ASSIGNMENT 1

STUDENTS: ESTEBAN MORALES & RODRIGO REYES

TEACHER: EUGENIO RIVERA MANCILLA
Department of mechanical engineering
For the first problem we have a particle traveling with constant speed v 0 with a trajectory that can
be described by the equation r ( θ )=k ∙ θ

First, using polar coordinates, we can look while t=0 ( sec ) → r=θ=0 where r ( θ )=k ∙ θ ; with
k :constant , θ :angle∈radian and r =particle radius .
For other way, r⃗ ( θ )=k ∙ θ ∙ r^ is the radio particle vector and if we differentiate in both sides:

d r⃗ ˙ ^
= ⃗r = ⃗v =ṙ ∙ r^ + r ∙ θ̇ ∙ θ=velocity vector
dt
With ṙ =magtinude of the velocity , r^ =unit vector radio , θ̇=angular velocity and
^θ=angular unit vector . And if we differentiate another time:

d r⃗˙ ¨ d ⃗v
= ⃗r = =⃗a =( r̈−r ∙ θ̇2 ) ∙ r^ + ( 2∙ ṙ ∙ θ̇+ r ∙ θ̈ ) ∙ θ=acceleration
^ vector
dt dt
Where r̈ =magnitude of the acceletarion and θ̈=angular acceleration . Considering the given
r (θ):
ṙ =k ∙ θ̇∧r̈=k ∙ θ̈
To demonstrate the item A, we can use:

^ √( k ∙ θ̇ )2 + ( k ∙ θ∙ θ̇ )2 ¿ k ∙ θ̇ ∙ √ 1+ θ2=v
‖⃗v‖= √ṙ ∙ r^ +r ∙ θ̇ ∙ θ= 0

For the item b, using the changing θ=tan φ and integrating with φ=0 →θ=0 :

d ( tan φ)
v 0=k ∙ ∙ √ 1+¿ ¿ ¿
dt

v 0=k ∙( sec φ)2 ∙ √ 1+¿ ¿ ¿

t φ

∫ v 0 ∙dt= ∫ k ∙( sec φ)2 ∙ √ 1+ ¿ ¿¿ ¿ ¿

t =0 φ=0

φ
v 0 ∙ ( t−0 )=k ∙ ∫ ( sec φ)3 ∙ dφ
φ=0

v 0 ∙t φ
I= = ∫ (sec φ)3 ∙ dφ
k φ=0

The integral I is solved as follows:

I =∫ ( sec φ)3 ∙ dφ=∫ (sec φ)2 ∙ sec φ ∙ dφ=¿ ∫ (1+( tan φ)¿ ¿2) ∙ sec φ∙ dφ ¿ ¿

I =∫ sec φ ∙( tan φ)2 ∙ dφ+∫ sec φ ∙dφ

Using the integration by parts:

∫ u ∙ dv=u ∙ v −∫ v ∙du
with u=tan φ , du=( sec φ)2 ∙ dφ , dv=sec φ ∙ tan φ∧v =sec φ

I =sec φ∙ tan φ−∫ sec φ∙ ( sec φ )2 ∙ dφ+¿ ∫ sec φ∙ dφ=sec φ ∙ tan φ−I + ¿∫ sec φ ∙ dφ¿ ¿

sec φ+ tan φ
2 ∙ I =sec φ ∙ tan φ+¿ ∫ sec φ ∙ ∙ dφ ¿
sec φ+ tan φ

(secφ)2 +sec φ ∙ tan φ

2 ∙ I =sec φ ∙ tan φ+¿ ∫ ∙dφ ¿
sec φ+ tan φ
With the change u=sec φ+ tan φ , du=( sec φ∙ tan φ+(tan φ)2)∙dφ and using the property
du
∫ u
=ln ¿¿ :

(sec φ)2 + sec φ ∙ tan φ

J=∫ ∙ dφ
sec φ+ tan φ
du
J=∫ =ln ( sec φ+tan φ)+C , withC=0 because theintegral is going ¿ be defined
u
Finally:

1
I= ∙¿
2

Using ( sec φ)2 =√ 1+θ 2:

1 v0 ∙ t
I = ∙ [ θ ∙ √ 1+θ +ln ( √1+θ +θ ) ]=
2 2
2 k

2 [
I = ∙ θ ∙ √ 1+θ2 +ln ( √ 1+θ2 +θ)∙ √
1
( 1+θ2 −θ+1
2
√1+θ −θ+1
v ∙t
= 0
k )]
v 0 ∙t 1
k [
= ∙ θ∙ √ 1+ θ2 +ln
2 ( √1+θ2 +1+θ
√ 1+θ2 +1−θ )] Q. E.D.

For the item C:

For the item D:

d r⃗ ˙ ^
= ⃗r = ⃗v =k ∙ θ̇ ∙ r^ + k ∙ θ ∙ θ̇ ∙ θ=velocity vector
dt
For the item E:

⃗v =T^ ∙‖⃗v‖=T^ ∙ ( k ∙ θ̇ ∙ √1+θ 2)

k ∙ θ̇ ∙ r^ +k ∙ θ∙ θ̇ ∙ θ^ r^ + θ∙ θ^
T^ = =
( k ∙ θ̇ ∙ √1+θ2 ) √1+θ2
For the item F:
a⃗ =( r̈ −r ∙ θ̇2 ) ∙ r^ + ( 2∙ ṙ ∙ θ̇+ r ∙ θ̈ ) ∙ θ=
^ ( k ∙ θ̈−k ∙θ ∙ θ̇2 ) ∙ r^ + ( 2 ∙ k ∙ θ̇ ∙ θ̇+k ∙ θ ∙ θ̈ ) ∙ θ^

a⃗ =k ∙ ¿
For the item G:

v0
θ̇=
k ∙( √1+θ2 )
Differentiating with respect to t:

−v 0 ∙θ ∙ θ̇ −v 02 ∙ θ
θ̈= 3
=
k 2 ∙(1+ θ2)2
k ∙ ( 1+θ2 ) 2
Effectuating the dot product:
2 2 2 ^ θ]
^
a⃗ ∙ ⃗v =k ∙ θ̇ ∙[( θ̈−θ ∙ θ̇ )∙ ṙ ∙ ṙ +θ ∙(2∙ θ̇ +θ ∙ θ̈) ∙ θ∙

a⃗ ∙ ⃗v =k 2 ∙ θ̇ ∙[( θ̈−θ ∙ θ̇ 2)+2 ∙θ ∙ θ̇2 +θ2 ∙ θ̈]

a⃗ ∙ ⃗v =k 2 ∙ θ̇ ∙[ θ̈(1+θ2 )+ θ ∙ θ̇2 ]

−v 02 ∙θ v 02
a⃗ ∙ ⃗v =k 2 ∙ θ̇ ∙[ 2
2 2 2
∙(1+θ )+ θ∙ 2 2
]
k ∙(1+θ ) k ∙(1+ θ )

−v 02 ∙θ v02 ∙θ
2
a⃗ ∙ ⃗v =k ∙ θ̇ ∙
[ 2 2
+ 2
k ∙ ( 1+θ ) k ∙ ( 1+θ )
2 ]
=k 2 ∙ θ̇ ∙ 0=0

a⃗ ∙ ⃗v =0
Which means the vectors a⃗ and ⃗v are perpendicular.
The second problem consists of a small ball of 1[ Kg] that is kicked from the ground with an initial
m
velocity v 0=30 and an angle θ=40 ° with respect to the ground. The ball flies through a
s
m
current of wind traveling at 20 contrary to the horizontal movement of the ball, meaning
s
⃗v wind=−20 i^ .

