70 CHAPTER 2 Newtonian Mechanics: Rectilinear Motion of a Particle

EXAMPLE 2.4.1

Horizontal Motion with Linear Resistance

Suppose a block is projected with initial velocity Vo on a smooth horizontal surface and
that there is air resistance such that the linear term dominates. Then, in the direction
of the motion, F0 = 0 in Equations 2.4.1 and 2.4.2, and F(v) = -c1v. The differential
equation of motion is then •

Horizontal Motion with Quadratic Resistance

Ifthe parameters are such that the quadratic term dominates, then for positive v we can write
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Atwood's machine consists of a smooth pulley with two masses suspended from
a light string at each end (Figure 2-11). Find the acceleration of the masses and
the tension of the string (a) when the pulley center is at rest and (b) when the
pulley is descending in an elevator with constant acceleration a.
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56 CHAPTER2

M
!,v

i..v ~\
_\_ I _ before after
'- -C.o (
\7<!'.\< Q._ ,._,1i112~•1t- collis1on
--- · coIlls'10n

The problem, as stated, is co~~efone-dimensional. We may therefore use the elementary

result obtained from the use of our conservation theorems: energy (since the collision is elastic)
and momentum. We can factor the momentum conservation equation
m1V1 +m2V2 =ffi,V3 +~V4 (1)
out of the energy conservation equation
1212121 2
2 m1V1 + 2 m2V2 2m1V3 + 2 m2V4= (2)

and get
V1 + V3 ~ . V4 (3)
This is the "conservation" of relative velocities that motivates the definition of the coefficient of
restitution. In this problem, we initially have the superball of mass M coming up from the
ground with velocity v = .J2gh , while the marble of mass mis falling at the same velocity.
Conservation of momentum gives 1 .J. '/ f
Mv.+ m(-v) = M11..3 + mv4. :.
(4) /
and our result for elastic collisions in one dimension gives
v+ v3 =(-v) + v4 . (5)

solving for v3 and v 4 and setting them equal to .J2ghitem , we obtain

2
3-a
hmarb/e =[ l + a ] h (6)

2
1-3a
hsuperbal/ =[ l +a ] h (7)

where a= m/M. Note that if a< 1/3, the superball will bounce on the floor a second time after
the collision.
70 CHAPTER 2 Newtonian Mechanla: Rectilinear Motion of a Particle

EXAMPLE 2.4.1

Horizontal Motion with Linear Resistance

Suppose a block is projected with initial velocity v0 on a smooth horizontal surface and
that there is air resistance such that the linear term dominates. Then, in the direction
of the motion, F0 = 0 in Equations 2.4.1 and 2.4.2, and F(v) =-c v. The differential
1
equation of motion is then

-c1v=m-
do
dt
which gives, upon integrating,

t = Jo - mdv =-~In(~ )
Oo c1v Ci Vo

Solution:
We can easily solve for v as a function oft by multiplying hy-ci/m and taking the expo-
nential of both sides. The result is
v =Voe -citint
Thus, the velocity decreases exponentially with time. A second integration gives
x= 1 Voe-citlmdt

= mvo {l - e-c1thn)
C1

showing that the block approaches a limiting position given by x""' = mv0/c1.

EXAMPLE 2.4.2

Horizontal Motion with Quadratic Resistance

Ifthe parameters are such that the quadratic term dominates, then for positive v we C2I1 write
dv
-c 2 v 2 =m-
dt
which gives

Solution:
Solving for v, we get
v= Vo
l+kt
\ -} .0 1.5 The Vector Product
19

EX AM PL E 1.4 .3 e diagonal of
between a long diagonal and an adjacent fac
Find the cosine of the angle
a cube.

Solution: =
vectors A= (1, 1,1 ) and B
diagonals in question by the
We can represent the two
(1, 1, 0). Hence, from Eq
uations 1.4.1 and 1.4.6,

l+ l+ O {2
A• B
cos 8 = AB = ./3.J§. =1/5 = 0.8165

EX AM PL E 1.4 .4 Wh at is the value

pen dic ula r to the vec tor i
+ 2J - 3k.
Th e vector ai + j - k is per
ofa ?

Solution:
t must vanish (cos 90° = 0).
r to each other, their dot produc
Ifthe vectors are perpendicula
2 + 3 = a + 5 =0
(ai + j - k) • (i + 2j - 3k) =a +

Therefore,
a= -5

t
1. 5 f The Vector Produc define d as the
the vector produc t or cross product, A x B, is
Given two vectors A and B, given by the equation
vector whose components are
(1.5.1)
Bx -A xB z, Ax B,- Ay Bx )
A xB =(A yB z -A zB y, Az
ltiplication:
owing rules hold for cross mu
It can he shown that the foll
(1.5.2)
Ax B= -B xA
xC (1.5.3)
Ax (B + C) =A x B +A
x (nB) (1.5.4)
n(A xB )=( nA ) xB =A
are left as an exercise.
ctly from the definition and
The proofs of these follow dire mu tati ve. )
states tha t the cross pro duc t ts ant kom
(No te: The firs t equation
22 CHAPTER 1 Fundamental Concepts: Vectors

EXAMPLE 1.5.1
Given the two vectors A= 2i + j - k, B = i - j + 2k, find Ax B.

Solution:
In this case it is convenient to use the determinant form

i j k
Ax B = 2 1 -1 = i(2- l) + j(-1- 4) + k(-2 -1)
1 -1- 2
= i-5j-3k

EXAMPLE 1.5.2
Find a unit vector normal to the plane containing the two vectors A and B above.

Solution:

EXAMPLE 1.5.3
Show by direct evaluation that A x B is a vector with direction perpendicular to A and
B and magnitude AB sin 8.

Solution:
Use the frame of reference discussed for Figure 1.4.1 in which the vectors A and B
are defined to be in the x, y plane; A is given by (A, 0, 0) and Bis given by (B cos 8, B sin 8, 0).
Then

i k j
Ax B = A O O = kAB sin 8
Bcos8 Bsin8 0

1.61 An Exampl_e of the Cross Product:

Moment of a Force
Moments of force, or torques. are represented by cross products. Let a force F act at a
point P(x, y, z), as shown in Figure 1.6.1, and let the vector OP be designated by r; that is,
OP= r= ix+ jy + kz (1.6.1)
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