Lt Mechanics of poctele us Newhn's 2nd Law pemv (hz) w= FE Oh fe mdfama , a-F5 01.6) Newton's dst Law : Chafias) imertel Fame Geo, Trent Consenvetron Theorem > Linear Monertum , Argalar Momaxtum » Every =O 2 P=0 > P cowtant “in tive!” Th Cmpplr wowetun Cabock port "0" ) tovgne ar mowant of force Abate -tx fort) ct) An ACP emi= Tx me + # x Ltwir) CI. 10) Paci de PB chil)att et 4-2 N=0 > Dao : E constant iv “tine! Wore — Kiratre Enevyy theorem the werk. cone by the external fiyce E vote the particle ws gong from pome 4 to pome & Wie = (Fe Chiz) 1 fe 5 © canslewt we YVp2 s 2 = drop 2 MC ditidt = By sut i Meee ee rf rede 2) wart C3) T= > Wee Te-T) i wore eet omnryg theorem Who. vs the same tor any é prysrcably, posible path het promls 4 amd 2 Conservative fora > § Ee etn © h=-vve) Vi potential ov potential ney yy r. 2 ov pee ov He = - Fe eee fora Wyo = aa re 2 1 J, fede = (lav = Vi-V2 3 only valid far the TV) 2 Tet Ve: Emerg consery PF fenLI-3 2 Mechanics of @ System of partreles Ce.4., rigid body — rotate >) nn An Z Fic +E eR chy aay on external force Ee inten force on the i-th porticle clue to the j-th particle C Fic = 0, Tm genome) Newton's Sd Law The forces two partieles exert on each other ove equal aol opposite . Ciseak law of action aol this conditen oles not include waction. However, the specie case tWet two fore veetws (ie in the Same (te, which 1s “strong law of acton ema veactron' Hjce the gyrovitactronak amd Coulowb fore.) ; BEE 2 i Zp = Emcte = 2 ZF C128) ~~ eS a =O due to Newtels Brel awd (Fist i-"? ) Conley of mass ( Conter of gravity) ea! a 7 lMty “Or ae R= meal = al © the average of the radii zm M * Vectors of the parteles , werghhed in gropenion ed a.21)=(e) ete -yedued to the motor of Be ale) nee Zhe = RO Fcyayy tH Center of mets Conservation Theavem hy a_sysiem of gnc helts , ) Total Linear Momentum , Angular nomovtum, L Erecyy. fe fai yak P= smiate = moe zr; . ? a total) omgular mowsetiam L Fo 20 constant tn Lime total aoe pala womowtum L Le Zh é:) d (iz npc) = Z(dexmi + Rxpe) ee ad pe@teZ at Tae ‘ ; =0 = : Soa ey 2 2 = ERR) = Zhe Zieh, CO za) a5 = = > i. i Nae tots Meludes fx Fre tH xh, 2 a = = (re~ Ay HCTF a ts * Pye : Strong law of actor omel react 5 the mernal forces between two paviscles alco lie odong the Ime Jomnrg- He gorticlesdes xh oN? cheb) i >) J obad angola momeutam — 1S Nvzo 5 LEO | Constant ime Hive. Keeton to the strong | law of acto amd reacton ) in the terthookl (Figure 13) ne nD) a ot Seen 3 dR = 3/_ dt Ve=Vitv » VE Ge, We Fe Ls 2 trp = 2{(! +8) ) x me( (e+) 4 t W aM 2 xmo + Semele + +(Zmsté) a wR Rxffemi @) 6 aAn~-o =o Sm! =o becouse Gm): Smify + Zmck ery p by activin tA =MR= MRa i yo it L= Rx Me + DE KP ch28) é eee 7 wovdun ef mofo of wok omgular ey, of 3 about the confor of mass the Gatey of wrass ee The work done by al farces tan miving fhe systenn ae intr “configureton” 4 to @ final configuration 2 Crot “necessarily point ) Ne = ZC dé. 2) os Ae Fi ce NSE = - ep t dsr tet f 2) A; ar pal Ke vay am Newtons ‘and oat x at a wr = at Dede = oe eget GF j mvc Vedt E('d( dmv) = ae ae. Warko Knehe Tee Te, TER EME ogy stent Hr 1-32) a sy¢tem of pte { = ~ = ay T=5 2 m(H+u%)- (f402) & Der tH (1) Veg em velocity -ye ao A s Zev 4 sz aces 0H (Zmie a pee Mute Zmve (131) ee Specter lemette eneryy ka bie enoryy of maton Obtamed if aff the about th c-a—m mass were Conovbated at the C-o-—m iyrf a &- ~E ("va oy u-9 I the external forces ave olerivable ih tems of Fhe Grecia ef aw pobre The ern forces ave also canservatve , then Fees & Fie » dbtamed frm a potential function Vis The strong law af acton gnd feactinn ope hs, then Vi5 = 7 C13) a D Byes ~UVig = + VeVi = - Fy (1-33) Part rs| Ves Cite ¥51) = GF) F ae (Red dudes the terms fr each par Vike. 65 J) [i (ves Viz de + Vis - &;) vay ogom , ry = i -f, : Vo; : groan wrt te U,V = Uy Mg = G5 > OeVis det G Vass = TMi; - (dS; -d Be as) = GV “Tig 77 MG = arity = diyu-& ; si aie “S ("he Bas, V5 45 =-3 Ruy rr) . { ey In te calraledton of es = (avi dt [ By Vy "S 2 G5) gos ove summed twice Suimmnart. external aed arlene forces mie. conservative Cie, clorivable from poleatiels) thn a total podeutrel Query y V = Aan V= ZC B%S) a eS nlernall potential Query. THV conserved Conseruedtron +hoares of eee (ota) fixed nad Cannat vary with Time. yea (Figll Fer) ni lt 4 Ki h akene ot antler oar oes . a alo No work!! Vig = @rstaub, rigid bods. lms1.3 Gnstramts Lr-1 exaples ABE rallong on the tilted sure } hug congtramts 5 Cay Pally Gp olBe 1S moamntact with the surfsce Constant