Week 2

Chapter 3 Vectors
Chapter 4 Motion in 2D
Cartesian Polar Coordinate
Coordinate System System
 Origin and reference line are
 Also called rectangular
noted
coordinate system  Point is distance r from the
 x- and y- axes intersect at the origin in the direction of angle
origin , ccw from reference line
 Points are labeled (x,y)  Points are labeled (r,)
Polar to Cartesian Coordinates
 Based on forming a right
triangle from r and 

 x = r cos 
 y = r sin 

 r is the hypotenuse and  an angle

y
tan 
x
r  x2  y 2

  must be ccw from positive x axis

for these equations to be valid
Example 3.1
 The Cartesian coordinates of a
point in the xy plane are (x,y) =
(-3.50, -2.50) m, as shown in
the figure. Find the polar
coordinates of this point.

Solution:

r  x 2  y 2  ( 3.50 m)2  ( 2.50 m)2  4.30 m

y 2.50 m
tan    0.714
x 3.50 m
  216 (signs give quadrant)
Vectors and Scalars
 A scalar quantity is completely specified by
a single value with an appropriate unit and
has no direction.
 A vector quantity is completely described by
a number and appropriate units plus a
direction.
Vector Example
 A particle travels from A to
B along the path shown by
the dotted red line
 This is the distance
traveled and is a scalar
 The displacement is the
solid line from A to B
 The displacement is
independent of the path
taken between the two
points
 Displacement is a vector
Vector Notation

 Text uses bold with arrow to denote a vector: A
 Also used for printing is simple bold print: A
 When dealing with just the magnitude of a
vector in print, an italic letter will be used: A or

| A|
 The magnitude of the vector has physical units
 The magnitude of a vector is always a positive
number 
 When handwritten, use an arrow: A
Equality of Two Vectors
 Two vectors are equal
if they have the same
magnitude and the
same
 direction
 A  B if A = B and
they point along parallel
lines
 All of the vectors shown
are equal
 Adding Vectors
 drawing the vectors “tip-to-
tail”
 The resultantis drawn from
the origin of A to the end of
the last vector 
 Measure the length of R
and its angle
 Use the scale factor to
convert length to actual
magnitude

When adding vectors, all of the vectors

must have the same units
All of the vectors must be of the same type
of quantity
For example, you cannot add a
displacement to a velocity
 Negative of a Vector
 The negative of a vector is defined as the vector
that, when added to the original vector, gives a
resultant of zero 
 Represented as A


 
A  A  0
 The negative of the vector will have the same
magnitude, but point in the opposite direction
 
A  B = A  B  
As shown (b), the resultant
vector points from the tip of
the second to the tip of the
first
Component Method of Adding
Vectors
 Assume you are given
a vector A
 It can be expressed in
terms of two
 other 
vectors, A x and A y
 These three vectors
form a right triangle

 A  Ax  Ay
Ax  A cos  Ay
A A A
2
x
2
y and   tan 1

Ay  A sin  Ax
Unit Vectors
 The symbols
î , ĵ, and k̂
various planes
represent unit vectors x, y
x, z
 They form a set of y, z
mutually perpendicular
vectors in a right-
handed coordinate
system
 Remember, ˆi  ˆj  kˆ  1

A unit vector is a dimensionless vector Rotate the axes for various

with a magnitude of exactly 1. views
Unit vectors are used to specify a direction
and have no other physical significance
Unit Vectors in Vector Notation
 Ax is the same as Ax î
and Ay is the same as
Ay ĵ etc.
 The complete vector
can be
 expressed as
A  Ax ˆi  Ay ˆj
Adding Vectors Using Unit
Vectors

 Using R  A  B
   
Then R  Ax ˆi  Ay ˆj  Bx ˆi  By ˆj 

R   Ax  Bx  ˆi   Ay  By  ˆj

R  Rx ˆi  Ry ˆj
 and so Rx = Ax + Bx and Ry = Ay + By
Ry
R  R R2
x
2
y   tan 1

Rx
Adding Vectors with Unit
Vectors
 Note the relationships
among the components
of the resultant and the
components of the
original vectors
 Rx = Ax + Bx
 Ry = Ay + By
Three-Dimensional Extension

