.
REGAN 49
Force PHY34210
The units of force are defined by the acceleration which that force
will cause to a body of a given mass.
The unit of force is the NEWTON (N) and this is defined by the
force which will cause an acceleration of 1 m/s2 on a mass of 1 kg.
If two or more forces act on a body we can find their resultant value
by adding them as vectors. This is known as the principle of
SUPERPOSITION. This means that the more correct version of
Newton’s 1st law is
‘ If no NET force acts on a body, then the body’s velocity can not
change, i.e., the body can not accelerate’
‘ The net force on a body is equal to the product of the body’s mass
and the acceleration of the body’
We can write the 2nd law in the form of an equation: Fnet ma
As with other vector equations, we can make three equivalent equations
for the x,y and z components of the force. i.e.,
Fnet , x max , Fnet , y may and Fnet , z maz
the forces balance out each other and the body is in EQUILIBRIUM.
We can often describe multiple forces acting on the same body using
a FREE-BODY DIAGRAM, which shows all the forces on the body.
FA 220 N, FB ?, FC 170 N
FA 220 N
FA FB FC ma 0 FB FA FC
components along the x and y axes cancel Fc 170 N
y
FBy FAy FCy FA sin 47 FC sin FB
o
The normal force is the effective ‘push’ a body feels from a body
to stop the downward acceleration due to gravity, for example the
upward force which the floor apparently outs on a body to keep it
stationary against gravity.
Normal Force, N
General equation for block on a table is
Fnet ma N Fg
y component, ma y N Fg N mg
N m a y g i.e., if block is at rest then
N m 0 g mg i.e. same magnitude as
gravitatio nal force but in opposite direction.
Note the NORMAL FORCE is ‘normal’ Gravitatio nal Force, Fg mg
(i.e. perpendicular) to the surface.
REGAN 54
Example PHY34210
a Fnet ma Fg N
N
Fy ,net may Fg N mg N
N m a y g
Two bodies interact when they push or pull on each other. This leads
to Newton’s third law which states,
‘ When two bodies interact, the forces on the bodies from each other
are always equal in magnitude and opposite in direction ’
N T cos50o
N T
T
y x
40 o
50o
mg = 40 o
g x 15kg
40 o mg
3) If the body begins to move along the surface, the magnitude of the
frictional force reduces to fk=mkN, where mk is the coefficient of
kinetic friction.
REGAN 59
Drag Force and Terminal Speed PHY34210
When a body passes through a fluid (i.e., gas or a liquid) such as a ball
falling through air, if there is a relative velocity between the body and
the fluid, the body experiences a DRAG FORCE which opposes this
relative motion and is in the opposite direction to the motion of the
body (i.e., in the direction which the fluid flows relative to the body).
Ultimately , the drag force will be cancel the downward accelerati on.
In general, Fnet , y may D Fg
For ' terminal speed' , a y 0, thus
1 2 Fg 2mg
CrAvt Fg 0 vt
2
2 CrA CrA
REGAN 61
Forces in Uniform Circular Motion PHY34210
Note that since the speed, radius and mass are all CONSTANTS so
is the MAGNTIUDE OF THE CENTRIPETAL FORCE. However,
DIRECTION IS NOT CONSTANT, varying continuously so as to
point towards the centre of a circle.
REGAN 63
Example: PHY34210
Work:
`Work is the energy transferred to or from an object by means of a
force acting on it. Energy transferred to the object is positive work,
while energy transferred from the object is negative work.’
For example, if an object is accelerated such that it increases its
velocity, the force has ‘done work’ on the object.
REGAN 65
Work and Kinetic Energy PHY34210
The work done (W) on an object by a force, F, causing a displacement,
d, is given by the SCALAR PRODUCT, W = F.d =dFcos where
Fcos is the component of the force along the object’s displacement.
This expression assumes a CONSTANT FORCE (one that does not
change in magnitude or direction) and that the object is RIGID (all
parts of the object move together).
Example: If an object moves in a straight line with initial velocity, v0
and is acted on by a force along a distance d during which the velocity
increases to v due to an acceleration, a, from Newton’s 2nd Law the
magnitude of the force is given by F = max . From the equations of
motion v2=vo2+2axd . By substituting for the acceleration, ax, we have,
d
1 2 2
2a x
v v0 ,
Fx
m
1 2 1 2
a x Fx d mv mv0 DK work done
2 2
1 2 1 2
mv mv0 DK work done is the Work-Kinetic Energy Theorem
2 2
REGAN 66
Work Done by a Gravitational Force. PHY34210
2 xi
1 2 1 2 1 2
2
1 2
Ws kx f kxi k xi x f if xi 0, Ws kx f
2 2 2 2
REGAN 69
Work Done by an Applied Force PHY34210
During the displacement of the spring, the applied force, Fa, does
work, Wa on the block and the spring restoring force, Fs does work Ws.