faveluer Cnet trai gitforwvard [y found) forces 2.5, normal forces eyerted on the dak by the surface Clossity various constants ? oO fcr, fyi, bE) =O a3) > holonamic (ch) From Wi vipediar > ee hale” Am Geel namic i" law” " ee (ti- 5) ~ cep =O (wrvedued by H. Here (i non-holonomic eee particle placed pn the Surface of a spree oe coliplaches fromthe Sphere. di) Lime —capbidonce ; epuatons of constramt cantam the tme as am explicit varvable 3; rheonomous (ab ne) not ephieitly epond aut on time 3 Scleronomous CE Zale Plt ) mmosthy fis Case 2% G5 A benel sindng on a rigid Carved wire12-2 two i69ues wlaled to constram WM cosrdinates F's ao longer oll om Paull a ME Fis “with "BR" conctrauts } Nad clegrees of Freedoms N equations satity (Veustou's 2nd law ae) mite FO - Lie ON J (®) (as worroned earker) the forces ene ove not detemned a priori (1m earn “ahead”) Need to solve the pole te Lindl the eredcee SS normed) force. Nom tis bal tee by the ice yNe varres while he body s vices glown the ice Vane a SAN; normal forces are dittest! Rolaed to "C)", intrduce geneetreed Coorivaes . yet ave indepeucltct of each otter !! "ed ot? Most generstly, A. gorticles jn aoe 7 BAL whegrees ot freedom + Pah fw) ; k- Constratwts 2 2N- hegrees of freedim for 2 Be Ch, Bowe) " ‘pole = A= AGB Bue) w= tw &, boo, gael t) +4 FA, hait) 0 C138) worth Cosh.Ld D'Alembert!s Prrecigle cmd Lagrangels Eaua tions (23 g “irtuall dxglament ; any acbrtrory infinitesimal chomy of the Coordineles S n Chomye ion the Configuration of the sytem oF " Chould bé consistent with the fares amd corsheils impsed on the systenn ot the given instore &". cee & fie = , then . the ee work of the farce ie 7 L% =O in the displacement Ste Zz hic Si =O fr whatever Siz talon as log ‘ (140) as The syster Ae des cpus lebrive, fie = a + fe (4) f S fre ef constramt “oppied fora zh Set Zhe =O Ch) stems for whith os rab virtual work, “Rostrcet ourselves to SY is gem’ Thebis, Choose of tho fares of constraint ce Co thet 2h Ske =O. (in order fo End Leite ots)pl (hon ZC eee 1 FH be 20 fir Sra" thot Sabtty Log cas) Ee die =o fe, = Note; Ef’ +0 because Oe are not Conpletoly tneep, bul are comected by the constramts. F 7? z ) trans fovmectDA , z mdepontint vin Had transtovmatren considoviy conshromts, because See ave If 2G,-S9.=0 , thn Gere antag. ic An obvious trick} itt Fi * P: 2 he- Be =° -P, 5 jeversed eflecte rce eroded, Zhe - pe) Ste =O ; gusliDriUin ‘ or 'aLuungs satished Sane ar quant fy the Chic af yirtuak Brac +net ynakes sh br=0 ; ZR) =0 C1.) b ee D'Alembert!s prnciple”Alow use the dranstovmeation bet Fe gz 2, Log = ee eet eee eee Zt? assuming holonomie i a Coustyaret ) a _ ate oe 6 ry TEE See ae 5 cr at Z oa, & tie i (eS il 1.46) > ate Str = < 54 oh C47) — Cham-rale ov ae U calcul ws, virtual gaan Sono variation of time, SE bomuse “oy gofmrtin” oO virtue Agplacemont is raha ot the coovdinales “only The virtual work of the ECs achwly ida to Z 21) pte the textbo 24. a -2 fe Fr’, 7 the textbooe 5 OE b5 Says Wl yas clropped «Her C145) Joo TH olamsion = Q-= 5 &, aaa componorts of the _generalioed te. 7) CLAD) fr mec ci.) Zhe if; = = Em edie 2 mie SE ey = aoe 3a, ya,A oft See Zmve Poet 2{ 7 me ot Poets Lb t di i del mi iy) me) | C139) FEE eres PEI ae . Fr eee ae iG z : fue Ged et Se Cis A(3E) = BUR) = yn ae oh 4% ae oe OR Spode ono * % 2 Z 2 (linlerchangeeble Jeause time anol coord mates @) Be % Ga net depend. |) Die ‘ago 1.46) > §6(4, %,t) = Ee 3 4 OE a coe "Fyne of Hs Baye is Us ts ave = y AE Oge\ _ 2 2g. RK 2b 23, 22; Cust) J nee ck Gllectng terms, ue 8 d (po, Be ai Z mite = htt wie 2 | i 2% oe if % 7 385 a AZ (we: F)- 2 ae _ A Bho ln :) 2 _ hale) 2620 (1.45). becomes ap Z ina?) | -% zat) -0,| A= zac B(giee)] alte) a)Le Z} 4 (at 2 | 53, = La i) ral go Crs) thet Cls2) was dered from fhe oly condian acomut makes the work Fh-Ji,-0 Removnber that the doice of virtual dap done by the Doras of constamts vanish, ie, Sa, + ndapancet a eee d (2) 2 -Q,=0 tral ? ie ag. %, J a css) ON -~&) quotes TF (Fa) W4e f constranmts 2 GV, then eee erst Q =F hr eg =F VB = 3% C18) VERB) OVER? 677) uO (Bs) i > dpa) Xe) i ale) 34, =o C185) V fs not «@ fanctin of Zz as above, ies - 20 9T _ ottv) fp 2 i Lagrowy's e5uedon 24, 24 A Qe) Ol Z-)\)—-S> =0 (= Tv C186) iel a) °% ; cl 5)4 Simple Applications of the Legromgiom Formulatin L2°F Primor advantage of Ose Les ram gram femitatron ; olo net have +o cloal with vectws An Bema, cotey ccalars T and V greatly simplifies the proten. tos tao ol ote ¢ rt T=2 gmi > Bam (25, 512) = Zhmc | (Ey 2 Fa + att ae 44 ee | (sel AF ag, OY Skah, Bk” : Zim ea aot\s als [salt \s = eam (se) + m2. +52 (2m5° r2 i? alg : \i 25K T A Sle EO gy ia =U, aan a Sa =Me = 5 ' Ee M, ie a M; & ts Myke 8; Be Cha) am) -

