Rishikesh MEOW Chap 2 and 4

Newton’s Laws: a critical survey
Coordinate Systems
Mechanics Oscillations and Waves

(MEOW!)
R I S H I K E S H V A I D Y A
Theoretical Particle Physics
[email protected]
Office: 3265
Physics Department, BITS-Pilani, Pilani.
Rishikesh Vaidya MEOW-Ch.2

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Everything should be
made as simple as
possible, but not simpler.
Albert Einstein

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The Course
Mechanics: Rishikesh Vaidya (∼ 20 lectures)

Text: Introduction to Mechanics by Kleppner
and Kolenkow
Oscillations and Waves:
Dr. Tapomoy Guha Sarkar (∼ 18 lectures)
Text: Vibrations and Waves by A.P.French

Coordinate Systems
The Course
Mechanics: Rishikesh Vaidya (∼ 20 lectures)

Text: Introduction to Mechanics by Kleppner
and Kolenkow
Oscillations and Waves:
Dr. Tapomoy Guha Sarkar (∼ 18 lectures)
Text: Vibrations and Waves by A.P.French

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Two simple questions
(1). What is the physical content of Newton’s

laws?
What do they buy us? Are there any
assumptions? What are their limitations?

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(1). What is the physical content of Newton’s

laws?
What do they buy us? Are there any
assumptions? What are their limitations?

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(2). I push this duster and it displaces in the

direction of the force. Simple and intuitive. Why is
then a circular motion so defiant? Why the earth
doesn’t collapse on to the Sun?
Simple answer: Force is proportional to
acceleration and not displacement. But then why
are the displacement and acceleration aligned in
the rectilinear motion and orthogonal in circular
motion? The simplicity of mathematical answers
is always deceptive.

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The Problem of Mechanics
Given a set of bodies mi

(i = 1, 2, 3, ...N), at different
locations (~ri (t = 0)), interacting
with each other as well as the
environment, predict their future
course of evolution (~ri (t )).
Newton’s laws provide an answer to this question
when the bodies in the system of interest are of
macroscopic size that we see around.

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What good is first law?

Two not so illuminating perspectives.
First law is at best a tautology
Every body continues in its state of rest or of
uniform motion in a straight line, except in so far
as it doesn’t.
– Sir Arthur Eddington (British Astrophysicist)
A special case of second law?

In the absence of any force 2nd law says:
~ = 0 = d ~p implying ~p = constant.
F dt
We shall revisit the first law shortly.
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as it doesn’t.

F dt
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as it doesn’t.

F dt
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The Second Law
The Law of Causality

The rate of change of momentum of a body is
proportional to the (net) force acting on it and
takes place in the direction of straight line along
which the force acts.
~
~ = d p (= m~a when m = constant).
F
dt
Newton also gave a prescription for calculating

the net force (law of parallelogram of vector
addition)
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The Second Law
The Law of Causality

The rate of change of momentum of a body is
proportional to the (net) force acting on it and
takes place in the direction of straight line along
which the force acts.
~
~ = d p (= m~a when m = constant).
F
dt
Newton also gave a prescription for calculating

the net force (law of parallelogram of vector
addition)
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Several questions
Why is the rate of change of momentum (or

velocity when m is constant) an absolute
measure of change?
How do we quantify motion before we quantify
change in motion?
What is the measure of no-change? How do
we measure change?
What is the role of mass here?
What are the assumptions about the nature
and role of space and time?
What is an ideal measurement?
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Several questions

measure of change?
change in motion?
we measure change?
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Several questions

measure of change?
change in motion?
we measure change?
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Several questions

measure of change?
change in motion?
we measure change?
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Several questions

measure of change?
change in motion?
we measure change?
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Several questions

measure of change?
change in motion?
we measure change?
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... and an embarrassment!
It is a commonplace experience for passengers

standing in a moving bus to suddenly find
themselves in the lap of a sitting passenger, as
the bus navigates a turn.
We have all experienced this change (the fall!)

with no causative agent lurking in the sight.

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... and an embarrassment!
It is a commonplace experience for passengers

standing in a moving bus to suddenly find
themselves in the lap of a sitting passenger, as
the bus navigates a turn.
We have all experienced this change (the fall!)

with no causative agent lurking in the sight.

