B.Sc.

Mathematics – 2nd Semester

MTB 202 – Statics and Dynamics

by

Dr. Krishnendu Bhattacharyya

Department of Mathematics,
Institute of Science, Banaras Hindu University
 Part – III

General Motion in Two Dimensions

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 1

Rotation of a vector
Let a vector A be defined in a plane OXY. Let it be rotating about its tip at
the origin. Let at any moment (time) its direction makes  angle with the
x-axis OX. Let e be unit vector along the direction of A . The vector
changes due to change in its magnitude as well as its direction.
The vector is defined as A  Ae .
Now its rate of change with respect to 
may be expressed as
dA de dA
 A e , (1)
d d d

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 2

where on right hand side first term expresses change in the direction,
while second term expresses change in its magnitude.
Taking dot product of (1) with the unit vector e we have
dA  de  dA
e.  A e  (2)
d  d  d
dA 1 dA2 1  dA dA 
Now,  
1 d
d 2 A d 2 A d
 A. A    A.  . A
2 A  d d 

dA A dA dA
i.e.,  .  e. (3)
d A d d

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 3

Then from (2) and (3) we have
de
e.  0 as A  0 (4)
d
Now we can conclude following two results:
(1) The magnitude of an unit vector rotating in two dimension about its
initial point does not change with respect to  .
de
(2) If e be a unit vector, then is another unit vector, but
d
perpendicular to e .

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 4

Now let us apply above results on two mutually perpendicular unit vectors
iˆ and ˆj .
Let iˆ be along OA and ĵ be along OB. Plane OAB be rotating with respect
to a fixed plane OXY.
Let at any moment (time), OA makes angle 
diˆ
with OX, then will represent a unit vector
d
djˆ
perpendicular to OA, i.e. along OB. Further
d
will represent a unit vector along OA.

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 5

 diˆ ˆ dj
Thus we have  j and  iˆ ,
d d
where negative sign occurs because the sense of change in ĵ will be
opposite to that in iˆ .

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 6

Cartesian Components of Motion
Let OXY be a Cartesian plane a fixed frame of reference. Let a particle
describe a path in the plane. Let us consider two positions on the path P
and Q very close to each other. Two perpendicular directions at both
positions are parallel to x-axis and y-axis respectively.
Thus as the position changes on the path, the
two perpendicular directions do not change.
Let position vector of P be r ( x, y ) . If iˆ and
ĵ are unit vectors along x-axis and y-axis,

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 7

respectively, then we may write r  xiˆ  yjˆ
Now, the rate of change with respect to time t with reference to fixed
frame will be the linear velocity v of the particle and it is given by
r  xiˆ  yjˆ  xiˆ  yjˆ .
But, in Cartesian system unit vector does not change. So we have
iˆ  ˆj  0 . Thus we have r  xiˆ  yjˆ  v
Now, if  be angle made by the velocity vector with the positive x-axis, v
is the magnitude of the velocity then
y dy
v 2  x 2  y 2 and x  v cos  , y  v sin  , i.e., tan    .
x dx

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 8

Similarly, if a be acceleration with a  a and  be the angle between the
acceleration vector and positive x-axis, then
y
a  xiˆ  yjˆ, a 2  x 2  y 2 and tan   .
x
So, it is clear from above that the direction of the velocity and acceleration
at any point on the path are different.

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 9

Radial and Transverse Components (Polar Components)
Two perpendicular directions in polar system of a two dimensional frame
of reference are radial and transverse directions (cross radial direction).
Let the position of a moving particle at time on its path be P (r , ) .
Further, let unit vector along the radial
direction OP be iˆ and that along transverse
direction at P along  increasing direction be
ĵ .
It may be noted that the radial directions at

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 10

two very close positions P and Q are not parallel. It means that the radial
direction iˆ and the transverse direction ĵ change with  .
diˆ ˆ djˆ
So we have  j and  iˆ .
d d
Now, the position vector at P be r  riˆ , where r  r .
Now, its rate of change with time with reference to fixed frame will give
the linear velocity of the particle at P along tangent, i.e.,
dr ˆ diˆ ˆ diˆ d
v  r  ri  r  ri  r
dt dt d dt
v  riˆ  r ˆj (1)

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 11

So, the two velocity components at P  r ,  are

(i) Radial velocity r along the radial direction  iˆ  .

(ii) Transverse velocity r along the transverse direction  ĵ  .

If the velocity vector makes an angle  with the radial direction then
r d
  , where v  v .