---

= 9x 24 a og (2) of nly] a 2%; a a; 1-53) gm) = he, hooey pl) A C198) chy plane polar coovdinks re Pa trans temnaton Peay) 22018) x= rose | ge rsd Xe cash 1 d5e8 y= bsg tr Ges T= fmba) aAmfrt+ cay] C1) nit vectors thet dokrnine (0.8) vectors. f, 8 dr adx 4 F = deh + dBL2-10 8 oo o\a7e ; fer? r6) @ gta a Pt ra? . ahead ar 8 Fae (Figure 1.6? - ,) 22 Od9 gor? A Neg) (led generative? Lras sor _f¢ @, Pea =F ee Qy < 2 oF A 0 f leap = B-rQ = Hy ot x2 Z- = mro Za = or Sele 4 or). = dat). at £(%)- or Qe > mr wr@ = F, ate n Memrd flnr i 90 ‘ 26 dee Elmer b)= med ramrrd dw) ae ; Al) £7 ? ned camer =PZ. Atwood's machine Le _ (Figure 14) Nveo ba x70 LK Van 9K - mM §(L-*) wen TE lonerm yx L2T-V = A (any tme)i + max ema (fX) eel Go calculate well defined poiential VD no oypnersticed Lice @ Lay rorss's i ee a a = (mtme) x 4 a = Gm De 4-2 (mete) X= imam <= — To ¢ dS, x= mam 2 3. 4 head (or ving ) g hiding ma vitor ly, roading wire 4" a fore fee Spe. = acd saeaetEa neti Constraint i Bee ee a Ht L eure around the time Ap. ae etait Oe reat ; vertical axis \ . Side -ViewdLae K= Poswt a 4 ers at Opals Sina lar ty motion i” glawe polar Cov dirateS cos Angular spe of rotation xcept O ew = const. «distance. ong wire tran | potation Axis ae eit tt) fez" Caos ) Note: one variable (caardinky Y not a hamageneous WU dagres of fry guodrahe dumctrm of th gounbived yolocttes 2, isan avolelitiorel fern not inve lym ie dns. form is lnomogeneors ucdete th & 4( 2t\- 2 =a ? r =O i farce free s2@ yz Smee Thee Cin case af 6? ? de ar ” yaeaning @Qr=0 Mr = mrw = (#0) r= rw wt Soluton Yo € 4-o, TI Citi conden) tet AL baie Eorgue coy 8, Ale wt d Geom N= & = omrre= 2me uw =yH es Bren of constromt angular Momentum how 2 2 LemrwO3-) 21 Hamitton's Promemle ee te Ti a@etron a Ldt , L=T-v (1) or ochan Tnteyel 4 has a statwnary vedue fav the acted path of the motor © SLaS (Mica, g, bo be tO Cea) 22 Somme techhipues of the calculu> of variations » Ay o> He =z Ye . J =f Oh wax (25) (Figne 2.2) ’ (apy Qala yo) t yoy [iy Ce tee Oo 80) Hoh) =k) = O \s x Jay) 4081) © 8,2 800) at Yo Gie DO) = Y, = Yor, 0) ke Tea)= : f (yin), alma), x)AK (2.5) di ee at 0% +2498) ( ear? (2b) a-( (Ret ey ae oe a he (DE Big = ("28 2 hg Ha (AR mi 35 5a ay Oxon | R78 ae : S$q'= Sosy S49 (2)9 7 L3-2 = 94 aa|% ie NC) Blte)= HK) =0 al =0 34 ok ee ae a x (9g en (Z). 7? ie Ha) Ga O = 1K) : arbitrary 5 oF 4/2 or (eD) 22 42) gus i 0 (22) da = 54 (2.12) (Fla: bJ (2-13) Three exameles 1. Shortest clbtamce. between two ports in a plane ds = [array Le {45> (fini, $2 [a Ce 2 Minimuw curdace of revolution Opem + Figuie 230 GFF M42) é Comer a OH, BDThe awa of astrp of the sur face. 33 2txds = 2mxfIt y* Ax ee hee r = nf xl &k f= xfieg? ly BF _ d p BEY. eed 5 ie (5g )*° 2. The brachistochrone problem (Figave aba) 4 —7 x yZe | \ wv End & goth between a) ly ncHtas fixed two poms 4 amd 2 along whith a particle coves Tn’ the least time _ ds Wwadey the daunwarel = dse (leg? oly gravity Starting -to fall frou vest ot 4. 2 Find a Vig dinut= mo P= Y2gy ie a fe [= Sete ted ony -4(2 2). O 742.3 Decivaton of Lagromge's Eguatms from Ly Hawi fan's Pron ciple Expand $2.3 +o mubtiple oltme,smns 2 §3 =8 ‘ F 04,054,003 -- , yon): Gi), --, x aK (2.4) GG) = 4, 0K, 0) + AY (x) 92 %G8) = 9. 0K.) +ol42 Cx) (2.15) 95 at ade 4 [less ave §T= a Dae f° 2 an ES dae oar a4 of a of | : x4: aK 35, =0 , C=ha--u0N (2.1%) Euler Lagrange diffandol epvetions oo. I = (TLC, dete ca.) oS ane o=0 Phy 2s + Eh cleponctourt amono genre systems ; all forces Cexcept Hie forces of Conshenmt ) are devtuable Fam a generated Sorter potential (a fmchor of coavdirats, elocties, an He), reno in case thot Hu golettad is atuncton of cosvdinees anby, eanek,24 Er lending Hamilton's frineple to Systems wirt Let Constramts Puvpuce 1 Find the force of Qoastramd with Legranyrein fovmulaton y : he lonanrc ond. apace £46 Xs) =o 1,2, 7 mM Constramts n 4 S +o doserbe the syste with Lagramsron =) (n-m) independant varpies | old oppracle 5 jyeduco “He runber of varnbes teow N to from) by casing Ly Gis) =e thon nstruct Lg 3. Pall aby Sau ot) Apply Legrmps eguntrons Row Kap fhe oveginel gis them conte iE fe. iu ot undetermined! aby hens (dear Ay ro Freaked Af Indep. variables D1 rs constructed over n independant varivbles Same — Harer How's ae Cvaritrwel wetlud) ifr fxao 3 2rdk=o