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2nd law stands on the crutches of 1st law!
The connection between cause and effect

quantified in 2nd law applies only to a specific
class of reference frames called inertial
frames.
First law quantifies the state of no change and
its signature — a body free from the influence
of causative agents (forces) maintains its
state of rest or that of a uniform rectilinear
motion. A valid or inertial reference frame is
that in which this tell tale of signature of
freedom from forces, that is a state of rest or
of uniform rectilinear motion is observed.
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A million dollar question
Is there an attribute by virtue of which any body

resists crazy spontaneous changes without being
compelled by external forces?
Inertia is that attribute which mandates

application of force for effecting change.

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A million dollar question
This inertia is nothing but the quantity of matter

and is the only player possible in the equation
between cause (force) and effect (acceleration).
When written in terms of rate of change of
momentum, inertia goes in the definition of
momentum, that is quantity of motion (~p) is equal
to the product of quantity of inertia (m) and
velocity (~v ).

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Three simple yet profound lessons
1
state of rest = state of uniform motion
2
Force as a causative agent for absolute
change
3
Inertia is the attribute by which any body
resists spontaneous change (in absence of
force)
The first law is thus, in part a definition of valid
(inertial) reference frames and in part an
assertion that they exist.

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1
2
change
3
force)

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1
2
change
3
force)

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1
2
change
3
force)

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How are two or more bodies supposed to interact?
Consider a body of interest that suffers a

change when acted upon by a force that
originates in an external agency.
However, this division of Universe in to “body
of interest” and the rest of the Universe where
forces “reside” is artificial and arbitrary.
According to the third law, the causal
connection is bi-directional. If body 1 is acted
upon by a body 2 with a force F ~ 12 , then the
body 2 also suffers an equal and opposite
force F~ 21 = −F
~ 12 due to body 1.
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force F~ 21 = −F
~ 12 due to body 1.
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force F~ 21 = −F
~ 12 due to body 1.
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Third law is a profound prescription of going from

the effect on ‘the body of interest’ to mutual
interaction of many bodies.

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Before we verify the Newton’s laws
There are two kinds of masses

Inertial mass mi : Measure of how much a
body hates to accelerate
Gravitational massmg : Measure of how
much a body can gravitate
A priori there is no reason why mi = mg just
as electric charge q is not a measure of
inertia.
Equality mi = mg follows from a profound law
– Einstein’s principle of equivalence.

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inertia.

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inertia.

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How do we verify Newton’s second law?
Measure LHS and RHS of the law separately

and see if LHS = RHS
Equipped with inertial frames, you can
measure ~a.
How do you measure m? Balance ? Thats
mg . Take your balance to outer space and a
mouse will balance an elephant. Doesn’t help.
m = Fa ? That’s circular argument
We can compare two inertial masses if we
apply same force on them and then compare
their accelerations. How do you ensure F is
same?
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measure ~a.
same?
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measure ~a.
same?
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measure ~a.
same?
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measure ~a.
same?
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measure ~a.
same?
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measure ~a.
same?
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measure ~a.
same?
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3rd law to the rescue of 2nd law
If we isolate two bodies then the only force they

feel is the force of mutual interaction. Following
the 3rd law:
~ 12 + F
F ~ 21 = 0 (1)
d ~ ~ 2) = 0
(P1 + P
d
Total momentum of a closed system is
conserved.

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If we examine the collision of two masses m1 and

m2 comprising a closed system then from the
conservation of momentum:
m1 v1 + m2 v2 = m1 v10 + m2 v20 (2)

m1 v20 − v2
=
m2 v1 − v10
Since you can measure the RHS, it fixes the ratio
of masses. Taking one of them to be unit test
mass, you can now determine any mass. Now
the second law defines the force for you.
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If we examine the collision of two masses m1 and

m2 comprising a closed system then from the
conservation of momentum:
m1 v1 + m2 v2 = m1 v10 + m2 v20 (2)

m1 v20 − v2
=
m2 v1 − v10
Since you can measure the RHS, it fixes the ratio
of masses. Taking one of them to be unit test
mass, you can now determine any mass. Now
the second law defines the force for you.
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~ = m~a vs. F
~ = d ~p
F dt
~ = d ~p is a more general and powerful

F dt
formulation.
It applies to mass varying systems including
the relativistic increase in mass with velocity
In so formulating his second law he defined a
very important notion of momentum and
paved way for powerful conservation laws.
Conservation laws in turn have deep
connections with the fundamental properties
of space and time, namely space is
homogeneous and isotropic and time is
homogeneous.
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~ = m~a vs. F
~ = d ~p
F dt

F dt
formulation.
homogeneous.
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~ = m~a vs. F
~ = d ~p
F dt

F dt
formulation.
homogeneous.
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So.....
Three laws of Newton together form a logically

complete and consistent system of laws to
answer the fundamental problem of mechanics.
Have they stood the test of time?
For a theory to become a solid science logical

consistency is not enough. Experimental
vindication is the ultimate arbiter.