 Using R  A  B
   
Then R  Ax ˆi  Ay ˆj  Azkˆ  Bx ˆi  By ˆj  Bzkˆ 

R   Ax  Bx  ˆi   Ay  By  ˆj   Az  Bz kˆ

R  Rx ˆi  Ry ˆj  Rzkˆ
 and so Rx= Ax+Bx, Ry= Ay+By, and Rz =AZ+Bz
Rx
R  R R R
2
x
2
y
2
z   cos1
, etc.
R
Example - Taking a Hike
 A hiker begins a trip by first walking 25.0 km
southeast from her car. She stops and sets up her
tent for the night. On the second day, she walks
40.0 km in a direction 60.0° north of east, at which
point she discovers a forest ranger’s tower.
Example 3.5
 (A) Determine the components
of the hiker’s displacement for
each day. 
A

 Components of
Displacement A

Ax  A cos( 45.0)  (25.0 km)(0.707) = 17.7 km

Ay  A sin( 45.0)  (25.0 km)( 0.707)  17.7 km
Example
 The second 
displacement B has a
magnitude of 40.0 km
and is 60.0° north of
east.

Its components are:

Bx  B cos 60.0  (40.0 km)(0.500) = 20.0 km
B y  B sin 60.0  (40.0 km)(0.866)  34.6 km
Example 3.5
 (B) Determine the
components of the hiker’s

resultant displacement R 
R
for the trip. Findan
expression for R in terms of
unit vectors.

Solution: The resultant displacement for the trip R  A  B
has components given by Equation 3.15:
Rx = Ax + Bx = 17.7 km + 20.0 km = 37.7 km
Ry = Ay + By = -17.7 km + 34.6 km = 16.9 km

In unit-vector form, we can write the total displacement as
R = (37.7 ˆi + 16.9ˆj) km
Example
 we can also see that the
resultant vector has a
magnitude of 41.3 km and is 
R
directed 24.1° north of east.
Another example
Motion in Two Dimensions
 The position of an object is 
described by its position vector, r
 The displacement of the object is
defined as the change in its
position
 
 r  rf  ri
 In two- or three-dimensional
kinematics, everything is the same
as in one-dimensional motion
except that we must now use full
vector notation
 Positive and negative signs are no
longer sufficient to determine the
direction
 The average velocity is the ratio of the displacement to
the time interval for the displacement

 r
v avg 
t
 The direction of the average velocity is the direction of the
displacement vector

 The instantaneous velocity is the limit of the average

velocity as Δt approaches zero

 r dr
v  lim 
t 0 t dt

 As the time interval becomes smaller, the direction of the

displacement approaches that of the line tangent to the curve
Average Acceleration
 The average acceleration of a particle as it
moves is defined as the change in the
instantaneous velocity vector divided by the
time interval during which that change
occurs.
 
 v f  v i v
aavg  
tf  t i t
Average Acceleration
 As a particle moves, the
direction of the change in
velocity is found by vector
subtraction

v  vf  v i
 The average acceleration
is a vector quantity

directed along v

Instantaneous Acceleration

 v dv
a  lim 
t 0 t dt
Kinematic Equations
 For 2D motion with constant acceleration we can use the
equations of motion.
 Motion in the 2 dimensions can be modeled as two
independent motions in each of the two perpendicular
directions associated with the x and y axes
 Any influence in the y direction does not affect the motion
in the x direction