ee “Spa fhebagia UAE va nem snaled varL4-2 Sowe. poedure as m™ $2.3 T= dete 9b ota 5r=(" de 2 Cie5¢ ENG -) s,] =0 has) 9 =o Difkence goa bad 2.21) 0) 83; > mot imctap. of each other become “in” gis akile (”-m) degrees of $redom in (2.21) (2) Can choose XA¢s thet! salty yn Qonstrant- epua tions tor arbitrary Shs 6) with chosen Ags , (y-m) 54s or eguations Pm (zl) => All He same |epuctims y Bet Zag =0 (2.22) Lop Hhe chore of y's sv kal, 7, m for ewes, for (nem) thdep. Shs Evert _ Ok of, “bs, gf - he -2 dy rae Or C223) Gererebiced “force Orclagliny fore of Canstre mt43 Nf ig (geo. L= git (ae ye) ~ Me ye Igneve Y-coerd. © 420 plone ; exes” @ (4.2 90,8) beseee yoo pln ie, xe plone Quith anstrant O- fkaz =o x= rom 4,2 Ka vm +¥85"9 Ze¥ C056 be venp 75nd cepts 4 oe Le lnc p46) — Mg res 8 { % rsa =oLeg Q4 Mas imgcsh + A = O Q> Mord ~MaasmB = 0 treks 3 dd _ db dd _ 6 46 dt ~ “ge dt dé ! an gq He 7 lb a ae 0 de 516 =| juctral condttnn ; £0 Ode =| Fad — 6-0 B20 Lge “Zone = 2 (|- 038) oo ors 2 crest) te Marah ~ Mab ® = Mages 29 ((-088) = hg (206 2) A% tore of Conshants e, Mmasnitnole al the fore Keospmy. the parte le ow the sphere C novmal force) Azo igerticle ames the Sphere & = os")Las Non—holoromic — canstramt $ fal, Bethe fitd =o C224) B= 7) mw n ’ Lu = 2 ag dy +0 =O (2.25) Oak Res L) Oo C45 : £) Crmilar arquinad; b me 7 sfP(L- Z dah ) db =0 2 dy - ae [Zee Rn rk Beep) Hink tay be found in J. Roy. Aor J. Phys, 34 Clear) 1969 WTAM Ala = Ueclt)L4-6 £,.4,,~ fa? ae dn) fie ee & 2 died + Qiedt = r aby meee Zaha “9 =| i GE) a , oe (He dag Hx a= 2 {aul my sa) - a rdg-ax=0 © flax)=0 & pote a . 42 - | ne Mire HK) SF Shyer Le = + = My Easing Qu ‘ ae = Masm 3 Mx ax 4 Q.=-r as ( 2 fe ; a) es 7) - ae itgeh Oe ig este) a i SEG 38 =O 1S hy Qy= Ar ? d(&)- a 1@ x bax] ox "OX Ja — Mgsng = A (25) 4p3h) a. RS) - 3% 9% Meh = ar (25)2.6 Conservatov' Theo tems Symmmerey Properties La] gale mowdutiun Comonicoh mowuntur oY Cony L P= a. (2.44) aD ignorable (generakited ) coovdinates 2 Cyclic ov whin Lis not a fanchom of 2. 0 Ka spectre coovdinde oo ) (ike Bo He 93; 94, a => a QL aaa Ab BS) Py = ansbont mn Gime ite de 2g O° ae Conservation -frovem: the genersliaee pmomeutum conjugate to Cyclic coordinate is Conserved Symmenic prepares of the system: toms latal Thyaviom @ C)_ Linear wowourt rotetiona rt aS am jolav 7 q cranslation ef covdnates rs eyelre rotatrom ef Coovdinates S cyclie, wa Cansevuatinng2.1 Energg Fanclon and the Gnsorudion 4 Energy La? dL _ 5 ab aay pe Bcd ab og ge ag ae t Sees) from 10%, 2,+) Li ; ol _ a ae Gayo 5 Og. ox ie(3¢) aya de sd fae a 8s ¢ )9 at 2S) 4h 3% ‘dt +36 2405 35 + Ect. aL. rete a RZER Ut ca energy fincton hC¥,--,2,3 Aro, de) *) =< ae L (2.53) dh de = 2 — h=Ttv=£ @s®)Bl Reducton ty the ezuivalecdt One-boaly Problem Lo] Ue of Comer — of mass Coordinate my . 2 - 2 M2 7) 1 & tnelep. vavinle L=7(#)#)-UCLG, fh, weep use R, P= aon : z CHM coordinale L-TiR NU | Ut any Anckion of the vector Kx her fee Wye tte ERs a. mir 4m te a(R r=en79 3 ao = - 2 matin hy et ttm = ta rte g 7 [ 22 { = Kn To fmt gM cee m => 2 : => : ae : = Smt - oe ele dm (Bs ma R+ mw tia. QS mete | 2 hata TCE ee R= RR eat my + Manny? He am = = £ (meer) B isa! (mam) (32) mm, 5% 7 32 = dL tham) e+ | 2 tiie 3° yr 3% ii g+4 —— (4,4) G3) ee ha tM U 3)Ri tyes te, Ze =o Ls2 Af Ot oe af f)\ = u af 2) =0 > Oe = Fg const C-0-m pith, ot yest or movig unifermLy > S ere zi ree : decoupled, ie, no kr BRoin F's €3. of Re wrt tS e-o-m | only om corned abod 2d (6 inde. var) grble ap (3 mep.vor )! mye. M= (3-4) yeduad raass fin, Mz oY 1 ee + | (3.5 Mm Me : ) BX The equations of motion aad Fist jnkgreds Conservative central fires ronservetine teas PF olep. v fete os 8 UR, RD 2 vied ‘% ® general “cordial! yugaumey 0) on a sored a ng ty agen F sprariak symmetry &® vy votaton abaut any Fixed ax3 Can have fo effect on the solution© wm wale Coovdmate ve preseatig votativn igs about a fixed Ay ust be cycle! & LC 2Fxp = const cue to qherical symmet@. pokaln Mvartonce Spheriend Syne & aoagu lar wowintlin Con Sevvetron ; Back to Sect 2.6 Cpoge Sf-b0, Figure 2.8%) > yo fatrondl Muarionce G> porgalar ynonontum Consorynt™ ©) volatmn coordinate 35 ja tycke, he, = =0 Fesme = IA | eh eee eee by PR [are | = 1% sm0 dg, ak = eae Axe (2.50) EHELea 7 3-92) = Fee. Qe Zhe Feo Zhe Aare) = PACA) c J ° é | cA ziek< BEM AN A i general ited few ornyodng to gorteed ced coor drole dn, Q5 in cose sf rotatm Comgle) ar & generibired Cov Covresgmnds to bee AN91 2) air (isi) LS Pee = DS mil” = 2 Mute (S a = e Oe. = Zim B= Zmire (ax) § t 5 6 peelened) Age t oe se A ot =<@- & av N Lagrowye’s ¢p a(®) @,@ F yotrtron coovdmale Cangle ) & 15 cyelte , 1.