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=
A
A
Note
k
t
z
j
t
y
i
t
x
v
av
A
A
+
A
A
+
A
A
=
k
t t
z z
j
t t
y y
i
t t
x x
1 2
1 2
1 2
1 2
1 2
1 2
=
14
Instantaneous velocity vector
The (instantaneous) velocity is the limit of the average velocity
as the time interval approaches zero it equals the instantaneous
rate of change of position with time.
dt
r d
t
r
v
t
=
A
A
A 0
lim
Note
k
t
z
j
t
y
i
t
x
v
t t t
lim
lim
lim
0 0 0
A
A
+
A
A
+
A
A
=
A A A
k v j v i v k
dt
dz
j
dt
dy
i
dt
dx
z y x
+ + = + + =
The magnitude of the
(instantaneous) velocity vector,
i.e., the speed, is given by
2 2 2
z y x
v v v v v + + = =
15
The acceleration vector
Suppose during a time interval
At = t
2
t
1
, the particle moves
from P
1
to P
2
. The change in
velocity vector during this
interval is
1 2
v v v
A
The average acceleration
during this interval,
1 2
1 2
av
t t
v v
t
v
a
=
A
A
16
The acceleration vector (cont)
Note
k
t t
v v
j
t t
v v
i
t t
v v
k
t
v
j
t
v
i
t
v
a
z z
y y
x x z
y
x
1 2
1 2
1 2
1 2
1 2
1 2
av
=
A
A
+
A
A
+
A
A
=
dt
v d
t
v
a
t
=
A
A
A 0
lim
Note
k
t
v
j
t
v
i
t
v
a
z
t
y
t
x
t
lim
lim
lim
0 0 0
A
A
+
A
A
+
A
A
=
A A A
k a j a i a k
dt
dv
j
dt
dv
i
dt
dv
z y x
z
y
x
+ + = + + =
The (instantaneous) acceleration is
the limit of the average acceleration as
the time interval approaches zero it
equals the instantaneous rate of
change of velocity with time.
k
dt
z d
j
dt
y d
i
dt
x d
2
2
2
2
2
2
+ + =
17
The acceleration vector (cont)
Remark 3: Parallel & perpendicular components of acceleration
18
19
Examples 3.1, 3.2, & 3.3
A robotic vehicle, or rover, is exploring the surface of Mars. The
stationary Mars lander is the origin of coordinates, and the
surrounding Martian surface lies in the xy-plane. The rover, which
we represent as a point, has x- and y-coordinates that vary with
time:
( )
2 2
s m 25 . 0 m 0 . 2 t x = ( ) ( )
3 3
s m 025 . 0 s m 0 . 1 t t y + =
(a) Find the rovers coordinates and distance from the lander at
t = 2.0 s.
(b) Find the rovers displacement and average velocity vectors for
the interval t = 0.0 s to t = 2.0 s.
(c) Find a general expression for the rovers instantaneous velocity
vector. Express its velocity at t = 2.0 s in component form and in
terms of magnitude and direction.
Solution:
( )t v
x
2
s m 50 . 0 = ( ) ( )
2 3
s m 075 . 0 s m 0 . 1 t v
y
+ =
20
Examples 3.1, 3.2, & 3.3 (cont)
(d) Find the components of the average acceleration for the
interval t = 0.0 s to t = 2.0 s.
(e) Find the instantaneous acceleration at t = 2.0 s.
(f) Find the parallel and perpendicular components of the
acceleration at t = 2.0 s.
Solution (cont):
2
s m 50 . 0 =
x
a
( )t a
y
3
s m 15 . 0 =
At t = 2.0 s,
s m 0 . 1 =
x
v
s m 3 . 1 =
y
v
2
s m 50 . 0 =
x
a
2
s m 30 . 0 =
y
a
21
Uniform circular motion
When a particle moves in a circle of radius R with constant
speed v, the motion is called uniform circular motion.
There is no component of acceleration parallel (tangent) to the
path; otherwise, the speed would change the acceleration
vector is perpendicular (normal) to the path and hence directed
inward (never outward!) toward the center of the circular path.
T
R
v
t
=
2
22
Uniform circular motion (cont)
R
v
a
2
rad
=
Proof:
v
v
R
s
A
=
A
~ | A
R
v
t
s
R
v
t
v
a
t t
2
0 0
rad
lim lim =
A
A
=
A
A
=
A A
2
2
rad
4
T
R
a
t
=
23
Nonuniform circular motion
When a particle moves in a circle of radius R with a varying
speed v, the motion is called nonuniform circular motion.
R
v
a
2
rad
=
dt
dv
a =
tan
2
tan
2
rad
a a a + =
Remark 4:
24
Relative velocity
In general, when two observers A and B measure the velocity of a
moving body P, they get different results if one observer (B) is
moving relative to the other (A).
A B B P A P
r r r
+ =
A B B P A P
r
dt
d
r
dt
d
r
dt
d
+ =
A B B P A P
v v v
+ =
25
Relative velocity (cont)
A B B P A P
v v v
+ =
Peter
Alice
Betty
26
Example 3.14 and 3.15
An airplanes compass indicates that it is headed due north, and
its airspeed indicator shows that it is moving through the air at
240 km/h. If there is a 100-km/h wind from west to east,
(a) what is the velocity of the airplane relative to the earth?
(b) in what direction should the pilot head to travel due north?
What will be her velocity relative to the earth?
j v
240
air plane
=
100
earth air air plane earth plane
+ = + =
Solution: The velocity of the plane relative to the air,