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So.....
Three laws of Newton together form a logically

complete and consistent system of laws to
answer the fundamental problem of mechanics.
Have they stood the test of time?
For a theory to become a solid science logical

consistency is not enough. Experimental
vindication is the ultimate arbiter.

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Questionable assumptions
Space and time are independent of each

other and absolute
Truth: according to special Relativity space
and time are inter-mixed and relative
Space and time are non-participatory in
dynamics and the geometry of space is
flat(euclidean)
Truth: according to general relativity geometry
of space-time is determined by the matter and
energy-density. What we called gravitation is
nothing but the geometry of space-time.
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other and absolute
flat(euclidean)
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other and absolute
flat(euclidean)
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other and absolute
flat(euclidean)
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Space and time are continuous

According to one of the modern theories for
gravity space may be granular. But this is only
one among few alternate quantum theory for
gravity and we do not know if this is really true.
Instantaneous action at a distance
Truth: According to special relativity forces are
communicated with a finite speed that is equal
to the speed of light c which is a universal
constant

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constant

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constant

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constant

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Non destructive ideal measurements are

possible.
Truth: According to quantum mechanics ideal
non-destructive measurements are inherently
not possible. However, for the physics of the
macroscopic everyday objects, the errors
incurred are negligible.
No limit to the accuracy of measurement
Truth: According to uncertainty principle there
are certain pairs of conjugate variables which
cannot be simultaneously determined with
arbitrary precision.
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possible.
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possible.
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possible.
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An advertisement for theoretical physics
Are there other formulations of mechanics?
Yes, there are more powerful and elegant

formulations of mechanics due to Lagrange and
Hamilton. Newton’s formulation is based on the
primacy of vectorial force. Lagrange and
Hamilton’s formulation are based on the primacy
of energy which is a scalar.

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An advertisement for theoretical physics
Are there other formulations of mechanics?
Yes, there are more powerful and elegant

formulations of mechanics due to Lagrange and
Hamilton. Newton’s formulation is based on the
primacy of vectorial force. Lagrange and
Hamilton’s formulation are based on the primacy
of energy which is a scalar.

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Question 2
Why does the duster move in the direction of

force but motion of earth is orthogonal to the
direction of force?
Inferences:
(a) Acceleration (~a) is sometimes in the same
~ /dt) but can sometimes
direction as velocity (dr
be orthogonal to it.
~ /dt, we must investigate the
(b) Since ~a = dv
meaning of the derivative of a vector and what
are the different ways in which a vector can
change. How different can a derivative of a vector
be from the derivative of a scalar?
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Question 2

direction of force?
Inferences:
(b) Since ~a = dv
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Question 2

direction of force?
Inferences:
(b) Since ~a = dv
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Upshot of the blackboard work is
A vector can change in two independent ways

1
Pure scaling: change purely in magnitude
without changing direction
2
Pure rotation: change purely in direction
without changing magnitude
This sounds interesting. Does there exist a
coordinate system to which such a resolution is
native? If yes, how different would things look in
such a system? Would it simplify or complicate
things?

Coordinate Systems
Upshot of the blackboard work is
A vector can change in two independent ways

1
Pure scaling: change purely in magnitude
without changing direction
2
Pure rotation: change purely in direction
without changing magnitude
This sounds interesting. Does there exist a
coordinate system to which such a resolution is
native? If yes, how different would things look in
such a system? Would it simplify or complicate
things?

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Simple vs. Complicated
Resolving every thing in terms of the binary of

simple vs. complicated is a perfect metaphor
to Einsten’s quote on making things simple
but not simpler.
You have got to choose horses for courses.

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What does it take to specify location?