€, Hao = f(2). aa ~ dt eg) > Fe Be (abe ; nggnlo¥ vawunton >) = censored mofon i¢ Not affected ey the yofatmal dransledtm, se, che cable syenetores rotetonal fmvartomee | Now, back to Sect 3.2; Bah veontrak fre” var) only (> Moan © cpheiad Spramebic eFE SD cagular tandem of He Sytem = Pep = cost. Leo when ear iver moto> a Otewse, LL Constiud ju olprectn Les pour AS not vecessarity MP 8 A > Te cont+ WA + generally = wee, ad : =SOlt [LE] =cowst, too Hf = “Cantrell fice” makes th wotiom 1 "op' on the sucface L DL ccwsh = Use 2D plane polar Coovdinates ; =Tyu=t sepa ge L tev = tm HO) -V) see ete 26 QL Po = 26 mre 37° > cyelic im "9" © royatonal, Mueviauce 5 d zh el h- 2cmré) = a =O mre = const = £ 5 canstowts maaaiduele of dma wom, (3-9) a dfipg\- : © 4 (gr6)=0 BO: anal ve locity 48 = Const &, laplevs 2rd lad Fige 3. 7 de rad = 7 r ca 5 dk70 drdg-7 0 fasterthon 48 46 +5, Ly Arde x grdeECan Acme) —mré% 22 20 3.10) fen 2-2 infect fee (SE) yh oy meme =F) O31) ee E= amy +6) + Vie) Emepy epacton C213) CS qquiwlet Rhewhm’s Ind aw or _ ree & = fir) Ve, meG=cust & mre Prove) ee 7 “on be wx) rentals we Bhs = wer = Ge A (Lime) vhs = ~ ra (vt avn} = at a (vtz 2 wre 2 ae we + A vt dee) <0 oe scrnste E (3-5) > ger4s tetv Matheraeds ead Shuchie; tuo varias ne Reales Dad laws Qnk order detracted <9 one * feo + necessary to nto Gquetrons bike (3.15) & GBD Ablernatinely > tio ast order + to moe efuatios; sacs Le) 6.5)5 r= Ptev-f5) 2 ar dt dt = * eB (3.19) ale a 7 =t (312) 2 a Beak) DS ve) ow td 6 EL re i comtort 62)9 op. Lo aoe gett i‘ dole a ay 7H dt = 0-8, (3.26) = Ot) or #0) : 9, Ef, 1, Oy ¢ dekevmos the Syston Stop i works aS Ye, Op (altnatively)B3 The Cauivelent dne- Dimensional Problem, amel- Lé-I Classi ficaton fF Orbrts Guabitecrme Discustion + ‘General Belovrer af Moin vith FD analogy ID motron , Energy conservation E-tmuttva) @& ve Z (€-w) (321) Mole that vreltl# Yr ( Aa fhe 86 ) 2 \ t= Fer) (3.16) Eom fx rr (312) aaette = fir) B= med =const mrt 7 Foye BV) > wre f= eae i mr? ae Qe = TEs centrifuged free ve Vere 2 fe we & vl 7 Erconple fe + v=-4%wm bound & circular ov bit . I Y=0= EY) extreme af vir) prey a) _ ct if Pdi ee ae Lb-22 ft =~ A =-mno © Combe potel fece L663 | 2a ot wets: Une Bo te AE (070 7 Ve sere > fa-kr (Hooke's {aw , Navmonic ose 24 The Viviak thosvewn Awe averegs of various wachonr al — Pranhes Us. “ohadatral” — avevops in Nature © @mmonLy used is shan treel yuchanies Sach a5 onsowbles > ?: =f: C3) Nowtbm's QnA lav Qe =p tr a Zt = toe ig <2 3 ups qe = 2 i Pet 2 fete ¢2.23) Pee = Ewikete = Z mg = 27 Cc 2 = = att Z hits c Tele tine average over on mervol Co, t] dd Fo a4 zi le dt = = 7 + Dhete = 214-40] arguiout F 0 Ci) Git) = Gea) perl ) Gl-@le) 6 foc while tobeLbé~4 _ _ Te -¢ Zhe te syivrel hem — (3.26) Stee cnsioee Jiviel of Clausing a-pplicaton: gevivaton of ideal gos law equpe rh ton +hworewe CO emahre theory | atom = ST Outrage leinete energy of ac & defincton of tempercture. porte aie catows) NA perks : T= 2ueT of T VeLe EF. in G26) i alk the Spras including. Qforws of interacts Veet, pardeles ae ot constant on the syste Che, by the wails >) ideal gas) Q=o by godweirm No interact 9 is own sTee C volume) Oly ee — af Constant is considered Fis -Pu AA | J aFdv = 3V Gaus law 2 T= -9 Sh ; 3 Nhe T = apy + soloed $e lavdLES Fe =- VV Conseratve forces on paar a anteal force ge fo a Sang le particle mov m4 = va pe-- ar F ! gv P= 9 ort f vinear (> flow), tee OV Sf = ini) V SF. MY N= —2. 1 Mvege Sguare [ao 2 Vv vMi— aBS Te Defheen Freak Gucton for te Orbtt amdl r 7 LI (ntegrable Power —(a03 Potentials Goal, Find 8) dxpliertly from Eo venanber Y(t) oy ty) Ale) or tO) Caw be Orlamed from Sectod 32 egunttons Ide= md (39) & gawd = marge = cost eee a qe = myr* dO 3.32) 7 agers ee eb . ee me - 2 = fo a du te mr au 9 M42 - 7% dydr\)_ ba whl) = 4ed0(vaeae ernie semen 2 ad > wn 2 waved » & May ? do” tU=- MA, G 34) orden olrffermtial ee. 8 wader G2 -0 °° symuetic abo two adjacent Aunnang pooets “funny gomts Chogen as g=0" 2nd - Wvarvant initial Grdelon Qo : U=ule) (4) =0 S Pwueriawt vader 99-8 dit p reesceatieeAbtiectivel | ( grnd Casey approach leeause it enc wp os LI-2 rn dvb order alttetatinl apuaction ) 2 2 (Eun Ae Qmre 2 lr Lar my 3 2 ao “2-5 > sori (3.38 ZL ‘Gaieaea z r a 4 d > 9-6, - | ages u Ware ime zmy iy VE a ue SE [eee ae 39) example; Power- {avo | Ve ar 03.98) 4 lu b= 6 - [ ee (3.34) a zmeé _ 2mMy <4 ie