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Classical Mechanics More On Vectors: Prof. N. Harnew University of Oxford MT 2016

The document is a lecture on classical mechanics covering more on vectors. It includes: 1) An outline discussing scalar and vector products, and differentiation of vectors. 2) Sections on the scalar dot product, vector cross product, and examples of each in mechanics. 3) Details on vector velocity and acceleration, including an example of 1D constant acceleration motion.

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Diego Forero
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53 views

Classical Mechanics More On Vectors: Prof. N. Harnew University of Oxford MT 2016

The document is a lecture on classical mechanics covering more on vectors. It includes: 1) An outline discussing scalar and vector products, and differentiation of vectors. 2) Sections on the scalar dot product, vector cross product, and examples of each in mechanics. 3) Details on vector velocity and acceleration, including an example of 1D constant acceleration motion.

Uploaded by

Diego Forero
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Classical Mechanics

LECTURE 2:
MORE ON VECTORS
Prof. N. Harnew
University of Oxford
MT 2016

1
OUTLINE : 2. MORE ON VECTORS

2.1 Scalar and vector products


2.1.1 The scalar (dot) product
2.1.2 The vector (cross) product
2.1.3 Examples of scalar & vector products in mechanics

2.2 Differentiation of vectors


2.2.1 Vector velocity
2.2.2 Vector acceleration

2
2.1.1 The scalar (dot) product

Scalar (or dot) product definition:


a.b = |a|.|b| cos θ ≡ ab cos θ
(write shorthand |a| = a ).

I Scalar product is the magnitude of a


multiplied by the projection of b onto a.

I Obviously if a is perpendicular to b then


a.b = 0

I Also a.a = |a|2 (since θ =0◦ )


√
Hence a = (a.a)

3
Properties of scalar product

(i) i.i = j.j = k.k = 1 and i.j = j.k = k.i = 0

(ii) This leads to a.b = (ax i + ay j + az k).(bx i + by j + bz k)


= ax bx + ay by + az bz

iii) a.b = b.a : commutative


a.(b + c) = a.b + a.c : distributive

(iv) Parentheses are important


Note (u.v) w 6= u (v.w) because one is a vector along ŵ,
the other is along û.

4
2.1.2 The vector (cross) product
Vector (or cross) product of two vectors,
definition:
a × b = |a||b| sinθ n̂

where n̂ is a unit vector in a direction perpendicular to both a and b.


To get direction of a × b use right hand rule:
I i) Make a set of directions with your right
hand→ thumb & first index finger, and with
middle finger positioned perpendicular to plane
of both
I ii) Point your thumb along the first vector a a

I iii) Point your 1st index finger along b, making


the smallest possible angle to a
I iv) The direction of the middle finger gives the b

direction of a × b . c=axb

5
Properties of vector product

I i×j=k ; j×k=i ; k×i=j ; i × i = 0 etc.

I (a + b) × c = (a × c) + (b × c) : distributive

I a × b = −b × a : NON-commutative

I (a × b) × c 6= a × (b × c) : NON-associative

I If m is a scalar,
m(a × b) = (ma) × b = a × (mb) = (a × b)m

I a × b = 0 if vectors are parallel (0o )


i.e a × a = 0

6
Vector product in components

Cross product written out in components:


I a × b = (ax , ay , az ) × (bx , by , bz )
= (ax i + ay j + az k) × (bx i + by j + bz k)
I Since i × i = j × j = k × k = 0 and i × j = k etc.
I a × b = (ay bz − az by )i − (ax bz − az bx )j + (ax by − ay bx )k

This is much easier when we write in determinant form:



i j k

a × b = ax ay az
(1)
bx by bz

7
2.1.3 Examples of scalar & vector products in mechanics

I a) Scalar product
Work done on a body by a force through
distance dr from position 1 to 2
R2
W12 = 1 F.dr
Only the component of force parallel to
the line of displacement does work.

I b) Vector product
A torque about O due to a force F
acting at B :
τ =r×F
Torque is a vector with direction
perpendicular to both r and F,
magnitude of |r||F| sin θ.

8
2.2 Differentiation of vectors
Notation: a dot above the function indicates derivative wrt time.
A “dash” indicates derivative wrt a spatial coordinate.

dy dy
ẏ ≡ y0 ≡
dt dx
a(t + ∆t) − a(t) ∆a
ȧ = lim = lim
∆t→0 ∆t ∆t→0 ∆t

a(t) = ax (t)i + ay (t)j + az (t)k

 
ax (t + ∆t) − ax (t)
ȧ = lim i + ...
∆t→0 ∆t

Hence ȧ = ȧx i + ȧy j + ȧz k


9
2.2.1 Vector velocity

I ∆r = r2 − r1

∆r
v = lim
∆t→0 ∆t

I Velocity at any point is


tangent to the path at that
point
dr
I v= dt = ṙ

In one dimension:
dx
Abandon vector notation and simply write v = dt = ẋ,
(+v in +x direction, −v in −x direction).
10
Example - 1D motion
A body has velocity v0 = −15 ms−1 at position x0 = 20m and
has a time-dependent acceleration a(t) = 6t − 4 [ms−2 ]. Find
the value of x for which the body instantaneously comes to rest.

I a(t) = 6t − 4 [ms−2 ] ; x0 = 20 m ; v0 = −15 ms−1


v̇ = 6t − 4 → v = a(t)dt = 3t 2 − 4t + c
R
I

I At t = 0, v = −15 ms−1 → c = −15 ms−1


I v = 3t 2 − 4t − 15
I v = 0 for 3t 2 − 4t − 15 = 3(t − 3)(t + 35 ) = 0
→ t = 3s (also − 53 s)
v (t)dt = t 3 − 2t 2 − 15t + c 0 → x = 20 m at t = 0, c 0 = 20 m
R
I x=
I x(t) = 27 − 18 − 45 + 20 = −16 m
11
2.2.2 Vector acceleration

I ∆v = v2 − v1

∆v
a = lim = v̇ = r̈
∆t→0 ∆t

In one dimension:
dv
Abandon vector notation and simply write a = dt = v̇ = ẍ,
(+a in +x direction, −a in −x direction).

12
Example: constant acceleration - projectile motion in 2D
dv
I a= dt = constant
I r = 0 at t = 0
Rv Rt
v0 dv = 0 adt
I

dr
→ v = v0 + at → v = dt
Rr Rt
0 dr = 0 (v0 + at)dt
I

→ r = v0 t + 21 at 2

Under gravity: a = −g ŷ → ax = 0; ay = −g

I vx = v0 cos θ I x = (v0 cos θ)t


I vy = v0 sin θ − gt I y = (v0 sin θ)t − 12 gt 2

g
Trajectory: y = (tan θ)x − 2v02
(sec2 θ)x 2

13
The monkey and the hunter

14

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