Lectuve 1 1. Survey of the elementary principles 1.1 Mechanics of a particle on R3 (x.y, 2) Herve we stat with the equation of motion (Newthn’'s equation) for a point particle moving in R? (x,y,z) Tvtroduce. (Recall) the basic notions Position. velocity. momentum, mass , force, angular momentum, torque, work . entray Position : I(t) = (Xth, yiti, ZL) ) velocity - Vash = r= (%9,%) omentum: P= MV ( m: mass) Newton's 2nd law: p= (F= (total fwce exerted on the particle ) P=Ma, A=V=F acceleration Newtw's 1st law : 2 Coordinate frome ("Inertial frome” oy Galilean frame”) such+that the 2nd law works. In inertial frames, particles moves with constant velocity if no force is exerted.angular momentum (about the ovigin t= (0,0,0) Le=rxp -- if r= (x42), P= CPx. Py, Pz) = L= (Lx,Ly, Le) = (4Pe-2Py, 2PK-KPs, XPy-YPx) X “choss product " is anti-symmetyic : Irxp=-Pxr L=N (pemt) L=o(reme) = mpsre mes 6 = ek We [Rear = §F Fiedt = [me rdt = [Pg [smi Jat = Tee- Tee Ts tmr* : kinetic energy We say the system is conservative if the work is independent of thepsth (K-02), but depends only wm the initial and final powts potential energy Vir) : F=-UV (Fx. Fs. Fe) =~ Ge.39, ¥) In conservative systems. W= Vim)- Vile) = Tht) -Tlti) total energy E=T+V is conserved.Lecture 2 . - © Heve we discuss the systems of many particles in R? interacting with each other and with the envivoument . © With ceytain assumptions on the fovm of the interaction we study the Conservation of total momentum, total angular momentum, tetal energy ete. Forces: i Fy i o =i 6 + F:% : external force Fir exerted on the particle (i) se) from the environment Fr 5 e Fi: internal foyce exerted on (3) from (i) THe Newton's 3rd law (Caction-veaction law) Weak form: [Fig + Far= 0 Strong form: Fy =-F3. = @ (ih- try) The internal forces which ony two particles ore exerting each other 1s always the same in magnitude. the opposite in divection . The divection of the force is along the line connecting the two particles -Total momentum : Prt= 2p; Pre= De= 2 (FM + z. Fi) 2 BR + PE, Fx BES + PB, Be total angway momentum: Lict = = i Lot = z Liz D2 gWiKxby) = a rx (FOB Fy: = Deh + DE ne Fp 7) (weak 3rd lew) = ZNO + £25, -ny» Fie =0 (strong 3rd low ) total ongwav momentum conserves tf the total external torque is Zero, ——_~— LS Ems at = The ltu- Tree Ut) Tre = Limith® ; total _kinotic energy. The motion of n-particles can be regarded as a motion of o “particle” im 3n-dimensional space, coordinate Q= (FMe MH). ink of a 3n-dimensional space wit The system is conservative (f Wat = f2™@-da = Vian) -Vem) aw herve Q=(Fi.Fr,~ Fa) : “generalized force”Typically. ina conservative system of n- particles . the tota! potential is not an ovbitrary function of the 3n Coordinates. Va) = VCR Ma) = = Var) + $ yy Vey Ur, We) Vig WW.0G) = Vj: Uy In) Vi is the potential for the external -force on the i-th particle, Viz is the potential for the mtemal force betwean the particles t and g. “Vase Va Cine) Strong 3rd law =9 Vip = Vit (Iin-Wyl)In mony situations. itis useful to decompose the dynamics of multi: particles into the motion of COM amd the motion of constituents obout CoM. totol_ momentum: FP: = Zw totol angular momertum : let's denote n= R+R ¢ 2m ii=0) ZL = Dmitate = Die (Rex (RK) Dm RR + mi Re + wR xR + mB: xi: ) = B+ Dm Pee MELE * < rE angularmomentum of seem ™ constituents about the COM. al kinetic energy : Dymin® = Zam + aR, + 2) 50 = ime + dome kinetic energy of COM about COM. Kinetic energy of constituent’s motLecture 3 n' ints The system of N particles ave described by 3N coordinates . For constrained systems, those 3N coordinates are not all independent ful. wst) =O (l= 4,—k) => one can Study the system using generalized Coordinates nt) Example: © Rigid body -. systems made of many particles with thelr velative distance kept fixed Ir- fs | = Cy = fined ® Roller coaster, Bead moving along 0 wive ” Non-holonomic constraints -~ constraints which cannot be solved to veduce the number of coordinates Example: © gas in a box ( constraints involve inequalities) yD SD ® ball rolling on a surface without slipping Speed of the ball moving along the surface iS related +o the speed of spinning Fa (0, ay, ho )=0 which cannot be integrated wrt time1.4 D’Alembert's principle and Lagvange’s equation For constrained systems, the particles obey constraints thanks to the forces of constraint .