a ee gu -U Special cases; n=l, -2, -3 3 +r gonovelvic saluting cto the Afegeal N= 5,3,0,-4,-5,-9 = ell tic funchors fom the Solus of the dabegeal ab Crditoas fy Closed Orvits ( Bertrand's Theorem) Closed orbits fine the case. of attractve Contre fy ces 5 fhe parkele eventually ichracs its aon forklgs.Special cace vevarted i Civcular orbrt LB r 4 Ltr =0 & He 0 sexdremum of Ver) 2 2? f-F4 =o 4 & 3 fip)=- a (3.48) attractive force E = Vln) 1 20 it fe ViG)+ —z GAD 2m viry \ gdditonal condition fe (40) Vi) © Concave wp Kite a OV oF 3f* & pbSeereeEH fae + stable corcular - 20 Stabe 2% ler "be id orb G.42) 2 ae 8 aft) > orl S wr 26) Soe \ F(6)-2 GB) i Tote Power~ avo fre : fo-br® ; G 43) eawes oF nt ot i : oe hearth <4 =a > nr-3 (3.44) (A702)(2.24) ia mado rl G4 tu=- 2a (a) LIYE viz 0 vi) £ (Za) Eg veiveilay orbit \y br) Gn be exgarded as havmnie polenta Debsls or fete av) on 1 dV" reg pr so a aban Sele *) + a ar : et Toxo expomscon wae + OCeny) 5 of D Can provide avd) as atunckor efu i Cm fact , Towne mW) de = OU 1 Aro | Stwple Vrawmonce oscillate {Ue 2 U=U. + Aspe 0.45) ad e ay af av as aber!) f= 34 £ ar rete 7 cauistani (3-4): G attend number ie) $ where paw B- are amntegors => cHer % yevolutions of He radtus vecter, +he ovbek wold begm to Hehace idself. clued avb*t!(3.46) ter oll te > gyounral cotton fv clyed ov bts LVS DF 2 one = p3 (3.47) { Ae) = ((2) 41a) oo —— h Cd ce) = (P53) at + Dok 3 - p3 he eos} §4 Be (3.48) mnegecion costo” B=| 5 Mvene Sprne law i Clased oc be} Bh, penawber that the above conddlon aos derived Flom the assum tm thet the Engg is slit grove the circular orbit amd the 2nd order perms co only were Considered |! Syd ov Wve ovoer -ferms ave ancloled Ho. guest fae whroh § there exists Closed orb, Answer by J. Bertrand “in 1873 > eg! aad et +o quswer orks \ eee Heoke's ee law law Bortrand's theo ! eer2.4 The Kepler Problem 5 Inverse ~ Spuare law fF farce Le fe- ve-4 (3.44) Fe, 6 = | eau From 3.34 with ne-2 [REE Te (3.50) nob necessary 0, od t20 vecawe abs is mdefiaile tkgrt mow C chopendls om itil congtttron stl” ) {degra table Cor Mathematica ) {== En ( B+2¥K os) [aapxere” YV C@S (- HF ) (3. Fr Bo RY a P b= O- arcas FE (3.54) Ee mA tok z Une = aa (i+ te «5 (0-8) ) (3.55) Constowrts af inkgatin 5 C2 ond 6! eer = “4 “a pged OME wore ymitial omg le &, ot £20 From fea =[edeRow , mathemadres plays a ple: L9-2 COSY The general Spuaton of a cnic with one ees at the origin YU) cetermes fle “Shope” or the ovbeh accord to (348) 7 =C[i+e ete) | 0) eccentvierty of the ee conte Sectron fram (55) a. (3.59) (256); e771 hyperbole ; £70 ec] paboln : Exo e< | ellipse 3 E Mae ea) & FET Let Ee € 3.64) Pee ‘ pervielon § a chelwn Agtomce et 920, t=0, Vole Focus new (aurilary ) variable AP eccowkre anomaly reach ey) = a Cie) (620) ni [t+ Ease Peer wed nes 6-0 Y= ali-é) ayrelion 2 Pom reacts) O=w = acire) ; cote) o228 = ate) ean yeatee) TS TS Samer regeLe tite aci- 2) : Ja Ts ACF ems) - = at fl-eost) i 2 C-e*) 7 ale ety - 2 U- creat -2E0) - 44 Le] = a.de( rosy) = doesn de = aesinp dip ("seer - fz Tay [ gaesniy oi (40; rh) ac{— ees) . [E (Seema C3.40) fe2n 2 t= t Coe conplee orbit = — ne eee : Cl- easy Jar = A ona r Kepler's Bd law . Be Ramen bev Keyler's 3rd low = Ompalor mam, Gnsorvetton ok 2 ge ro aoa = const: Trak i (Ge) s As = : arta of ellipse over A Complete eviod T 3 Lf. = = Tab = TAQ|I-e Zale ( O=% with (0)as - a 7 " a s (6.6); acre) = # mm sane as 3-91) tive-bedy > one-body 1 reduced was mm ies Me G m)me grovi toned m+ M2 aa force A= G my me [a a we tae t= ota" Te on Mz» | ! Sun planet um fe We = = Vina i 6.m) > te (Oe (TC-eopay - 4 [ares] poe -esudr (3.96) kapler's Czualnn cn ac{-e?) = alles) (3.68) 1+es8 7 I-er p trete [tech Hed = Teepe FOO 8 remyOs = % e (oy-€) i are-e L349 f-ecsp [eco C3.) ap-e (400 = 2068 ae _ fees tes’ \- eee [-eay |= © cose | —cas8 = zone oye = [- He j-eca Corfe \- Coy eee | (~ ecostp _ (Hell cos) eae taal EM EHEE SE [-car He aaml a 1-e€ epee et ets eer ese EE athe eas Ie ace f a ae ay o_ té@ bans [EE ef Coe)Fl The Imdoporoleat Gord mate of a Kiyrd Bacly Lv Les olf abot "Rotator" 3 Chap 4 & © dO \ lewanaties Dynamics \ how-to deserbe Syme TmPuonce motto, especially Ciilee Borge) Yotatom make the body Rus Ros Re Criged body) rapete wnilegue to Bem Codthon C Constramt) for a wigrd body N pavincles rene wp vad booly omd by cufatdon Gy = Cis = constont (m Lime) afl the Hime sNeopd body! cat) A) packeles 9 2 dho-F for kL IN particles 3 N(N-) equations tne Eee per N20 4 zn) wy an eS, eeu allel H oF covsbtunh