The change in kinetic energy (of the block attached to the spring)
due to these two energy tra nsfers is given by
DK K f K i Wa Ws
Thus, if DK 0 , Wa Ws
If the block attached to a spring is stationary before and after its
displacement, then the work done on the spring by the applied force
is the negative of the work done on it by the spring restoring force.
Work Done by a General Variable Force. REGAN
PHY34210
70
W dW Fx dx Fy dy Fz dz
ri xi yi zi
REGAN 71
Work-Kinetic Energy Theorem PHY34210
W F x dx max dx m dx
dv
xi xi xi
dt
dv dv dx dv
using the CHAIN RULE, . v
dt dx dt dx
dv dv
we can CHANGE THE VARIABLE, m dx mv . dx mvdv
dt dx
xf vf vf
dv
W m dx mvdv m vdv
xi
dt vi vi
1 2 1 2
W mv f mvi K f K i DK ,
2 2
which is the WORK - KINETIC ENERGY THEOREM
REGAN 72
Power PHY34210
(b) If the crate had a kinetic energy of 10J at the start of the
displacement, how much kinetic energy did it have at the end of the
-3m ? Work-kinetic energy the orem, W ΔK 6 J K f 10 J
K f 6 10 J 4 J i.e., block is slowed down by wind force.
REGAN 75
Example 3: PHY34210
mg dy mg dy mgy f
yf yf
DU F ( y )dy yi
yi yi
yi
DU grav mg y f yi mgDy
Only CHANGES in gravitatio nal Pot. energy are meaningful ,
i.e., it is usual to define U i 0 at yi , then U y mgy
For the ELASTIC POTENTIAL ENERGY,
xf xf xf
i
xi xi xi
2
1
DU elas k x 2f xi2 . Pot energy is relative, thus we chose
2
U 0 at xi 0 Then, U x kx , x is extension/ compressio n.
1 2
2
REGAN 79
Conservation of Mechanical Energy PHY34210
U(x)
x
B D
C
A
kx mg L x mgL mgx
1 2 1 2
kx mgx mgL 0 ,
2 2
mg mg 2 2kmgL
solving this quadratic equation, x , x ve root
k
9: Systems of Particles REGAN
PHY34210
88
Centre of Mass (COM): The COM is the point that moves as though
all the mass of a body were concentrated there.
For 2 particles of mass, m1 and m2 separated by d , if the orgin of x - axis
coincides with the particle of mass m1 , the centre of mass of the system is
m2
xcom d . More generally, if m1 is at x1 and m2 is at x2 , the COM
m1 m2
m1 x1 m2 x2 m1 x1 m2 x2
is defined by xcom where M is the total mass
m1 m2 M
The general form for a n-particle system is given by
m1 x1 m2 x2 m3 x3 m4 x4 1 n
xcom
M
M
m x , similarly,
i 1
i i for 3 - D
1 n
1 n
ycom
M
m y
i 1
i i and zcom
M
mi zi . In vector form, if r xiˆ yˆj zkˆ
i 1
1 n
ˆ ˆ ˆ
then rcom xcomi ycom j zcom k and rcom
M
mi ri
i 1
REGAN 89
Centre of Mass for Solid Bodies PHY34210
Solid objects have so many particles (atoms) that they can be considered
to be made up of many infinitess imally small MASS ELEMENTS, dm.
1 1 1
Then, xcom
M xdm , ycom
M ydm , zcom
M zdm ,
Mrcom m1r1 m2 r2 m3r3 mn rn
differenti ating with respect to time,
dmn rn
since, mvn we get
dt
drcom
M Mvcom m1v1 m2 v2 m3v3 mn vn
dt
dvn
differenti ating once again, and recalling an
dt
and Newton' s 2 nd law,
dvcom
M Macom m1a1 m2 a2 m3 a3 mn an
dt
Fcom F1 F2 F3 Fn
REGAN 91
Linear Momentum PHY34210
The LINEAR MOMENTUM is defined by p mv
dp d mv mdv
F ma (for m is constant).
dt dt dt
Thus we can re-write Newton’s 2nd law as
‘ The rate of change of the linear momentum with respect to time is
equal to the net force acting on the particle and is in the direction of
the force.’
For a system of particles, the system has a total linear momentum, P which
is the vector sum of the individual particle linear momenta, i.e.,
P p1 p2 p3 pn m1v1 m2 v2 m3v3 mn vn P M vcom
dP dvcom
Since, F m macom , in a closed system, if the
dt dt
net external force is zero, and no particles enter or leave the
dP
system, then, Fnet 0 P constant i.e., Pi Pf
dt
This is the law of CONSERVATION OF LINEAR MOMENTUM
which we can write in words as
‘In no net external force acts on a system of particles, the total linear
momentum, P , of the system can not change.’