(1) Origin to set the point of reference
(2) Set of reference directions along which we can project
the position vector
The grid formed by reference direction need

not be orthogonal, nor do they have to be
straight lines like in familiar Cartesian
coordinates.
The choice of coordinate system is guided by
the geometry of the problem.

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the position vector

coordinates.

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the position vector

coordinates.

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Arial shot of Downtown Chicago
Rectangular geometry of the roads lends itself

very naturally to cartesian coordinate system.
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Arial shot of Cannought Place New Delhi
Circular/radial geometry of the roads lends itself

naturally to the plane polar coordinate system.
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Cartesian vs. Polar coordinates
You need two numbers to

specify a location in 2-D plane.
Cartesian: (x , y )
Polar: (r , θ)
r is distance from the origin and
theta is the angle from the
reference direction (x-axis).

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The Grid
The cartesian grid

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The Grid
The plane-polar grid

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So what is the difference?
Cartesian coordinates: Unit

vectors are constant vectors
(constant in magnitude as well
as direction).
Polar coordinates Unit vectors

are constant in magnitude (after
all unit magnitude) but point in
different directions at every
location.

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Block on String (no gravity)

Example 2.5 Find the force on the whirling mass
m in the absence of gravity.
Figure: Mass m whirls at constant speed v at the end of string of

length R

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Block on String (now with gravity!)

Example 2.6 Find the force on the whirling mass
m in the vertical plane in gravity.
Figure: Now the forces are: Weight (Mg) downwards and Tension (T )
radially inwards.

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Bead on the frictionless rod

Prob. 2.33 A particle of mass m is free to slide on
a thin rod. The rod rotates in a plane about one
end with a constant velocity ω . Show that the
motion is given by r = Ae−αt + Be+αt , where α is
a constant which you must find and A and B are
arbitrary constant. Neglect gravity.
Show that for a particular choice of initial

conditions (that is r (t = 0) and v (t = 0), it is
possible to obtain a solution such that r
decreases continually in time, but for any other
choice r will eventually increase
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Bead on the frictionless rod

Prob. 2.33 A particle of mass m is free to slide on
a thin rod. The rod rotates in a plane about one
end with a constant velocity ω . Show that the
motion is given by r = Ae−αt + Be+αt , where α is
a constant which you must find and A and B are
arbitrary constant. Neglect gravity.
Show that for a particular choice of initial

conditions (that is r (t = 0) and v (t = 0), it is
possible to obtain a solution such that r
decreases continually in time, but for any other
choice r will eventually increase
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Figure for problem 2.33

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Lessons you learn from 2.33
Formulate problems in polar coordinates

A generic solution will have two abitrary
constants and they are fixed by specific initial
conditions.
How to reset a mercury thermometer or drain
clean a standard garden hose.
How to clean egg from your face, or, how do
you explain r̈ 6= 0 despite Fr = 0.

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conditions.

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conditions.

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conditions.

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Pull radially and yet accelerate tangentially!
Prob. 2.34 A mass m whirls around on a string

which passes through a ring as shown. Neglect
gravity. Initially the mass is at a distance r0 from
the center and is revolving at an angular speed of
ω0 . The string is pulled with a constant velocity V
starting at t = 0 so that the radial distance to the
mass decreases. Draw a force diagram and
obtain a differential equation for ω . Find (a) ω(t )
(b) The force needed to pull the string.

Ch. 4: Work and Energy
R I S H I K E S H V A I D Y A
Theoretical Particle Physics
[email protected]
Office: 3265
Physics Department, BITS-Pilani, Pilani.

Energy is the currency everywhere for anything and
everything!
The floor is dirty? Bend and sweep – energy. Get it done by

someone else – more energy. As I stand here and speak, I
need energy and so do you to comprehend (even if I am
incomprehensible). It takes transport of energy to see and hear
things, to love and hate people. Any conceivable form of
entertainment feeds heavily on energy. You don’t pay for force,
or momentum, or acceleration, but you sure pay for energy.It is
impossible to think of a phenomena that does not
consume/release energy and yet there is not a single reference
to the word energy in the whole of Newton’s principia.

everything!


everything!


everything!


everything!


everything!


everything!