 Position vector for a particle moving in the xy plane


r  x ˆi  yˆj
 The velocity vector can be found from the position vector

 dr
v   vxˆ
i  v y ˆj
dt
 Since acceleration is constant, we can also find an expression for
the velocity as a function of time:
 
v f  v i  at
 The position vector can also be expressed as a
function of time:
 
rf  ri  v i t  1 at 2
2
 The velocity vector can be represented by its
components
  
 v is generally not along the direction of either v i or
f
a
Kinematic Equations, Graphical
Representation of Final Position
 The vector
representation of the
position vector

 rf is generally not along

the same direction as v i

or as a
 
 vf and rf are generally
not in the same
direction
 Projectile Motion (2D motion)
Assumptions:
•The free-fall acceleration is
constant over the range of
motion
• It is directed
downward
• This is the same as
assuming a flat Earth
over the range of the
motion
• It is reasonable as
long as the range is
small compared to the
radius of the Earth
•The effect of air friction is
negligible
•With these assumptions, an
object in projectile motion will
follow a parabolic path
Analyzing Projectile Motion
 Consider the motion as the superposition of the
motions in the x- and y-directions
 The actual position at any time is given by:
 
rf  ri  v i t  1 gt 2
2
 The initial velocity can be expressed in terms of its
components
 vxi = vi cos  and vyi = vi sin 
 The x-direction has constant velocity
 ax = 0
 The y-direction is free fall 1. Motion of a particle under constant
 ay = -g velocity in the horizontal direction
2. Motion of a particle under constant
acceleration in the vertical direction
Projectile Motion –
Implications
 The y-component of the velocity is zero at the
maximum height of the trajectory
 The acceleration stays the same throughout
the trajectory
 Range and Maximum Height
of a Projectile
 When analyzing projectile
motion, two
characteristics are of
special interest
 The range, R, is the
horizontal distance of the
projectile
 The maximum height the
projectile reaches is h
 Show that the maximum height of the
projectile in terms of the initial velocity
vector is given by:
v i2 sin2  i
h
2g
Range of a Projectile, equation
 The range of a projectile can be expressed in
terms of the initial velocity vector:
v i sin2 i
2
R
g
Range of a Projectile, final
 The maximum range occurs at i = 45o

 Show that the maximum range occurs at i =

45o
Non-Symmetric Projectile
Motion
 Follow the general rules
for projectile motion
 Break the y-direction into
parts
 up and down or
 symmetrical back to
initial height and then
the rest of the height
 Apply the problem solving
process to determine and
solve the necessary
equations
 May be non-symmetric in
other ways
Uniform Circular Motion
 Uniform circular motion occurs when an object
moves in a circular path with a constant speed
 The associated analysis motion is a particle in
uniform circular motion
 An acceleration exists since the direction of the
motion is changing
 This change in velocity is related to an acceleration
 The velocity vector is always tangent to the path of
the object
Changing Velocity in Uniform
Circular Motion

 The change in the

velocity vector is due to
the change in direction

 The vector
diagram
shows vf  v i  v
Centripetal Acceleration
 The acceleration is always perpendicular to
the path of the motion
 The acceleration always points toward the
center of the circle of motion
 This acceleration is called the centripetal
acceleration
Centripetal Acceleration, cont
 The magnitude of the centripetal acceleration vector
is given by
v2
aC 
r
 The direction of the centripetal acceleration vector is
always changing, to stay directed toward the center
of the circle of motion
Period
 The period, T, is the time required for one
complete revolution
 The speed of the particle would be the
circumference of the circle of motion divided
by the period
 Therefore, the period is defined as
2 r
T 
v
Tangential Acceleration
 The magnitude of the velocity could also be changing
 In this case, there would be a tangential acceleration
 The motion would be under the influence of both
tangential and centripetal accelerations
 Note the changing acceleration vectors
Total Acceleration
 The tangential acceleration causes the
change in the speed of the particle
 The radial acceleration comes from a change
in the direction of the velocity vector
Total Acceleration, equations
dv
 The tangential acceleration: at 
dt
v2
 The radial acceleration: ar  aC  
r
 The total acceleration:

 Magnitude a  a a2
r
2
t

 Direction
 Same as velocity vector if v is increasing, opposite if v is
decreasing