For rockets, the mass of the rocket is is not constant, (the rocket fuel is
burnt as the rocket flies in space). For no gravitational/drag forces,
By conservati on of momentum, Pi Pf
The initial P of the rocket plus the exhaust a) time = t
fuel equals the P of the exhaust products plus
v
the P of the rocket after time interval, dt. M
Mv dMU M dM v dv
if vrel is the relative speed between th e rocket and
the exhaust products (and dM - ve) , then, v dv vrel U b) time = t+dt
Mv dMU M dM vrel U
Mv dM v dv vrel M dM v dv v+dv
-dmM+dm
Mv dMv dMdv dMvrel Mv Mdv dMv dMdv
U
dM dv
0 dMvrel Mdv vrel M
dt dt
dv 1st rocket
if R is the rate of mass loss, then, we obtain Rv rel M Ma equation
dt
REGAN 94
Rv rel is called the THRUST (T ) of the rocket engine. PHY34210
are the initial and final rocket vel ocities, correspond ing to rocket
masses of M i and M f respective ly.
1
Since, in general, x dx ln x , then
Mf Mi 2nd rocket
v f vi vrel ln M f ln M i vrel ln v rel ln
M equation
Mi f
thus increase in velocit y greatest for small M f (use of multi - stage rockets! )
REGAN 95
Internal Energy Changes and External Forces PHY34210
ΔE mec ΔK ΔU Fd cos
10: Collisions REGAN
PHY34210
96
If the total kinetic energy of the system is equal before and after
collision, it is said to be an ELASTIC COLLISION.
However, in most everyday cases, some of this kinetic energy is
transferred into another form of energy such as heat or sound.
Collisions where the kinetic energies are NOT CONSERVED
are known as INELASTIC COLLISIONS.
For an isolated system, the velocity of the centre of mass can not change
in a collision as the system is isolated and there is no net external force.
Recalling P Mvcom m1 m2 vcom m1v1 m2 v2
P p p2
vcom 1
m1 m2 m1 m2
Elastic Collisions in 1-D REGAN
PHY34210
100
m1 m2
PHY34210
2m1
For 1 - D elastic collisions , v1, f v1,i & v2, f v1,i
m1 m2 m1 m2
These lead to the following limiting cases.
1) Equal masses, m1 m2 (e.g. pool balls) : v1, f 0 , v2, f v1,i
i.e., for a head - on collision between equal masses, the projectile stops
following collision and the target moves off with the projectile ' s velocity.
2) Massive target, m2 m1 (e.g., golf ball on a cannon ball) :
2m1
v1, f v1,i , v2 ,f v1,i i.e., light projectile bounces back with
m2
similar ve locity (but opposite direction) to incoming projectile .
Heavy targ et moves forwards with small velocity.
3) Massive projectile m1 m2 (e.g., cannon ball on golf ball) :
v1,f v1,i , v2 ,f 2v1,i i.e. heavy projectile continues forwards at approx.
unchanged velocity, light targ et moves off with twic e the projectile velocity.
Example 1: REGAN
PHY34210
102
Nuclear reactors require that the energies of neutrons be reduced by
nuclear collisions with a MODERATOR MATERIAL to low energies
(where they are much more likely to take part in chain reactions). If the
mass of a neutron is 1u~1.66x10-27kg, what is the more efficient
moderator material, hydrogen (mass = 1u) or lead (mass~208u)?
Assume the neutron-moderator collision is head-on and elastic.
We want the MAXIMUM transfer of kinetic energy FROM THE NEUTRON for
a single collision as a function of moderator mass. The initial and final kinetic
1 1
energies of the orginal and scattered neutron are K i mn vn2,i and K f mn vn2, f
2 2
K i K f vn2,i vn2, f
The fractional energy loss per collision is F
Ki vn2,i
For a closed neutron - nucleus collision & the moderating nucleus initially at rest,
vn , f mn mMOD 4mn mMOD
from cons. of lin. mom. , thus F therefor e,
vn , i mn mMOD mn mMOD 2
F 4 / 4 1 for hydrogen proton (NB. water H 2 O) and ~ 4/208 ~ 1/50 for Pb!
REGAN 103
Example 2: The Ballistic Pendulum PHY34210
2 2 2 2
For a 2-D glancing collision, the collision can be described in terms of
momentum components. For the limiting case where the body of m2 is
initially at rest, if the initial direction of mass, m1 is the x-axis, then,
x axis, m1v1,i m1v1, f cos 1 m2v2, f cos 2
y axis, 0 m1v1, f sin 1 m2v2, f sin 2
For an elastic collision, m1v12,i m1v12, f m2v22, f
11: Rotation REGAN
PHY34210
106
For the rotation of a rigid body, all of the particles in the body take the
same time to complete one revolution, which means that they all have
the same angular velocity,, i.e., they sweep out the same measure of
arc, d in a given time. However, the distance travelled by each of
the particles, s, differs dramatically depending on the distance, r, from
the axis of rotation, with the particles with the furthest from the axis
of rotation having the greatest speed, v.
at and ar are the tangential and radial accelerations respectively.