Why is energy so important?
Intimately connected to the 2nd law and hence a useful tool

to extract information about the system without having to
directly confront the bull (F = ma).
Its importance lies mostly in its attribute of conservation. It
manages this extraordinary feat of conservation by deftly
converting itself into myriad of different forms. You just
can’t kill this beast.
Conservation laws in turn have deep connections with the
symmetry properties of transformations in space and time.
They are thus in some sense more fundamental than the
Newton’s laws and hence hold true even in regimes where
Newton’s laws fail (Relativity and Quantum Mechanics)
It gives physical meaning to what would be ordinarily a
plain mathematical manipulation – integral of motion.







What if I have the muscles to take the bull by the horn
~ = m~a, I integrate twice and I am good to go!

After all, F

The problem is more serious
~ (~r ) = m d ~v (t)
F
dt
Force is usually known as a function of position and not

time. Cannot integrate in a straight forward manner.
We will work around this problem using a simple trick and
in the process have our first brush with difference between
math and physics. What is mathematically only a matter of
integration has a physical interpretation in terms of work
energy theorem.

The problem is more serious
~ (~r ) = m d ~v (t)
F
dt
Force is usually known as a function of position and not

time. Cannot integrate in a straight forward manner.
We will work around this problem using a simple trick and
in the process have our first brush with difference between
math and physics. What is mathematically only a matter of
integration has a physical interpretation in terms of work
energy theorem.

Total energy vs. total mechanical energy
Of the myriad of different forms energy is capable of

taking, in mechanics we shall be concerned with two
fundamental forms –
(a) the one associated with motion (kinetic energy)
(b) the one associated with conservative forces e.g.
gravitational, electrical, spring force (potential energy)
Total mechanical energy = K.E + P.E
When the energy transforms from these forms to chemical
energy, or radiation, or random molecular or atomic
motion, we call it heat. From the standpoint of mechanics it
is lost. Whereas the total energy is always conserved,
when the energy is lost to heat, we say that the total
mechanical energy is not conserved and speak of
non-conservative forces at play.







An out of the syllabus remark
As a BITS graduate you want change lives of people. Now,

the most important and brutally correct formula reads
success ∝ hardwork × smartness and not

hardwork + smartness
there is some chance you may succeed.
However, you can do much better with much less effort.

You may, not just change lives but actually give life. Just
head for SAC this weekend and donate blood. Who said
happiness costs a fortune?













Potential Energy determines stability of a system



Why do atoms of a molecule vibrate?

Reducing a two body problem to one body problem
Referring to the previous slide, with r0 being the equilibrium

length of ‘spring’, r being their instantaneous separation,
equations of motion for m1 and m2 are:
m1 r¨1 = k (r − r0 )
m2 r¨2 = −k (r − r0 )
Dividing 1st eq. by m1 and 2nd eq. by m2 and subtracting, we

get
1 1
r¨2 − r¨1 = r̈ = −k + (r − r0 ) (1)
m1 m2
or
µr̈ = −k (r − r0 ) (2)
m1 m2
where µ = m1 +m2 is the reduced mass.

Reducing a two body problem to one body problem
Referring to the previous slide, with r0 being the equilibrium

length of ‘spring’, r being their instantaneous separation,
equations of motion for m1 and m2 are:
m1 r¨1 = k (r − r0 )
m2 r¨2 = −k (r − r0 )
Dividing 1st eq. by m1 and 2nd eq. by m2 and subtracting, we

get
1 1
r¨2 − r¨1 = r̈ = −k + (r − r0 ) (1)
m1 m2
or
µr̈ = −k (r − r0 ) (2)
m1 m2
where µ = m1 +m2 is the reduced mass.

Prob. 4.13. Lennard-Jones 6-12 potential
Commonly used function to

describe the interaction
between two atoms is
Lennard-Jones 6-12 potential.
12 r 6
r0 0
U= −2
r r
a. Show that the radius at the

potential minimum is r0 and that
the depth is .
b. Find the frequency of small

oscillations for two identical
atoms.