d-o-F epuations » means ray + not all wade. for a raged oay C moe aceatately tre the olesergrtnr of the wetmn of a vigrd boely) 6 o-o-f5 ae vepuned; 3 Le he cadens of & fe fume pomt m the booty Ly the avtentate, of & ee Tie oe Be Cxlend combsArguments te pave thet 6 d-e-f are nag (9-2 Cyne #1 three non(ollihear poms => determme all the presi Bron of the Other Cae by ‘iy = Cy = cost. he Ne, ec, Vag 2 Krown 2 3 + cefermmec ZB poms 3 4 do-f Mee Ga . Woes, MGs (+3) oof D & def are requaed!! Choplr 4: 6 15 livieled mmo 3 “trans latons 4 3 Svoketion 5” 2! a fous of Chaper & = 2 , al mure a2 Se ees se - Fpl body 3 a x yl orienthun ot Kyle! wrt Kye (with he same L 3 dof ovmiry as x'S2) There ave moe poche trys to spect) 6 doo fh ba Oneghe Gcusey on the rotatm bet. two Gelesiag Gord?Lee at vecty mm Kye A, §, fe at ie “ am x2! a aaty = ot h) 22 peat aw ee Grasle belwetn : ae ty (42) vole | Cos Oo © @s Oy u W WAN ane w y y Convento in the fextbaote 85 >t primes System J anagrimed ” a {l= cos ty & + 5 On f+ ets le 7 fe at a Wy = eve ay & + Ode f + asbfe. “a 4 ' a q% fel = co OW + 05 Bn} + 03 Op fe. (43) x 7 COs a : directon @sines ary vector F > wotten au Um primedd system r =X it + yf + ak 2 written fa primed 95 = xh ty fl 4 Ze Csame 7) > ve (F i) = cos Bux $08 OY 4008 Oy & y= (FH) : (45 fs (eek) ‘ *)Avy arbitrary vector G Curtin an primed ar Un pvined ) Lq4 Gy = GU = 050 Ge +8 O2Grt+ SOGz (4-6 x A o bs (4) + desevipio™ af yolatinel matron of primed $75 wire eagrinad sys och is fixed im tive F Gs + onby fivee shold be ivlep = mne Ganstomis to dua to B olof's i-j=i-&-€ v=o i ee fhegqpe BR=-4 (49) alse yaled fy it”, fad ec! (D9 Gell = ed tert ds =| < al = CSG, Os By + C08 Co On 4 Gea, =O Seeeegeeeeee Cece egeE eee mel, m=2 ‘2 D ZOO 6m = 0 mem" } ' (#2) 4 Ma Ww dm asl 42m fin i fae Kronecker d= symbol. 2 2 oS thy 8p, = Sm? C44)4.2 Orth agonal Transhy metins L(0-| Sections &2 amd 43 + portly mnctherad cs esgecelly Ireay allgebeo Healing with mudvices! Ai; = cos Be; XL = Ol Xy + ea Xa + 1s %3 Xe= QaiXy + Au Xo + Ora 3 Ye = Gy Xj # dn ke tOp % CAI) Cummedon Conventron Cake, Einstem Summattne Convextron ) 7 veperked mdee means Summation ater that aden, not using, z. ir) > v= Gey Ky 23 (4.2!) Ch, 2yd = ike t potato represented by director @oSines > specie case of the genimel lar onsfomton ttle " rte ava ctranshrmaton” 3 Q specmal case ivanevis general [near transfertecton thet onglies to directon Consimes , i.e) aK (inar transbrnedion clotettnined vy only 3 dof's.Constamts of directo cosines : Lio magnitude ot a vector (2.9. lompth of a position vector ) > gavdriant pw prived amel npritwed Sys Vix = Xk OHI) r r Xi= Oss K5 oy XC= Aik Ke t f Ke Xt = Dez ik Xj he = XeM D Ow =4 jek ; : & djdw= Se otk 341523 eee kk? Y ome (415) , 2 3 dot's Diz Gk = Sie 4) eguwalant +o oliiecttn costes UI Ortheynal Sranscfovm ectton j Ke Gis ¥5 with Oiz Aik = Sp I © We = Ken MatvrK "yeppesentatnn” at th (hear transformation A= Gu Me Ab ia [ Qu Oe AW (4.16) Os) Ae An2D. retatron CAigh schul methenetics ) Lio Example : Figue €F BES See * Need to obvi fy ‘Dhether " Coordnafes’ae oY of vecby "rs Aransfirmed | In this extwple , Pos fixed ubtle ifs Comporonds ae Arausbrine dor WITH tn primed or Um prince Sys. Qu Ae 0 Ke =X sno chamye Am X As a cz) at Aw 3 Cnr ovthogonclity, conditions Oey Hik = SA REL out of 4 (Gj k=1,2) vartables Chof 5) 3 variables ave veduced by te above eguatins , a 2 ay (1,2) C2 =) only ‘4 dof 2 age “b' in Figue 4 Cshawn amt) = fyoosp he snf w= % yal = -yomh t kr C54A= [orp sme ° Lio-4 sg corp 0 | @.19') ° o i On Qy +o Ber = 1 Ge41) dis ick = Ge Air Cin +04 Gan = | G-e=2) Au Ar +q, Qn 20 (5-1, 4-2) Ay sos Arn=Gme Qu ase Aa 20s B Cos’ p56 = | Sm h $ colth = | Same as the abive |! Cosh sen — seheosp =O Yotatrn of a vecty 5 A= os ote Sch cos b Oo oO oO a 43 Formal Propertres of the Trans frrmetion Metrix tun Sucesive tronsbmehms Pl Pio 8 A Xk = bas Xs (4.20) yt = Otk te (MD = Mik byk KF = Cus % C422) 2D Coy = Olek bye 64.23)matrix fepesonkinn Lis c=AB im gene, BAAR — Cloar algebra ) operator inultyplrceto” 1S hat "commutative ', D= BA 3 dy =baGa(tdinbs ) Ow Z) 4. GRC = ACBC)D C425) . 