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Dynamics and Vibrations

This document discusses the mathematical representation of motion using different coordinate systems. It begins by introducing Newton's second law of motion and the need to represent position, velocity, and acceleration mathematically. Then it provides examples using Cartesian, cylindrical, and spherical coordinate systems. For each system it defines the variables, expresses position and velocity vectors, and derives the acceleration vector equation. The key points are that different coordinate systems allow convenient description of motion, the frame of differentiation must be inertial, and the basic kinematic equation is used to relate rates of change between different frames. Motion can be analyzed in any convenient working frame through coordinate transformations.

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zdmay90
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© Attribution Non-Commercial (BY-NC)
Available Formats
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74 views

Dynamics and Vibrations

This document discusses the mathematical representation of motion using different coordinate systems. It begins by introducing Newton's second law of motion and the need to represent position, velocity, and acceleration mathematically. Then it provides examples using Cartesian, cylindrical, and spherical coordinate systems. For each system it defines the variables, expresses position and velocity vectors, and derives the acceleration vector equation. The key points are that different coordinate systems allow convenient description of motion, the frame of differentiation must be inertial, and the basic kinematic equation is used to relate rates of change between different frames. Motion can be analyzed in any convenient working frame through coordinate transformations.

Uploaded by

zdmay90
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 10

Law of Motion:

( )
= =
d
F mv mA
dt





To use the equation, must be able to mathematically represent both sides of the
equation

RHS Kinematics: describing motion mathematically , , r v A

A1
Particle Kinematics
mass constant
op
r r =

e op
e op e p
d r
v v v
dt
= = =

observer watches how a particular
position vector changes in both
magnitude AND direction
















If base point fixed in frame of differentiation, drop it from notation

e a
e p a p
d r d R
v v
dt dt
= = =



A2
e a
e op a op
d r d r
v v
dt dt
= = =

same vector -- different observer
e a
e qp a qp
d R d R
v v
dt dt
= = =

A2

Correspondingly,


implies
e e e e p
e p
d d r d v
A
dt dt dt
| |
=
|
\ .

a e p a a p
e p a p
d v d v
A A
dt dt
= = =




Law of Motion:




i p
F m A =








Derivative must be taken in inertial frame but inertial frame



is not always a convenient working frame








A3
frame MUST be inertial
second derivative of a
position vector with terminal
point at p and
base point fixed in

i
"working" frame -- set of unit vectors in
which , , r v A are expressed
When frame of differentiation and working frame are not the same, use

Basic Kinematic Equation (BKE)

Let Q be any vector that we wish to differentiate



a b
a b
d Q d Q
Q
dt dt
e = +

















Infinite variety of unit vectors can be used as working frames. Some standard sets
have emerged.

Standard sets may be convenient but are NOT required.







A4
Rate of change of
Q as seen in a
Rate of change of Q
as seen in

b
angular velocity of

b
wrt a
Example I. Cartesian (Rectangular) Coordinates e

Use e to generate math descriptions of the kinematic quantities:
position, velocity, acceleration

Define 3 scalar quantities that can be used to identify location of P (3 distances)

variables: x, y, z

Define the motion of the working frame e

e : inertial





x y z
r x e y e z e = + +


e
e p
d r
v
d t
=




A5
mathematical description of
position o p in terms of
Cartesian coordinates
r expressed in same frame in
which position will be
differentiated (no need for BKE)

e p
x y z
v x e y e z e = + +


e e p
e p
d v
A
d t
=
e p
v already expressed in e (no need for BKE)




e p
x y z
A x e y e z e = + +






A6
Example II. Cylindrical Coordinates u


Assume that e is an inertial frame but u is the working frame



Describe location of P (2 distances, 1 angle)

variables: R, u , z

Define the motion of the working frame u wrt the inertial frame e

u : rotates about
z z
u e =




e u
z
u e u =
A7







R z
r Ru z u = +


e u
e p e u
d r d r
v r
d t d t
e = = +


( )

R z R z z
Ru z u Ru z u u u
( = + + +







e p
R z
v Ru R u z u
u
u = + +





e e p u e p
e p e u e p
d v d v
A v
d t d t
e = = +


( )
( )


R z
z R z
R u u z u
R R
u R u R u z u
u
u
u u
u u
= + +
+
(
+ + +





( ) ( )
2

2
e p
R z
A u u z u
R R R R
u
u u u
= + +
+





A8
same
velocity
same
acceleration

Example III. Spherical Coordinates a


Assume that e is an inertial frame but a is the working frame



Describe location of P (1 distance, 2 angles)

variables: r, u , |

Define the motion of the working frame a wrt the inertial frame e

a : rotates such that
parallel to


r
r
a r
a u
a a a
u u
| u







e a e u u a
z
u a
u
e e e u | = + = +
A9




r
r r a =


e a
e p e a
d r d r
v r
d t d t
e = = +





sin
e p
r
v r a r a r a
u |
u | | = + +





e e p a e p
e p e a e p
d v d v
A v
d t d t
e = = +






( ) ( )
( )
2 2 2 2

sin 2 sin cos

2 sin sin 2 cos


e p
r
A a a
r r r r r r
a
r r r
|
u
| u | u | u | |
u | u | u| |
= +
+
+
+ +








still same
velocity
same
acceleration
A10

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