We can relate the rotational and linear variables using the following
(NB.: RADIANS MUST BE USED FOR ANGULAR VARIABLES!)
ds d dv d r d
s r ; v r r ; at r r
dt dt dt dt dt
v 2 r
2
Radial component of the accelerati on is ar r 2
r r
2r 2
Period of revolution , T
v
Rotation with Constant Acceleration REGAN
PHY34210
110
2 2 2 n 2
1 2 2
K mn rnn . BUT is constant, thus K mn rn .
1 2
2 n
n 2
Now we can define I mn rn2 where
n
PHY34210
For a rigid body, I mn rn2 where r is the perpendicu lar distance of the nth
n
particle from the rotation axis. For a continuous body, I mn rn2 r 2 dm.
The Parallel-Axis Theorem n
i
2 2
mH 1 35
u 127 pm
mH mH mCl 2
mH d d mCl d d I
2
2 2
Recalling for a single - particle body, I mr 2 ,
1 2 1 2
then W DK I f Ii
2 2
Work done, W Fs Ft rD D
Work done in an angular displaceme nt 1 to 2
2
is given by W d
1
dW d
POWER is given by P
dt dt
REGAN 117
12: Rolling, Torque and Angular Momentum PHY34210
2
K I com 2 M R I com 2 Mvcom
1 1 2 1 1 2
2 2 2 2
REGAN 119
Rolling Down a Ramp N PHY34210
If a wheel rolls at a constant speed, it R
has no tendency to slide. However, if this Fg sin
wheel is acted upon by a net force (such P Fg cos
as gravity) this has the effect of speeding
Fg
up (or slowing down) the rotation, causing
an acceleration of the centre of mass of the system, acom along the
direction of travel. It also causes the wheel to rotate faster. These
accelerations tend to make the wheel SLIDE at the point, P, that it
touches the ground. If the wheel does not slide, it is because the
FRICTIONAL FORCE between the wheel and the slide opposes the
motion. Note that if the wheel does not slide, the force is the STATIC
FRICTIONAL FORCE ( fs ).
Since the rotational frequency is given by R vcom , then
d R d vcom
by differenti ating both sides, acom R
dt dt
REGAN 120
Rolling down a ramp (cont.) N PHY34210
For a uniform body of mass, M and radius, R, R
rolling smoothly (i.e. not sliding) down a ramp Fg sin
tilted at angle, (which we define as the x-axis P Fg cos
in this problem), the translational acceleration
down the ramp can be calculated, from Fg
the force components along the slope, Fx ,net Macom, x f s Mg sin
where f s m s N m s Mg cos . Rot. form of Newton' s 2 nd law is Fr I .
The only force causing a rolling motion in the figure is the FRICTION at point P.
The gravitatio nal and Normal forces all act throug h the COM and thus have R 0.
2 2 2 25 R 2 5
gh 10 gh
v 2
com 7
vcom 4.1ms 1 (note, Mass independen t, marble
10 7
and bowling ball reach bottom at same time! )
REGAN 123
Example 1 (cont): PHY34210
(b) A uniform ball, hoop and disk, all of mass M=6 kg and
radius R roll smoothly from rest down a ramp inclined
at 30o to the horizontal. Which of the three objects reaches
the bottom of the slope first ?
1.2m
2 1
The moments of inertia for a sphere MR ; disk MR 2 ; and hoop MR 2 .
2
5 2
The fraction of kinetic energy whi ch goes into TRANSLATIO NAL MOTION,
21
Mvcom vcom
f 1 2
. In general, I com MR , with a constant and
2
2 Mv 2 I com
2
1
com
2
R
1 2
Mvcom 1
f 2
vcom
2
1
1
2 Mv 2
com MR 2
1
2
2
R
1 2
For hoop, 1, f 0.5 ; For disk, , f 0.66* ; For sphere, , f 0.71.
2 5
Sphere rolls fastest, followed by the disk. Any size marble will beat disk.
REGAN 124
PHY34210
Torque was defined previously for a rotating rigid body as =rFsin.
More generally, torque can be defined for a particle moving along
ANY PATH relative to a fixed point. i.e. the path need not be circular.
z z
rxF
=
F redrawn
O at origin O
x F
x
r r
y F y r F
The torque is defined by r F . The direction of the torque is found using
the vector cross product right - hand rule, (i.e. perpendicu lar to both r and F ).
The MAGNITUDE OF THE TORQUE is given by rF sin r F rF
where r r sin and F F sin .