Solution. 4.13. Lennard Jones Potential
Engineering the right potential: The term (r0 /r )12 rises steeply
for r < r0 , and hence models the strong “hard sphere” repulsion
between two atoms at close separation. The term (r0 /r )6
decreases slowly for r > r0 to model long attractive tail between
two atoms at large separation.
To find minimum:
r 13 r 7
dU 0 0
= −12 + 12
dr r0 r r
Clearly dU
dr = 0 at r = r0 and U(r0 ) = −.
2
For this to be a minimum ddrU2 > 0 at r = r0
!
d 2U r 14
0
r 8
0
= (12)(13) − (12)(7)
dr 2 r02 r r

To find minimum:
r 13 r 7
dU 0 0
= −12 + 12
dr r0 r r
Clearly dU
dr = 0 at r = r0 and U(r0 ) = −.
2
!
d 2U r 14
0
r 8
0
= (12)(13) − (12)(7)
dr 2 r02 r r

To find minimum:
r 13 r 7
dU 0 0
= −12 + 12
dr r0 r r
Clearly dU
dr = 0 at r = r0 and U(r0 ) = −.
2
!
d 2U r 14
0
r 8
0
= (12)(13) − (12)(7)
dr 2 r02 r r

Frequency of small oscillations
Since spring constant k is given as:
d 2 U

72
k = 2
= 2
dr r =r0
r
p q0
ω = k /µ = 12 /r02 m
For Chlorine molecule (Cl2 ):

m = 5.89 × 10−26 Kg and calculated value r0 = 2.98 × 10−10 m
and = 3.97 × 10−19 J. This gives ω = 1.05 × 1014 rad/s which
is in excellent agreement with experimentally observed
frequency 1.05 × 1014 rad/s.

Frequency of small oscillations
Since spring constant k is given as:
d 2 U

72
k = 2
= 2
dr r =r0
r
p q0
ω = k /µ = 12 /r02 m
For Chlorine molecule (Cl2 ):

m = 5.89 × 10−26 Kg and calculated value r0 = 2.98 × 10−10 m
and = 3.97 × 10−19 J. This gives ω = 1.05 × 1014 rad/s which
is in excellent agreement with experimentally observed
frequency 1.05 × 1014 rad/s.

Ubiquitous Oscillatory Systems
But how do we ‘smell’ them? Look for quadratic energy forms.
In many problems, energy is naturally written in terms of

variables other then linear displacement. For instance, q and q̇
where q is a variable other than displacement.
1 2
U= Aq
2
1
K = B q̇ 2
2
U is a measure of the energy storing potential owing to elastic
attribute (A) whenever q 6= 0. K is a measure of energy storing
q
A
inertial attributes owing to (B) whenever q̇ 6= 0. Thus, ω = B
mass-spring system: q = x, A = k , , B = m,
LC-circuit: q is charge on capacitor, A = 1/C, B = L.

1 2
U= Aq
2
1
K = B q̇ 2
2
q
A

1 2
U= Aq
2
1
K = B q̇ 2
2
q
A

1 2
U= Aq
2
1
K = B q̇ 2
2
q
A

1 2
U= Aq
2
1
K = B q̇ 2
2
q
A
Rock me, spin me, but topple I don’t:
Amazingly stable teeter-toy

Rock me, spin me, but topple I don’t:
Amazingly stable teeter-toy

P.E. for Teeter-toy
U(θ) = mg [L cos θ − l cos(α + θ)] − mg [l cos(α − θ) − L cos θ]

(3)
P.E. for Teeter-toy
Using cos(α ± θ) = cos α cos θ ± sin α sin θ
U(θ) = 2mg cos θ(L − l cos α)

= −A cos θ where A = 2mg(l cos α − L) a constant
θ2

= −A 1 − + ... Taylor expansion for cos θ
2
1
= −A + Aθ2 cannonical oscillator P.E. form
2
If s is the distance of each mass from the pivot, and the toy
rocks with angular speed θ̇, then the speed of each mass is sθ̇.
Thus,
1 1
K = (2m)s2 θ̇2 = B θ̇2
2 2
r r
A g(l cos α − L)
ω= =
B s2
P.E. for Teeter-toy

θ2

2
1
2
Thus,
1 1
K = (2m)s2 θ̇2 = B θ̇2
2 2
r r
A g(l cos α − L)
ω= =
B s2
P.E. for Teeter-toy

θ2

2
1
2
Thus,
1 1
K = (2m)s2 θ̇2 = B θ̇2
2 2
r r
A g(l cos α − L)
ω= =
B s2
P.E. for Teeter-toy

θ2

2
1
2
Thus,
1 1
K = (2m)s2 θ̇2 = B θ̇2
2 2
r r
A g(l cos α − L)
ω= =
B s2
P.E. for Teeter-toy

