Mathematics of the Falling Cat
Rajan Mehta
Pennsylvania State University
February 2, 2012
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Rajan Mehta (Penn State) Mathematics of the Falling Cat February 2, 2012 2 / 13
Rajan Mehta (Penn State) Mathematics of the Falling Cat February 2, 2012 2 / 13
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In these pictures, it appears that the cat is rotating its body.
Rajan Mehta (Penn State) Mathematics of the Falling Cat February 2, 2012 3 / 13
In these pictures, it appears that the cat is rotating its body.
The laws of physics say that angular momentum must be conserved.
Rajan Mehta (Penn State) Mathematics of the Falling Cat February 2, 2012 3 / 13
In these pictures, it appears that the cat is rotating its body.
The laws of physics say that angular momentum must be conserved.
Cats can’t violate the laws of physics.
Rajan Mehta (Penn State) Mathematics of the Falling Cat February 2, 2012 3 / 13
In these pictures, it appears that the cat is rotating its body.
The laws of physics say that angular momentum must be conserved.
Cats can’t violate the laws of physics.
Question
How can a cat flip its body without angular momentum?
Rajan Mehta (Penn State) Mathematics of the Falling Cat February 2, 2012 3 / 13
In these pictures, it appears that the cat is rotating its body.
The laws of physics say that angular momentum must be conserved.
Cats can’t violate the laws of physics.
Question
How can a cat flip its body without angular momentum?
Rademaker, Ter Braak (1935) - first solution
Kane, Scher (1969) - more realistic class of solutions
Montgomery (1993) - full mathematical theory
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The mathematical cat
A cat’s body is modeled as a pair of
equal cylinders, connected by a joint (its
spine). The spine can bend, but it does
not twist.
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The cat’s shape
The shape of the cat is given by two angles (ψ, θ).
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The cat’s shape
The shape of the cat is given by two angles (ψ, θ).
ψ is the angle between the two halves of the cat’s body.
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The cat’s shape
The shape of the cat is given by two angles (ψ, θ).
ψ is the angle between the two halves of the cat’s body.
θ describes the direction of the cat’s legs (θ = 0 when the front and
back legs are closest to each other). A change in θ corresponds to a
rotation of the cat’s body around the “spinal axis”.
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1
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1
1 is (ψ, θ) = (π/2, 0).
3
Rajan Mehta (Penn State) Mathematics of the Falling Cat February 2, 2012 6 / 13
1
1 is (ψ, θ) = (π/2, 0).
3
2 is (ψ, θ) = (3π/2, π).
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1
1 is (ψ, θ) = (π/2, 0).
3
2 is (ψ, θ) = (3π/2, π).
3 might be (ψ, θ) = (2π/3, π/4).
4
Rajan Mehta (Penn State) Mathematics of the Falling Cat February 2, 2012 6 / 13
1
1 is (ψ, θ) = (π/2, 0).
3
2 is (ψ, θ) = (3π/2, π).
3 might be (ψ, θ) = (2π/3, π/4).
4
What about 4?
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Cat dynamics
How does the cat move?
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Cat dynamics
How does the cat move?
No angular momentum: If the cat doesn’t change its shape, then it
will not rotate.
Rajan Mehta (Penn State) Mathematics of the Falling Cat February 2, 2012 7 / 13
Cat dynamics
How does the cat move?
No angular momentum: If the cat doesn’t change its shape, then it
will not rotate.
If the cat changes its shape, then the entire body will rotate to
“cancel out” the angular momentum of the shape change.
Rajan Mehta (Penn State) Mathematics of the Falling Cat February 2, 2012 7 / 13
Cat dynamics
How does the cat move?
No angular momentum: If the cat doesn’t change its shape, then it
will not rotate.
If the cat changes its shape, then the entire body will rotate to
“cancel out” the angular momentum of the shape change.
We can consider changes in ψ and θ separately.
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A change in ψ is “balanced”: the front and back halves of the body
have opposite angular momentum.
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A change in ψ is “balanced”: the front and back halves of the body
have opposite angular momentum.
The cat can change ψ without causing the body to rotate.
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As θ changes, the front and back halves of the body are both rotating
about the bent spine.
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As θ changes, the front and back halves of the body are both rotating
about the bent spine.
The total angular momentum vector is parallel to the y -axis.
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As θ changes, the front and back halves of the body are both rotating
about the bent spine.
The total angular momentum vector is parallel to the y -axis.
The size of the total angular momentum depends on ψ.
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As θ changes, the front and back halves of the body are both rotating
about the bent spine.
The total angular momentum vector is parallel to the y -axis.
The size of the total angular momentum depends on ψ.
The rate of rotation needed to compensate is
α sin(ψ/2)
cos (ψ/2) + α sin2 (ψ/2)
2
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How the cat does it
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How the cat does it
1 It bends forward.
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How the cat does it
1 It bends forward.
2 It swings its legs around until
they are positioned correctly
(note that its back is arched at
this point).
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How the cat does it
1 It bends forward.
2 It swings its legs around until
they are positioned correctly
(note that its back is arched at
this point).
3 It is now free to curve its back
and prepare for landing.
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The Kane-Scher solution
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The Kane-Scher solution
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Question
Can you think of a way to drop a cat so it can’t land on its feet?
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Thanks. (And thanks to Eric Kuehne for the cat
drawings)
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