REGAN 125
Angular Momentum PHY34210
A particle of mass m, with velo city v (i.e. with linear momentum, p mv ),
has an ANGULAR MOMENTUM given by l r p mr v .
z z
rxp
= l l
p redrawn
at origin p
O x O p x
r
y r p y r p
dp
Newton' s 2 nd law in transla tional form can be written as Fnet
dt
If the angular momentum of a particle is given by l r p mr v
Differenti ating both sides with respect to time gives,
dl d mr v dv dr
m r v mr a v v
dt dt dt dt
v v 0 since these vectors are parallel (sin 0)
dl
dt
mr a r ma r Fnet ri Fi net
i
n
n
dL dli n
i.e., L l1 l2 l3 ln li net ,i
i 1 dt i 1 dt i 1
Only EXTERNAL torques change the TOTAL ANGULAR MOMENTUM ( L )
If net is the NET EXTERNAL TORQUE, i.e. the vector sum of all
dL
external torques, τ net , we obtain a form for Newton' s 2 nd law :
dt
The net external torque, net acting on a system is equal to the rate
of change of the total angular momentum of the system ( L ) with time.
REGAN 128
For a given particle in a rigid body rotating about a fixed PHY34210
axis, the magnitude of the angular momentum of a mass element Δmi , is
l ri pi sin 900 ri Dmi vi . r z
The angular momentum component parallel to the rotation Dm
(z) axis is liz li sin ri sin Dmi vi ri Dmi vi r
pi y
The component for the ENTIRE BODY is the sum
x
of these elemental contributi ons
n n n
n 2
i.e., L z liz Dmi vi ri Dmi r i ri Dmi ri
i 1 i 1 i 1 i 1
n
is a CONSTANT for all points on the rotating body and Dmi r2i I ,
i 1
the moment of inertia of the body about a fixed axis, we can write,
Lz I
Usually th e ' z ' is dropped, assuming that L is about the rotation axis.
REGAN 129
Conservation of Angular Momentum
dPHY34210
L
Since the net torque is related to the change in angular momentum by, τ net ,
dt
dL
if NO NET TORQUE acts on the system, then 0 and thus
dt
THE ANGULAR MOMENTUM OF THE SYSTEM IS CONSERVED.
This means that the net angular momentum at time ti , is equal to the net angular
momentum of the system at some other time , t f .
We can thus say that if the net external torque acting on a system is zero, the
angular momentum of the system, L remains constant, no matter wha t changes
take place WITHIN the system.
Similarly, if the COMPONENT of the net external torque on a system along a
fixed axis is zero, then the component of angular momentum along that axis
can not change, no matter wha t takes place within th e system.
The conservati on law can be written in algebraic form as I ii I f f .
This means that if the moment of inertia of a system decreases, its rotational
speed increases to compensate , (e.g., pirouettin g skaters, neutron stars and nuclei! )
REGAN 130
Example1: Pulsars (Rotating Neutron Stars) PHY34210
SN1987A
Lighthouse
effect
Star
quakes
optical
I ii k .MRi2 i I f f k .MR 2f f , k constant
i Tf
R f Ri Ri , T period of rotation
f Ti
Ri ( sun) ~ 7 108 m, Ti ( sun) ~ 2.5 106 s, T f ( pulsar ) ~ 1s
1s
R f ~ 7 10 m
8
~ 400 Km.
2.5 10 s
6
TRANSLATIONAL ROTATIONAL
dp dl
Force , F ma Torque, I r F
dt dt
Momentum, Linear p mv Ang. Mom. l I r p
dp dL
Newtons 2 Law, F
nd
net
dt dt
Conservati on, Linear Mom. Angular mom.
dp dL
Fnet 0 net 0
dt dt
13: Equilibrium and Elasticity REGAN
PHY34210
133
A solid is formed when the atoms which make up the solid take up
regular spacings known as a LATTICE. In a lattice, the atoms take up
a repetitive arrangement whereby they are separated by a fixed, well
defined EQUILIBRIUM DISTANCE (of ~10-9->10-10m) from their
NEAREST NEIGHBOUR ATOMS.
The lattice is held together by INTERATOMIC FORCES which can
be modelled as ‘inter-atomic springs’. This lattice is usually extremely
rigid (i.e., the springs are stiff).
Note that all rigid bodies are however, to some extent ELASTIC.
This means that their dimensions can be changes by pulling, pushing,
twisting and/or compressing them. STRESS is defined as the
DEFORMING FORCE PER UNIT AREA= F/A,
which produced a STRAIN, which refers to a unit deformation.
The 3 STANDARD type of STRESS are (1) tensile stress ->DL/L
(stretching) ; (2) shearing stress -> Dx/L (shearing) ; and (3) hydraulic
stress -> DV/V (3-D compression).
REGAN 136
PHY34210
STRESS and STRAIN are PROPORTIONAL TO EACH OTHER.
The constant of proportionality which links these two quantities is
know as the MODULUS OF ELASTICITY, where
The STRAIN is the unit deformatio n. For tensil e stress, this is a dimensionl ess
ΔL
quantity defined by correspond ing to the fractional change in the length
L
of the object ( L is the orginal length, ΔL is the extension) .