We have that the resistance force of the air is given by F r=−0.5 ⃗v rel ; where ⃗v rel is the velocity of
the ball relative to the wind which can be calculated as follows:

⃗v rel=⃗v −⃗v wind=⃗v +20 i^

^ . By separating the velocity of the ball in its
F r=−0.5(⃗v +20 i)
This results in a resistance force of ⃗
components along each axis, we can express the force as:

F r=−0.5 ( v x i^ + v y ^j +20 i^ )=−( 0.5 v x +10 ) i^ −0.5 v y ^j

⃗

On the other hand, the ball’s weight can be expressed as ⃗ W =m ⃗g =−9.81 ^j . Having defined all
the forces acting on the ball we can represent them on the diagram shown on figure 1:

Figure 1: Free body diagram of the ball.

Using Newton’s second law we have that the resulting force applied on the ball is equal to the
ball’s mass times it’s acceleration, or mathematically:

∑ ⃗F =¿ ⃗F r + ⃗
W =−( 10+0.5 v x ) i^ −(9.81+ 0.5 v y ) ^j =m ⃗a ¿
This vectorial equation gives us two second order linear differential equations, where the solutions
are the parametric movement equations of the ball. For this we can decompose the acceleration
^ y ^j resulting in the equations:
along each axis as a⃗ =a x i+a

−( 0.5 v x +10 ) =a x

−( 0.5 v y + 9.81 )=a y

Rearranging terms and using ẋ=v x , ẏ =v y , ẍ=a x , ÿ=a y the ODE’s can be expressed as:

ẍ +0.5 ẋ=−10
ÿ +0.5 ẏ=−9.81

Since both equations are linear, we can multiply by an integrating factor of e∫ 0.5 dt =e 0.5 t in each
one of them, resulting in:

d 0.5 t
e 0.5 t ẍ+ 0.5 e 0.5 t ẋ = ( e ẋ ) =−10 e 0.5 t
dt
d 0.5 t
e 0.5 t ÿ +0.5 e 0.5 t ẏ= ( e ẏ )=−9.81 e0.5 t
dt
Integrating with respect to t on both sides:

e 0.5 t ẋ=−20 e 0.5 t +C 1

e 0.5 t ẏ=−19.62 e 0.5t +C 2

Dividing both equations by e 0.5 t results:

ẋ (t)=−20+C1 e−0.5t

ẏ (t)=−19.62+C2 e−0.5 t
In order to use the initial conditions at t=0 , we have to calculate the components along each axis
of the initial velocity, given by ẋ (0)=v 0 cos (θ )=22.981 and ẏ (0)=v 0 sin (θ )=19.284 . Using this
information in the previous equations we can determine the value of the constants C 1 and C 2:

22.981=−20+C1 ∙1 ⇒C 1=42.981

19.284=−19.62+C2 ∙1 ⇒ C 2=38.904

Replacing the values of C 1 and C 2 we obtain the equations for the velocity of the ball on each axis:

ẋ (t)=−20+42.981 e−0.5t

ẏ (t)=−19.62+38.904 e−0.5 t
Integrating with respect to t we obtain the following parametric equations for the position of the
ball:
x=−20 t−85.962 e−0.5 t +C 3

y=−19.62t−77.808 e−0.5t +C 4

Since the ball is kicked from the ground we have x ( 0 )= y ( 0 )=0, so applying the initial condition
we obtain:

0=−20 ∙ 0−85.962 ∙1+C 3 ⇒ C3=85.962

0=−19,62∙ 0−77.808∙ 1+C 4 ⇒ C 4=77.808

Replacing these values in the equations (1) and (2) we obtain the equations of motion of the ball
along each axis:

x (t)=−20 t−85.962e−0.5 t +85.962

y (t)=−19.62t−77.808 e−0.5 t +77.808

The flight time of the ball can be determined by setting y=0. Since this results in an expression
where it’s difficult to isolate the time variable t , it was determined using a calculator. The value
obtained is:

t flight =3.14118 [s ]≈3.141 [s]

Using this last result we can calculate the horizontal distance b travelled by the ball as follows:

b=x ( t flight ) ≈ 5.267 [m]

Finally, we can graph the trajectory of the ball using the parametric equations previously obtained,
as shown on figure 2:
Figure 2: Graph of the ball’s trajectory constructed using MatLab.