2
tan   r and v 2
 r 2
 r
r dr
Differentiating (1) with respect to time with reference to fixed frame we
get
diˆ djˆ
 ri   r  r  j  r  r
dv ˆ ˆ
a
dt dt dt

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 12

 diˆ d djˆ d
i.e., a  ri   r  r  j  r
ˆ ˆ  r
d dt d dt
i.e., a  riˆ   r  r  ˆj  r ˆj  r 2  iˆ 

i.e., a   r  r 2  iˆ   2r  r  ˆj

Thus radial and transverse acceleration components are

r  r 2 and 2r  r , i.e., r  r 2 and
1d 2
r dt
 r  .
2r  r
Also we have a 2   r  r 2    2r  r  and tan  
2 2
,
r  r 2

where a  a and  is the angle which the direction of a makes with the
radial direction.

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 13

Tangential and Normal Components (Intrinsic Components)
Two perpendicular direction in intrinsic systems are tangential direction,
i.e., arc length increasing direction and normal direction.
Let a particle be describing a plane curve and at any time t P ( s, ) be
position of it. Let iˆ and ĵ be the unit vectors along tangential and normal
directions. The two perpendicular directions change when the particle
moves to a neighboring point Q, i.e., those changes with  .
diˆ ˆ djˆ
Hence, we have  j and  iˆ .
d d

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 14

Now, the linear velocity at P will be the rate of change of arc length w.r.t.
ds
time and it is s  along the tangent.
dt
No normal velocity component is present.
Thus, the velocity (linear velocity) v is at
P may be written as
v  siˆ , i.e., v  v  s .
So, the acceleration of the particle will be
dv ˆ
di ˆ d ds
di
a  siˆ  s  siˆ  s
dt dt d ds dt

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 15

 2
1 v
i.e., a  siˆ  sjˆ s  siˆ  ˆj ,
 
ds
where   is the radius of curvature of the curve at P and it may be
d
obtained from intrinsic equation s  f   of the curve.

v2
Thus, the tangential and normal accelerations are s and .

If the acceleration makes angle  with the tangential direction and a  a
2
 v2  v2 
then a  s    and tan  
2 2
.
 s

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 16

Example: If the radial and transverse velocities of a point are always
proportional to each other and this holds for acceleration also, then prove
that its velocity will vary as some power of the radius vector.
Solution: It is given that

r  r and r  r 2 
1d 2
r dt
 r 

d
 r   r …… (1) and r  r 2 
r dt
 r 
2

r  r 2    2r  r  …… (2)

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 17

 r2  r
Let v be the velocity. Then v  r   r   r  2 as r   ,
2 2 2

  
1
 1  2
i.e., v  1  2  r .
  
Now from (2) we have

 r  d 2 r   d 
2
r2
r r  
 r 
 r 
r dt   r 
 r  
 r  r dt
2  rr  
r
 rr  r 2

r2   r2  r2  r2
r 2  r r r  2 
 r   r   r  r

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 18

     1  r
2
 r 1     2  
     r
r2  1 
 Ar  B , where A  1  , B  2 
r   
r2 B r r
 r  C (where C  )   C
r A r r
Integrating we have log r  C log r  log D  r  Dr C
1
 1 2 C
Therefore, v  1  2  Dr .
  
Thus, the velocity is proportional to any arbitrary power of r.

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 19

Example: The velocities of a particle along and perpendicular to radius
vector from a fixed origin are  r 2 and  2 . Show that the equation to the
 
path is   c , and the components of acceleration are
 2r
4 3
2 r  
2 3 2
and  r  2
2 2
.
r r
Solution: It is given that
r   r 2 ……. (1) and r   2 ……. (2)
dr
r 2
Dividing (1) by (2) we have dt

r d
dt  2

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 20

 dr d  
        c (where c is constant)
r 3
 2
2r 2

 
  2 c
 2r
We have
Radial acceleration  r  r 2 and Transverse acceleration  2r  r .
From (2) we have r   2
Differentiating w.r.t. t we have r  r  2  .

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 21

  2  2 3
Therefore 2r  r  2  r  2  r 2
  r  2
2 2
,
r r r
which is the transverse acceleration.
From (1) we have
r   r 2  r  2 rr  2 r r 2  r  2 2 r 3 .
  2  2
4
Therefore r  r  2 r  r 
2 2 3
  2 r   r , which is the radial
2 3

 r 
acceleration.

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 22

Example: Prove that the path of a point which possesses two constant
velocities one along a fixed direction and the other perpendicular to the
radius vector drawn from a fixed point is a conic.

Example: A particle moves along circle r  2a cos in such a way that its
acceleration towards the origin is always zero. Prove that
d 2
2
 2cot  . 2
.
dt

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 23

Angular Velocity and Acceleration
The angular velocity of a point P about another point O is the rate of
change of the angle which or makes with some fixed direction.
The angular velocity of P about O
 d
 lim   .
 t 0  t dt
Similar, angular acceleration is
d  d  d 2
   .
dt  dt  dt 2

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 24

Rotation between angular and linear velocities
Let v be the velocity of the particle at P  r ,  along the tangent.
So we have
r  v cos  …… (1)
r  v sin  …… (2)

We also have from OPM

p
sin   ……. (3)
r

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 25

From (1) and (3) we get
v sin  vp
  2.
r r
For circular motion it should be (with centre as pole)
v
 .
a

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 26

Example: If a point moves along a circle, prove that its angular velocity
about any point on the circle is half of that about the centre.
Solution:
Let the angle of any point P be  and
that of a neighbouring point Q be    .
Therefore, the change in angle due to the
movement of the point from P to Q be 
with respect to the centre.

