Classical Mechanics Problems:

January 2014

(1) Given the following curvilinear coordinate system (u, v) defined with respect to the Cartesian coordinate sys-
tem by:

x = uv
1
y = (u2 − v 2 )
2
a) Is it an orthogonal coordinate system?
Solution:
In order to answer this question let us see if the scalar product of the two vectors of the new base is zero
at any point (u, v).
∂x ∂y
~eu = ~ex + ~ey = v~ex + u~ey
∂u ∂u
∂x ∂y
~ev = ~ex + ~ey = u~ex − v~ey
∂v ∂v
~eu · ~ev = (v~ex + u~ey ) · (u~ex − v~ey ) = vu − uv = 0
It is an orthonormal coordinate system because the vectors are orthogonal everywhere.
b) Find the generic components of the velocity and acceleration in that coordinate system.
Solution 1 (Long):
The application relating the Cartesian coordinates with the parabolic coordinates is an application Φ
from <2 → <2 :
1
Φ(u, v) = (x(u, v), y(u, v)) = (uv, (u2 − v 2 ))
2
Let us now assume that r(t) is a generic position as a function of time in Cartesian coordinates:
r(t) = (x(t), y(t)) = (x(u, v), y(u, v))
The velocity is defined as:
dr(t) ∂r dx ∂r dy ∂r ∂r dr(t)
= + , as = (1, 0) ≡ ~ex , and: = (0, 1) ≡ ~ey , then = ẋ~ex + ẏ~ey
dt ∂x dt ∂y dt ∂x ∂x dt
Now we consider
 the dependence
 of the position function
  on the new coordinates u and v. In similar way:
dr(t) ∂x du ∂x dv ∂y du ∂y dv
= + ~ex + + ~ey
dt ∂u dt ∂v dt ∂u dt ∂v dt
dr(t)
= ~ex (v u̇ + uv̇) + ~ey (uu̇ − v v̇) = u̇(v~ex + u~ey ) + v̇(u~ex − v~ey ) ≡ u̇ ~e0u + v̇ ~e0v
dt
The new base vectors are:
~e0u ≡ v~ex + u~ey
~e0v ≡ u~ex − v~ey
We want to work using a physical base, that is, normalized vectors. On this purpose we normalize the
vectors:p
~e0u ≡ p u2 + v 2 ~eu
~e0v ≡ u2 + v 2 ~ev
Thus the velocity in parabolic coordinates in the physical base takes the following form:
p p
~v (t) = u̇ u2 + v 2 ~eu + v̇ u2 + v 2 ~ev
The acceleration:
Solution 2 (Short):
We can directly take the equation deduced along the course and replace the components of the metric
in the right place.
√ √
~v (t) = u̇ guu ~eu + v̇ gvv ~ev
We can calculate the needed metric components by scalar product of the base vectors (already calculated
in (a).
gu u = ~eu · ~eu = u2 + v 2
gv v = ~ev · ~ev = u2 + v 2
Replacing in the first equation of this section we get:
p p
~v (t) = u̇ u2 + v 2 ~eu + v̇ u2 + v 2 ~ev
c) Suppose a movement described by u = 1 and v(t) = 3 m/s t. Determine the position after t = 3 seconds
in the Cartesian system.

1
 Notes:
• This coordinate system is known as parabolic coordinates
Γuuu = Γvvu = Γvuv = −Γuvv = u/(2 u2 + v 2 ) and Γuuv = Γuvu = Γvvv = −Γvuu =


• It may be useful


v/(2 u2 + v 2 ) all the other components are zero.

(2) The motion of a dizzy ant over a donut of characteristic major and minor radius R and r respectively is
described by the following equation of the position as a function of the time P (t):

-2

-1.0
-0.5
0.0
0.5
1.0
-4 -2 0 2 4

P (t) = (sin[ω2 t] (R + r cos[ω1 t]), − cos[ω2 t] (R + r cos[ω1 t]), r sin[ω1 t])

Consider ω1 and ω2 as parameters of the movement.

a) Calculate the velocity and acceleration vectors for as a function of time.
b) Calculate the Frénet base “carried” by the ant as a function of time.
c) Find the curvature and torsion of the trajectory.
Notes:
• In this case is not practical to re-parametrize the curve in terms of the arc.
• You may consider R = 7.5cm, r = 2.5cm, ω1 = 10/π, ω1 = 1/π, and t = 2s for the practical calculation.
Solution:
(a) ~v (t) = ω2 cos(ω2 t)(R+r cos(ω1 t))−rω1 sin(ω1 t) sin(ω2 t) ~ex +ω2 sin(tω2 )(R+r cos(tω1 ))+rω1 sin(tω1 ) cos(tω2 ) ~ey +
rω1 cos(ω1 t) e~z
~a(t) = −2rω1 ω2 cos[ω2 t] sin[ω1 t] − (Rω22 + r(ω12 + ω22 ) cos[ω1 t]) sin[ω2 t] ~ex +
(Rω22 + r(ω12 + ω22 ) cos[tω1 ]) cos[ω2 t] − 2rω1 ω2 sin[ω1 t] sin[ω2 t] ~ey
− rω12 sin[ω1 t] ~ez
(b) e~t = +0.2526 e~x , +0.2825 e~y , +0.9254 e~z
e~n = −0.6053 e~x , +0.7920 e~y , −0.0797 e~z
e~b = −0.7554 e~x , −0.5400 e~y , +0.3711 e~z
(c) Curvature K = 0.3587 (dimensionless).
Torsion τ = 0.0321 (dimensionless).