REGAN 137
F
The YOUNG'S MO DULUS ( E ) for tensil e or PHY34210
F ΔL L+ L
compressiv e stress is defined by E DL
A L F
F
For SHEARING , the stress is still , but F is parallel
A
Δx Dx F
to the plane of the area. The strain is now , leading
l
F Dx L
to the SHEAR MODULUS, (G) where G F
A l
HYDRAULIC STRESS is defined as the fluid pressure P,
ΔV V
(i.e. force per unit area). The strain is defined as ,
V V-DV
where V is the initial volume and ΔV is the volume change. DV
DV
The BULK MODULUS ( B) is defined by P B
V
REGAN 138
PHY34210
Δl
0.81m 2.2 108 Nm 2 8.9 10 4
m
2
2.2 10 Nm
11
Dl 8.9 10 4 m
strain 1.110 4 0.11%
l 0.81m
14: Gravitation REGAN
PHY34210
140
The earth can be thought of a nest of shells, and thus all its mass
can be thought of as being positioned at it centre as far as bodies
which lie outside the earth’s surface are concerned.
Assuming the earth is a UNIFORM SPHERE of mass M , the magnitude of
the gravitatio nal force from the earth on a particle of mass m, at a distance r ,
Mm
from the earth' s centre is given by : Fgrav G 2
r
If the particle is released, it will accelerate to the earth' s centre under gravity
with a GRAVITATIO NAL ACCELERATI ON, a g , whose magnitude is given
Mm GM
by Fgrav mag G 2 a g 2 . Thus the accelerati on due to gravity
r r
depends on the ' height' at which an object is dropped from.
average ag at earth’s surface = 9.83 ms-2 altitude = 0 km
ag at top of Mt. Everest = 9.80ms-2 altitude = 8.8 km
ag for space shuttle orbit = 8.70 ms-2 altitude = 400km
REGAN 142
PHY34210
We have assumed the free fall acceleration g equal the
gravitational acceleration, ag, and that g=9.8ms-2 at the earth’s surface,
In fact, the measured values for g differ. This is because
• The earth is not uniform. The density of the earth’s crust varies. Thus
g varies with position at the earth’s surface.
• The earth is rotating. The rotation axis passes through a line joining
the north and south poles. Objects on the earth surface anywhere apart
these poles must therefore also rotate in a circle about this axis of
rotation (joining the poles), and thus have a centripetal acceleration
directed towards the centre of the circle mapped out by this rotation.
Centripetal Acceleration at Earth’s Surface REGAN
PHY34210
143
cos cos 1800 -1 F r .dr G 2 dr W F r .dr
Mm
r R
Mm 1 GMm GMm GMm
W G 2 dr GMm 2 dr 0
R
r R
r r R R R
W WORK REQUIRED to move a mass, m from a distance R out to .
Since potential energy and work done are related by the general expression ,
GMm
DU W U U R , U R W
R
Potential Energy and Force REGAN
PHY34210
146
r r
f ea ea f’ x
f f’
a rmax rmin Ra R p
In general for an ellipse, the eccentrici ty is defined by , rmax rmin Ra R p
A r
The length of the SEMI - MAJOR AXIS 0 2
2 1
REGAN 150
The Law of Areas PHY34210
a
REGAN 152
Satellites, Orbits and Energies PHY34210
The potential energy of system is given by
GMm K(r)
U , U 0 for infinite separation
r
The KINETIC ENERGY OF A CICRULARLY r
ORBITING SATELLITE, via Newton' s 2 nd law is Etot(r)
GMm v2 1 GMm
F 2 m K mv 2
r r 2 2r =-K(r)
U
Therefore, K for a satellite in a circular orbit.
2
The total mechanical energy is given by E U K
GMm GMm GMm
E K
r 2r 2r
i.e. the total energy is equal to the NEGATIVE OF THE KINETIC ENERGY
GMm
For an elliptical orbit substitute a (semi - major axis length) for r , ie. E
2a
Example 1: REGAN
PHY34210
153
4 2
3
From Kepler' s 3 law : T
rd 2
r assuming M m
GM
r R h where R 6.37 106 m the earth' s radius
and G 6.67 10-11 m 3kg 1s 2
4π 2 R h 3
M earth
4 2
6.6 106 m 3
1 2
G T 2
6. 67 10 11 3
m kg s 89 60 s 2
M earth 6 10 24 kg
15: Fluids REGAN
PHY34210
154
Fluids (liquids and gases), by contrast with solids, have the ability to
FLOW. Fluids push to the boundary of the object which holds them.
DENSITY ( r ) : is the ratio of the mass Δm and the size of the volume
element ΔV , i.e., r DDMV . For a uniform density ρ MV .
Density has SI units of kg/m3 . In general, the density of liquids does
not vary (they are incompressible); gases are readily compressible.
Pressure: The pressure at any point in a fluid is defined by the limit of
the expression, p = DF /DA as DA is made as small as possible.
If the force is UNIFORM over a FLAT AREA, A, we can write p=F/A
The pressure in a fluid has the same value no matter what direction
the pressure WITHIN the fluid is measured. Pressure is a SCALAR
quantity (i.e.,independent of direction).