θ2

2
1
2
Thus,
1 1
K = (2m)s2 θ̇2 = B θ̇2
2 2
r r
A g(l cos α − L)
ω= =
B s2
P.E. for Teeter-toy

θ2

2
1
2
Thus,
1 1
K = (2m)s2 θ̇2 = B θ̇2
2 2
r r
A g(l cos α − L)
ω= =
B s2
P.E. for Teeter-toy

θ2

2
1
2
Thus,
1 1
K = (2m)s2 θ̇2 = B θ̇2
2 2
r r
A g(l cos α − L)
ω= =
B s2
P.E. for Teeter-toy

θ2

2
1
2
Thus,
1 1
K = (2m)s2 θ̇2 = B θ̇2
2 2
r r
A g(l cos α − L)
ω= =
B s2
Stability Analysis of Teeter-toy

Equilibrium occurs when
dU
= −2mg sin θ(L − l cos α) = 0
dθ
This implies θ = 0 (we rule out θ = π as unphysical). To

investigate stability we must find second derivative.
d 2U
= −2mg cos θ(L − l cos α)
dθ2
d 2U

= −2mg(L − l cos α)
dθ2 θ=0
h 2 i
d U
For stability dθ2 θ=0
> 0 implying L < l cos α.

dU
dθ

d 2U
dθ2
d 2U

dθ2 θ=0
h 2 i
d U

dU
dθ

d 2U
dθ2
d 2U

dθ2 θ=0
h 2 i
d U

dU
dθ

d 2U
dθ2
d 2U

dθ2 θ=0
h 2 i
d U

dU
dθ

d 2U
dθ2
d 2U

dθ2 θ=0
h 2 i
d U
The Magic Formula of Teeter-toy

A Formula one car
Stability requires low center of mass and hence the peculiar
design of a sports car.

A word of Caution!
You are
neither a teeter-toy
nor a formula one car
low CG = big instability
better rev up.

Problem 4.18
A 160 lb man leaps into the air from a crouching

position. His center of gravity rises 1.5 ft before
he leaves the ground, and it then rises 3 ft to the
top of his leap. What power does he develop
assuming that he pushes the ground with
constant force?

Problem 4.18

Solution to 4.18
P = W /T (W = work done by N)
W = N · 1.5
(c.g. rises by 1.5ft)
160
N = mg + ma or N = 160 + a
32
v2 h p √ √ i
a = = 64 v = 2gs0 = 2 · 32 · 3 = 8 3
2s √
N = 480 lb W = 720 lb.ft T = v /a = 3/8
P = W /T = 3325lb.ft/s ≈ 6hp

Solution to 4.18
W = N · 1.5
160
N = mg + ma or N = 160 + a
32
v2 h p √ √ i
a = = 64 v = 2gs0 = 2 · 32 · 3 = 8 3
2s √
N = 480 lb W = 720 lb.ft T = v /a = 3/8
P = W /T = 3325lb.ft/s ≈ 6hp

Solution to 4.18
W = N · 1.5
160
N = mg + ma or N = 160 + a
32
v2 h p √ √ i
a = = 64 v = 2gs0 = 2 · 32 · 3 = 8 3
2s √
N = 480 lb W = 720 lb.ft T = v /a = 3/8
P = W /T = 3325lb.ft/s ≈ 6hp

Solution to 4.18
W = N · 1.5
160
N = mg + ma or N = 160 + a
32
v2 h p √ √ i
a = = 64 v = 2gs0 = 2 · 32 · 3 = 8 3
2s √
N = 480 lb W = 720 lb.ft T = v /a = 3/8
P = W /T = 3325lb.ft/s ≈ 6hp

Solution to 4.18
W = N · 1.5
160
N = mg + ma or N = 160 + a
32
v2 h p √ √ i
a = = 64 v = 2gs0 = 2 · 32 · 3 = 8 3
2s √
N = 480 lb W = 720 lb.ft T = v /a = 3/8
P = W /T = 3325lb.ft/s ≈ 6hp

Solution to 4.18
W = N · 1.5
160
N = mg + ma or N = 160 + a
32
v2 h p √ √ i
a = = 64 v = 2gs0 = 2 · 32 · 3 = 8 3
2s √
N = 480 lb W = 720 lb.ft T = v /a = 3/8
P = W /T = 3325lb.ft/s ≈ 6hp