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 27

Let A be any point on the circle. Then the change in angle of the point due

to the movement from P to Q with respect to A is .
2

Now, the angular velocity about the centre is lim   and that of about
 t 0  t

1  1
A any point on the circle is lim   .
 t 0 2  t 2

Example: A point describes a circle of radius a with a uniform speed v;

v2
show that the radial and transverse acceleration are  cos and
a

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 28

 v2
 sin  if a diameter is taken as initial line and end of the diameter as
a
pole.
Solution: The equation of the circle whose or diameter is initial line and
one end of that diameter is pole, is given
by r  2a cos …. (1)
It is given that a point is moving on circle
given by (1) with a uniform speed v.

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 29

Therefore the radial velocity r  v sin 
And transverse velocity r  v cos
v cos v
 r  v cos  and   
r 2a
Now, we know that radial acceleration  r  r 2
and transverse acceleration  2r  r
2
v  v 
So, radial acceleration  v cos    2a cos
2a  2a 
v2 v2 v2
  cos  cos   cos
2a 2a a

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 30

 v
and transverse acceleration  2r  r  2v sin   0 as  =0 
2a
v2
  sin  .
a

Example: A point describes uniformly a given straight line, show that its
angular velocity about a fixed point varies inversely as the square of its
distance from the fixed point.

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 31

Example: A point P describes a curve with a constant velocity and the
radius vector joining P to a fixed point O has an angular velocity which is
inversely proportional to OP; show that the curve is an equiangular spiral
with O as pole and that the acceleration of P along the normal varies
inversely as OP.

Example: If the velocity of a point moving in a plane curve varies as the

radius of curvature, show that the direction of motion revolves with
constant velocity. Also if the angular velocity of the moving point about a
fixed origin be constant, show that if transverse acceleration varies as its
radial velocity.

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 32

Example: A point moves in plane curve so that its tangential acceleration
is constant and the magnitudes of tangential velocity and the normal
acceleration arc in a constant ratio. Show that the intrinsic equation of the
path is of the form s  A 2  B  C .
Solution: We have s  k1 ………. (1)
s v
and  k2   k2    k2 v …… (2)
v2 v 2


dv dv
From (1) we have s  v  k1
dt ds
 vdv  k1ds

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 33

Integrating we get
v2
 k1s  k3  v  2k1s  k3
2
Now from (2) we have
ds ds
 k2 2k1s  k3   k2
d 2k1s  k3
Integrating we have
2k1s  k3
 k2  k4
2k1.k2

 2k1s  k3  k1k2  k1k4

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 34

  2k1s  k3  k12 k22 2  2k12 k2 k4  k12 k42

k1k22 2 k12 k42  k3

s   2k1k2 k4 
2 2k1
Thus s  A 2  B  C is the intrinsic equation of the path. (Hence the
result)

Example: A point moves in a curve so that its tangential and normal

acceleration are equal and the tangent rotates with constant angular
velocity. Show that the intrinsic equation of the path is of the form
s  Ae  B .

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 35

 v2 d
Solution: We have s  …….. (1) and  k1  constant ……. (2)
 dt
dv v 2 dv d dv
From (1) we get v   v   d
ds  ds ds v
Integrating, we obtain
log v    log k2 (k2 is a constant)
ds ds d
 v  k2 e    k2 e
dt d dt
ds k
 k1  k2 e  ds  2 e d
d k1

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 36

Integrating we get
k2 
s e  k3 (k3 is a constant) .
k1
Hence the intrinsic equation of the path is of the form s  Ae  B , where
A and B are constants.

Example: A particle describes a curve (for which s and  vanish

simultaneously) with uniform v. If the acceleration at any point s be
v 2c
, prove that curve is a catenary.
s c
2 2

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 37

Solution: Since v is constant, then s  0
2
 v2  v2
s    
2
Then the acceleration given by
 
Therefore, we have
v2 v 2c d c cds
 2    d 
 s  c2 ds s 2  c 2 s2  c2
Integrating, we get

  c tan 1    k i.e.,   tan 1    k .

1 s s
c c c
Now, at s  0,  0  k  0 . So, s  c tan

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 38

 s
Thus,   tan 1   is the equation of path, which is a catenary. (Proved)
c

Example: A small bead slides with constant speed v on a smooth wire in

the shape of a cardioid r  a 1  cos  . Show that the value of  is

 
 v sec  2a and that the radial component of the acceleration is
 2
constant.

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 39