The SI unit of pressure is the PASCAL (Pa) where 1 Pa=1Nm-2. Other
units of pressure include ‘atmospheres’ (atm), torr (mmHg) and lbs/in2
where 1 atm = 1.01x105Pa=760 torr = 760 mm Hg =14.7 lb/in2
REGAN 155
Fluids at Rest PHY34210
For a tank of water open to air. The water pressure
AIR y=0
increases with depth below the air-water interface,
while air pressure decreases with height above the A F1 y 1
water. If the water and air are at rest, their pressures WATER y2
are called HYDROSTATIC PRESSURES. F2 mg
For water in STATIC EQUILIBRIU M, (stationar y and the forces on it balance)
F1 and F2 are the forces at the top and bottom of a cylinder of water wit h top
and bottom at depths y1 and y2 respective ly and cross - sectional area, A.
The mass of water in cylinder m rV ρA y1 y2 , V volume of cylinder.
Balancing the forces gives F2 F1 mg where F1 p1 A and F2 p2 A.
F2 F1 mg p2 A p1 A rA y1 y2 g p2 p1 r y1 y2 g
If y1 surface level, y2 h depth, p1 p0 atmospheri c pressure
ph p0 rgh (Principle behind the MERCURY BAROMETER)
The pressure at a point in a fluid in static equilibrium depends on the
depth of that point but NOT on any horizontal dimension of the fluid.
Pascal’s Principle REGAN
PHY34210
156
p2 ,v2
The work - kinetic energy the orem states W DK . p1 ,v1
i.e., the net work done on the system equals the change y2
in kinetic energy ΔK , resulting from the change in fluid y1
speed between th e ends of the tube. ΔK 12 Δmv22 12 Δmv12 12 ρΔV v22 v12
Δm ρΔV is the fluid mass entering and leaving the output in time interval, Δt .
The work done on the system is due to the work done by the grav. force
on the fluid element of mass Dm, during its vertical lift from the input to
the output level. i.e. Wg Dmg y2 y1 rDVg y2 y1 . The - sign
arises since the motion and gravitatio nal force are in opposite directions .
Work is also done ON the system by pushing the fluid through t he tube at
the entrance and BY the system to push forward fluid at the emerging end.
Since, in general, the work done is given by W FDx pAΔx pDV
The NET work done is W p p2 ΔV p1 ΔV p2 p1 ΔV . The work - kinetic
theorem W Wg W p ΔK rgDV y2 y1 ΔV p2 p1 12 rDV v22 v12
which gives, rg y2 y1 p2 p1 12 r v22 v12 Bernoulli ' s equation
16: Oscillations REGAN
PHY34210
163
From Newton' s 2 nd law, F ma F ma m -ω 2 x kx
which is HOOKE' S LAW ! This is CONSISTENT with the idea
of a RESTORING FORCE. Substituti ng for the SPRING CONSTANT,
then for a Simple Harmonic Motion, k m 2
Re - arranging this gives that the angular frequency for a simple harmonic
k
oscillator is related to the strength of the spring constant by
m
2π m
Thus the PERIOD of oscillatio n for a linear oscillator is T 2
ω k
‘ Simple Harmonic Motion is the motion which is described by a
particle of mass m subject to a force which is proportional to the
displacement of the particle but opposite in sign’
A LINEAR HARMONIC OSCILLATOR describes a system where the
force F x , is proportion al to x (rather th an some other power of x).
Energy in Simple Harmonic Motion REGAN
PHY34210
166
1 2 1
2 2
K t mv m 2 xm2 sin 2 t
The MECHANICAL ENERGY, E, is defined as
E U K k xm2 cos 2 t m 2 xm2 sin 2 t
1
2
1
2
recalling that for SHM, k mω 2 , then since cos 2 sin 2 1,
2
2
E U K kxm cos t sin t kxm
1 2 2
1 2
2
Therefore, the mechanical energy of a linear oscillator is constant and
time independent.
Angular Simple Harmonic Motion REGAN
PHY34210
167
ml m 1 2
gives that for a pivot at one end of the rod, I 0 1
12
2 l 2
2 ml
3
I ml 2 2l 8π 2l i.e. can measure
since T 2 2 2 g
mgh 3mg 2
l
3g 3T 2 g directly using
Focault’s pendulum
Damped Simple Harmonic Motion REGAN
PHY34210
170
If =d, the system is said to be ‘in resonance’. If this condition is achieved, the
velocity amplitude, vm is maximised (and so approximately is the displacement, xm).