Prob. 4.19 leaping man (now with varying force F (t))
In the preceeding problem take F (t) = F0 cos ωt where F0 is
the peak force, and the contact with ground ends at ωt = π/2.
Find the peak power that the man develops during the jump.
P(t) = N(t)v (t) [N(t) = −F (t)]

N(t) − mg = ma(t)
Z v (t) Z t
m dv = (F0 cos ωt − mg) dt
0 0
F0
v (t) = sin ωt − gt [F0 , ω?]
mω
F0 1
x(t) = 2
(1 − cos ωt) − gt 2
mω 2
(4)
Two equations, two unknowns F0 , ω. We can solve for these

using boundary conditions x(t = π/2ω), v (t = π/2ω).
P(t) = N(t)v (t) [N(t) = −F (t)]

N(t) − mg = ma(t)
Z v (t) Z t
0 0
F0
v (t) = sin ωt − gt [F0 , ω?]
mω
F0 1
x(t) = 2
(1 − cos ωt) − gt 2
mω 2
(4)

P(t) = N(t)v (t) [N(t) = −F (t)]

N(t) − mg = ma(t)
Z v (t) Z t
0 0
F0
v (t) = sin ωt − gt [F0 , ω?]
mω
F0 1
x(t) = 2
(1 − cos ωt) − gt 2
mω 2
(4)

P(t) = N(t)v (t) [N(t) = −F (t)]

N(t) − mg = ma(t)
Z v (t) Z t
0 0
F0
v (t) = sin ωt − gt [F0 , ω?]
mω
F0 1
x(t) = 2
(1 − cos ωt) − gt 2
mω 2
(4)

P(t) = N(t)v (t) [N(t) = −F (t)]

N(t) − mg = ma(t)
Z v (t) Z t
0 0
F0
v (t) = sin ωt − gt [F0 , ω?]
mω
F0 1
x(t) = 2
(1 − cos ωt) − gt 2
mω 2
(4)

P(t) = N(t)v (t) [N(t) = −F (t)]

N(t) − mg = ma(t)
Z v (t) Z t
0 0
F0
v (t) = sin ωt − gt [F0 , ω?]
mω
F0 1
x(t) = 2
(1 − cos ωt) − gt 2
mω 2
(4)

Except for F (t) = F0 cos ωt nothing has changed from
previous problem
√ F0 gπ
v (t = π/2ω) = 8 3 = −
mω 2ω
F0 gπ 2
x(t = π/2ω) = 1.5 ft = −
mω 2 8ω 2
π
ω = 9.96s−1 F0 = 832 lb t= = 0.16s
2ω
P(t) = F (t)v (t)

 
F0 
F0 sin 2ωt − 2mgωt cos ωt 
2mω | {z } | {z }
1 2
A reasonable approximation: F0 >> mg then 1st >> 2nd

F02
P(t) ≈ sin 2ωt
2mω
dP
For Pmax. : =0
dt
dP F2
= 0 cos 2ωt = 0
dt m
F02 π F2
Pmax. = P|t= π = sin 2ω = 0
4ω 2mω 4ω 2mω
Check:

d 2 P −F02

= 2ω sin 2ωt <0

2
dt t= π m

π
4ω t= 4ω

F02
P(t) ≈ sin 2ωt
2mω
dP
For Pmax. : =0
dt
dP F2
= 0 cos 2ωt = 0
dt m
F02 π F2
4ω 2mω 4ω 2mω
Check:

d 2 P −F02

= 2ω sin 2ωt <0

2
dt t= π m

π
4ω t= 4ω

F02
P(t) ≈ sin 2ωt
2mω
dP
For Pmax. : =0
dt
dP F2
= 0 cos 2ωt = 0
dt m
F02 π F2
4ω 2mω 4ω 2mω
Check:

d 2 P −F02

= 2ω sin 2ωt <0

2
dt t= π m

π
4ω t= 4ω

F02
P(t) ≈ sin 2ωt
2mω
dP
For Pmax. : =0
dt
dP F2
= 0 cos 2ωt = 0
dt m
F02 π F2
4ω 2mω 4ω 2mω
Check:

d 2 P −F02

= 2ω sin 2ωt <0

2
dt t= π m

π
4ω t= 4ω

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