= Fi +E? applied force Usually, applied force is given (as part of the problem) —— constraint force but constraint force is not explicitly given. [+ should be nice if one com study the dynamics of constrained systems without being bothered by the constraint force. A key fact : Constraint fovee does not do work. Exomple 4 am object sliding down the slope (Frictionless) for this case one can determine FE from + EF is orthogonal te the slope + the total force is olong the slope 7 ANYWaHs F is orthogonal to the slope. so F° does not do work -Example 2 : two objects on the two sides of a see-saw == Forces: eonM: Mg, FS eon m: mg, € * on the see sow board : - FIO, -£ FY? F© (the force from the pivot ) cam prevent the board from sliding , But ix comot cancel the torque on the boord N= FO-L- fig (FP, £2 ave comp. of FI, £° =ol perpendicular ty the board ) The same relation follows from the condition that the Work done by the constraint forces when @ changes by SD is ze, W = —Fi Leo + f°. 950 =0 D'Alembert's principle virtual displacement §i : arbitrary motion of porticle (i) Allowed from constraints . PrP + FO =» of Don FO 0 = 25 (pi- Fi") ewe Douapaseb oesLagrange equation Let us apply D'Alembert ‘s principle to Systems Welacownie Canstiainss - tie Ant) Qoal: derive Euler-Lagrange eg # f or, - Foy =o, LeT-V EEE RR KA an BLwhsr | She F eq aay assume § Conservative v iWs= BAW = ERE HDR sty RHS = Domi 51 = =: su [2 38 bmi, b 1 Y= Efe (mi ym A BY ari, 2Y he Et on” e 54; J i 245 4 b= Babli 2 mits ae a T= 2dmih* 0Lecture 4 1.5.1 Velocity: tential We devived the Euler - Lagrange eq for Conservative system where V=V(4i--4n), Let us discuss an example in which V depends also on velocity (4;) . Exomple: charged particle in an external electvomagnetic L=gm¥* — 4462) -2V-AWt) } velocity. dep potential $: Coulomb potential _. electric field E=-V9-2A A: vector potential mognetic field B= Ux problem: derive Coulomb’ Lovent2 force from E-Leq. mv = 9:(E+VxB) mv = (ew -#¥) [t¢-ev. A] = - 404 -$ [aa] +4 (va) WVa= -2 sha? — 1Eve- Hho +9 2 Vo- syle B= UA > Ba= 2, fake ah Ac a Sh Acp sk Ae = Deve Ba mVa> 2Ea +9 ZVe-Eabce Be = mV5VE+2VxB.1.5.2 Dissipation function Te describe non-conservative systems , (Force which does not avise from potertial), we use Rayleigh’s dissipation function Exomple: frictton wee - VVC — kh L=T-Vs dmv Gee - SRL = mits OV =- kr def) Fiz tk Rayleigh’s dissipation function 2-2 yL=-2 (eiprsRI LEE a Euler- Lagrange eq. We Jf (-0V- ki) dr = [ft mé-ar el (UV ki )irat = SP mide Veen -Veee) — $F ki dt = Tet - Tht E=T+V. Elts)- Ect) =~ (f* 2F ot “total energy is not conserving. fe =-2f Energy-loss rate is 2F1.6 Applications 1. Particle ona plane using polar coovdinate L= dmltay*)-Vey) mite Fy=- aeV my = Fy=—ayV OGY) = Crees 8, rsine) k= Ftos8-rsin0.6 mi - mre = r= - 3 V=Fsind+ roose- 6 (How med r2mrr 6 = Og =- BV Letm(v*4 P@*) - Vireo) Qr2-3Vs HE -Y = YR + Fy = Wi0-Fersind-Fy = F-F ‘B=Csing,cso) F= (cos, sind) ony) Op= 35 Fur Fy kK SP sind- Fe t has Fy = + 6-F 2. Atwood’s machine pulley Find the time-ewlution of X. Ts dict + dmc x A-x Ve mig x -mgl2-x) m * L2 4b omem x2 (mew) 96 + mg ™, Cena) % = Ca-n) g “Wo need to bother about te constvaint force3. A bead sliding on a uniformly votating wire. c bead CX Y)= (ht) coswt, HCE) sinwot ) find the time evolution of 1Cty L=T-V= dm(r*+ pat) -- recall the problem 4 mr - mr” =0 TH the bead is at Fate at t=0 and F{t=\=0, then bt) = ho wsh ot.