17: Waves - Part 1 REGAN
PHY34210
172
HRW p374
REGAN 176
Period, Angular Frequency and Frequency PHY34210
dt dt
the AVERAGE rate at which kinetic energy tra nsported is given by
dK 1
dt
2 μv ym cos 2 kx t ave 14 mv 2 ym2
2
average of cos 2 X 12
Recalling for an oscillatin g system, the average kinetic and potential energies
are equal, the AVERAGE POWER is the average rate which the total
dK
mechanical energy tra nsmitted by the wave i.e., P 2 12 mv ym
2 2
dt ave
The Principle of Superposition REGAN
PHY34210
180
and phase angle 2 . If 0, the two initial waves are ' in phase' the
waves interfere fully ' constructi vely'. If radians , the waves are
completely out of phase and interfere completely , DESTRUCTIV ELY.
If 2 sinusoidal waves of the same amplitude and wavelength travel in
the same direction along a stretched string, they interfere to produce a
resultant sinusoidal wave travelling in that direction.
Phasors REGAN
PHY34210
182
y’=y1+y2
y2 y2
varies sinusoidally between +ym and -ym. y m,2
2 waves which travel along the same y1
string in the same direction can be ym,1 y1
added using a PHASOR DIAGRAM.
If y1 x, t ym,1 sin kx t and y2 x, t ym, 2 sin kx t , the
resultant is of the form y ' x, t ym' sin kx t where ym' and can
be found using the PHASOR DIAGRAM. Adding vectorial ly the phasors
y1 x, t and y2 x, t at any instant, the magnitude of the resultant equals
y ' x, t and is the angle between th e resultant and the phasor for y1 x, t .
Standing Waves REGAN
PHY34210
183
HRW
The two combining waves which make up the standing wave are
y1 x, t ym sin kx t and y2 x, t ym sin kx t .
From the principle of superposit ion, y ' x, t y1 x, t y2 x, t
y ' x, t ym sin kx t ym sin kx t .
Recalling sin sin 2 sin cos
2 2
y ' x, t 2 ym sin kxcost Note, this does not describe a travelling
wave, but rather a standing wave.
• The absolute value of [2ymsin(kx)] is the amplitude of oscillation at x.
• The amplitude varies with position for a standing wave.
The amplitude is zero if sin kx 0. i.e., for integer n where kx nπ 2π
λ x
amplitude is zero (i.e., nodes) occur at x n 2λ . For a standing waves,
adjacent nodes are separated by a distance of half the wavelengt h l2 .
Similarly, the max. amp. is 2 y for sin kx 1 kx n 12 x n 12 l2
Standing Waves and Resonance REGAN
PHY34210
185
HRW
(a) What is the amplitude of the resultant wave due to the interefence
between these two waves ?
ym' 2 ym cos 2 9.8 mm . cos50 13 mm
2
0
cos 2
4.9 mm
2 9.8 mm
0.25 2.6 radians
Two sinusoidal waves y1(x,t) and y2(x,t) have the same wavelength
and travel together in the same direction along a string. Their
amplitudes are y1,m=4.0 mm and y2,m=3.0mm and their phase constants
are 0 and /3 respectively.
What are the amplitude, y’ and phase constant of the resulting wave ?
ym2 Adding the horizontal components
y' mh ym1 cos0 ym 2 cos3 4 3 cos3 5.5mm
Adding the vertical components
/
3 y' mv ym1 sin 0 ym 2 sin 3 0 3 sin 3 2.6mm
ym1 From Pythagoras theorem, the resultant wave has
y’m an amplitude of y' m 5.52 2.62 mm 6.1mm
ym2
-1 2.6
The phase constant is tan 0.44 rads
5.5
ym1 y ' x, t 6.1mmsin kx t 0.44rads
18: Waves - Part 2 REGAN
PHY34210
189
ray
Sound Waves: can be generally defined
as longitudinal waves whose oscillations
are parallel to the direction of travel P
through some medium (such as air).
wavefronts
planes
If a point source, P, emits sound ray
waves, wavefronts and rays describe the
direction of travel of the waves. Wavefronts correspond
to surfaces over which the wave has the same displacement value.
Rays are lines drawn perpendicular to wavefronts which indicate the
direction of travel of the waves. Note that in real bodies, wavefronts
spread out in 3 dimensions in a spherical pattern.
Far from the point source the wavefronts can appear as planes or
straight lines to an observer.
Speed of Sound REGAN
PHY34210
190
The Doppler effect describes how sound waves from a point source
(such as a car or train or star or galaxy!)) are apparently shifted in
frequency for an observer which is moving relative to that source.
The general expression for the DOPPLER FORMULA for sound waves is
v vD
f ' f where f is the emitted frequency of the source and
v vS
f ' is the detected frequency by the observer. v is the speed of sound through
the air, vD is the relative speed of the detector (or ' observer' ) relative to an
air - fixed frame and vS is the source speed relative to the same air - fixed
reference frame. (Note in most cases, either the source or the detector is
stationary , i.e., vD or vS 0).
When the motion of the detector or source are towards each other,
the sign on its speed gives an UPWARD SHIFT IN FREQUENCY.
When the motion of the detector or source are away from each other
the sign on its speed gives a DOWNWARD SHIFT IN FREQUENCY.
Example 1 REGAN
PHY34210
192