(3) Consider an analog old-fashioned round wall clock.

a) Calculate the position of the middle point between the minute and second hand tips in Cartesian coor-
dinates.
Solution:
- We have the freedom to take as an initial condition that the watch is at some o’clock hour.
- We have the freedom to choose the reference and coordinate system. The reference system will be
Cartesian with origin at the center of the clock and with the axes oriented in the horizontal and vertical
directions.
The position for the minute hand tip is a simple circular movement:
p~min (t)|Cartesian = `min (cos[ωm t + θ], sin[ωm t + θ]) being ωm = 2π/3600s = π/1800 · s−1

2
 p~min (0)|Cartesian = (0, 1) → θ = π/2
p~min (t)|Cartesian = `min (sin[πt/1800], cos[πt/1800])
Similarly for the second hand tip,
p~sec (t)|Cartesian = `sec (sin[ωs t], cos[ωs t]) being ωs = 2π/60s = π/30 · s−1
The middle point is defined by:
p~mid (t)|Cartesian = (~rmin (t) + ~rsec (t))/2
p~mid (t)|Cartesian = (`min sin[πt/1800] + `sec sin[πt/30], `min cos[πt/1800] + `sec cos[πt/30])/2

1.5
Trajectory of the middle point

1.0

0.5
y(t)

0.0

−0.5

−1.0

−1.5
−1.5 −1.0 −0.5 0.0 0.5 1.0 1.5
x(t)

b) Deduce the equation of motion of the tip of the second hand from a reference system with origin at the
minute hand tip.
Note: Assume that this new reference frame keeps the orientation and is the same as the previous reference
frame used.
Solution:
To change to reference system of the minute hand tip we have to counteract its movement. That means
subtract the movement.
p~sec (t)|min = p~sec (t)|Cartesian − ~rmin (t)|Cartesian
c) Write the equation of motion in polar coordinates. p
Note: Remember that polar coordinates can be defined from the Cartesian as r = x2 + y 2 and θ =
tg −1 [y/x].
Solution:
p(t) = (r(t), θ(t)) with r = |~ pmid | and θ = tg −1 [pymid /pxmid ]
Where: s
 
1 59πt
r(t) = `2min + 2`min `sec cos + `2sec
2 1800
πt πt



`min cos 1800 + `sec cos 30
θ(t) = πt

πt


`min sin 1800 + `sec sin 30
s
!
πt πt
 

1 2 59πt 2
`min cos 1800 + `sec cos 30
p(t)|Polar = `min + 2`min `sec cos + `sec , πt

πt


2 1800 `min sin 1800 + `sec sin 30

(4) A family of fleas live splitted in two dogs. In order to travel between the two dogs there is an air correspondence
carried by a fly who is constantly flying from one dog to the other carrying flea family members. Consider the
situation where the dogs are separated by a distance L and they are running one against the other at speeds
vd1 and vd2 .
a) If the cruise speed of the fly is vF , what will be the total distance covered by the fly in its trips?
b) How many flights has the fly covered if vF = 10km/h?
c) How many flights would the fly cover with cross wind of 5km/h?

3
(5) Suppose a ENSTP student wants to row across the Nyong river. Suppose the water is moving downstream
at a constant rate of 1.0m/s. A second boat is floating downstream with the current. From the second boats
viewpoint, the student is rowing perpendicular to the current at 0.5m/s. Suppose the river is 800m wide.

(a) What is the direction and magnitude of the velocity of the student as seen from an observer at rest along
the bank of the river?
(b) How far down river does the student land on the opposite bank?
(c) How long does the student take to reach the other side?
(6) Consider a point on the tire of a bicycle wheel. The bicycle is moving at a constant velocity.

a) Please, describe mathematically the position of that point as a function of time.

b) Can the speed of the point be zero at some time?
(7) A person initially at rest throws a ball upward at an angle θ0 with an initial speed modulus v0 . He tries to
catch up to the ball by accelerating with a constant acceleration ~a for a time interval ∆t1 and then continues
to run at a constant speed for a time interval ∆t2 . He catches the ball at exactly the same height he threw
the ball. Let ~g be the gravitational field. What was the person’s acceleration ~a?
(8) A person, standing on a vertical cliff a height h above a lake, wants to jump into the lake but notices a rock
just at the surface level with its furthest edge a distance s from the shore. The person realizes that with a
running start it will be possible to just clear the rock, so the person steps back from the edge a distance d
and starting from rest, runs at an acceleration that varies in time according to ax = b1 t, and then leaves the
cliff horizontally. The person just clears the rock. Find s in terms of the given quantities d, b1 , h, and the
gravitational field ~g . You may neglect all air resistance.

d
h

s
(9) Two ladybugs are bouncing on the top of two basketballs. The two balls were released from the same height
but not necessarily at the same time.

(a) What kind of reference system represents the observer ladybug?

(b) Describe the movement seen by one of the ladybugs while observing the other in terms of the delay time
τ and the the height h.
(c) Differentiate the kind of movements in terms of τ .

Notes:
• Neglect any dissipation and assume perfect elastic collisions of the balls with the ground.