5 nadetx mlliph cation is “assocrative”, column lrow mat corvespovly) to a vecty. R= [| Te [ colann (3 100) metrae ¥ Xl vepresencbstion of a vechr. , a 3xd mertrix (Ax); = ois Ky = x & re a Leolumn (3X1) Matix C= G4 i natrix summation S Cis Os + bis . weodiX elendet S jnverse waedvty A! to wedviv A r=sAr © reAr! by dufwitim of ivese. = Oneke X= O65 K5 » ee i elenmts of A/ Xe = Oki Xt = L10-6 Oe « Ky #4) = Iq (4.30) : 4 i MM » plewants af A (AA), - = Nae %y aie Og + efemats of A 7aicu | jo 7 Blo is" | (), - bes : 0 | Ak=1 (Km) ay MA=L © a5 Os dik & X= aes (4.3) a = Cie Now turn to Hransposed motrin Be; 2h by har carditon carmider — Cyy Ou Oey = (Aig ke Oly = Gay = ays = Ay (Oc Ors) = 04a a = Ae buy > Os 5 = Aye ee a, je se ay ofA oR ®, (A), Jo > M=R cas) > Aa-d 4&8) =A! / O4c A; = Os, (aa=4) + Oye =O (SA) => AA=4 : Okidjz= Sey (4:39)Convévtm | vec bamgular mot vik Luo-4 olimonson wan rows —Clumns yep [+] 3 rows [Column OWS OSE y, : 2 i reel Fe LY eG | vow = columns, 1x3 CHAR t materx maltiplication valid only cokon coy = Gi Dey + Same "ef A&B on meg patel, 7 ax) ver "nxn nyxk J . Sey eta x Cam xO Aes Ages = %5 Ah XA + BB veer (row netrix) ve ie DB matty Symmebie. | ambi-symmetc wedi k Ary = Aye < Symmebre Aty =-Aye | awti- symuehnc ov Skea Sywmmedyic. => Aw=O Now turn to stmslarthy transformation A i a operator actng on a vectr Fi (3x) watix ) QAR + G+ avectr (3x motvix)Bi transforms fhe coordmate sysbos Li0-8 8Q = BAR = BACE'S)R = (2 48)BR) = Ale) A’= Bae U Gn Nees coordtanle Z Si leery tronsf. vB Ft iw now j > 5 covdmale. tranchermotton 5) €., Clog of bass 5 eed opwration 5 1.8, rotation or others . Now turn to ctelevinrhanct, (Ry a sgune mottrix ) gofmstnon of [> [AB] = (AL BL (44) frow fo ca lele. - 7 : dowrnt, of 4 Ka=4 = (Aal=|AlAlslla4 7 fvodbig/ l= (Al > [Aled © Al-ai (4-42) Back fo Srmilarity fransf. (with fle olesernineet ) (Ale Bag!) B 2 A’G=BATR=PA PAL IB] = [eh tah Ip]to Ce Bl exes) [A] = lAl pomilanthy rans. olelemncrou doesn't chomge omdoy the ,£4 The Baler Angles Lu-{ Dar, ove? 2D proper Soludtmn Crvtetwn ) Avswirs {Al= 4 2 (Aleal -I + Tanpire per solutron C php eal, inplaustle ) Exam! = Cannot vepeser & prpick ae : . lAl= 4 An placemnnt of a rig i. 7 o[=-4 oo -( boaly D pmvesn of the coordinate Axes a Aight hand edl coordinate Selamat & lete-handed one Ey we 4.6, 2 nverso sie, eeu Sf OS ethunbyy 9 eer ge Left-hangled x BB frges(D) vy 2! thunb egi-hended a : S POT bed am the xy plane wo of Poth by 180° abit & _ pl © ojpte 0 S= [e i © |[ es 2 | o2-l oo-l ene veflect im Yotstinn by 180 abot 2 Be Ky live pel8o in (4 0) Cintvroe images’)Reflection (inter transtvmaton) Camst be presented, Like by any combination of rotattons. ZF invest S$, |S|=-4 never Con ands Hoo phate ~ dice of « tigi bod. Ape rotetims A \ Aled Back to 3 dee-f!s , nctepordante “amyle” yavinbles One spect 1c Say to Choose these "3" gales 3 Euler angles Cee Figure “4 Kye 343-7 3 fs lgte’ (2) ' @) 3) by 0 8 by yeDx yecy X83" ReSeseteatiee eerrercercee y= Ax= BODX . 0 C8 SHO simp ast O oO 8 | o 8 | 0 ~smQ we A= Pep = [ | CEA) xe Ax ye A | (442)4.6 Euler's Theorem of the Motwrt of « Rigid Body Lis Extler's thoi the oprer! dsplace mont of arigid body wt fiyed is @& rotation abouk some with one f° axis : > delemines the “cow Aguration’ » orthoronal. tavst, ——o Alt) ob a vigd bee A; orthojon s pons over bine t G 3 svalent to Aha rs ehoays a a Pee, © the oyenton imphed inn the tattn qbouct Ke webrie A descrfoty the physiol [oes, (0) Mottow of the rrgid book iS & Y Chow wach TH votedes "roteton abod the given oy) & One duecton the ans is olen, cs ee waatkeled by phe operation (A) E> “Thre mush erst Gach a vedh That ches wat Change, waco A e5 x SAR, VeAR=R (4.42) Conssprday Ergnvalne prvlens R=AR= Pec Eat C speek case +> Ealer’s Hho ) “AX com be complex as sm Growin Mechonics fir Schradmyer eg. oY Herponlerg’s Armley, (A-M)R=0 (40) (ay-a)X + au +n 2 =O Oe, X HOu-I)Y +43 t=O sy, € Ope Y ¢CMn-A) E7OLor the exaknce of Non-triviak Salutons Li-4 [A- An| = [| %-A An Gp Olt = Gu-h Gas =0 C£s) Chomefrsh ba Gra oe trivid slulwn 5 xX =y2 %= 0 whe |A-A4] 40 Euler's thewen; Far the real orthogonal mabices pucker Consiltrsi, the secalav Cpuctron must have the mt A-=t! Cigen vector L Aenoted by Kae? 4° 1,23 foe he haat C123 Pr the particular compre Wee Kjex, MeY, FS usally , thre engomvectevs ie writen aS column watrix ailiee se 271 9) 7X 5. | _p™ B= | = | 33 [ hr Wz Xs ae ops Ish exgenvectoy Khe + eigenvector component ZA Ki, = MeXike J « no Summation i & > RUXik+ Olin or + Qis Xe = Ak Ki (23 & R123(1,23 with be] 2 Fe rf Lis %1 et fist epee) C2123 Qu Xu + Are Yer + As ¥ar = Ar Xu Cy Xu + Ony X24 + Aas Your = Ar ¥e Osi Ku + go ¥ur + 43 Fer = Ar Xay ? (Qu-Ai 1% + Ark +s Ys = ° bs ¥ Eo: of bel or a Qu Xu + (Cdra-di Xu + Gus ye) = 0 Obr Xu Osx Fey + (a-A,) Yor =od Same as (1) fir be] Sim handy ae2 & h-3 n) (3) 31 On Or b 2 As (a Gu a, | 5 AHA, Oo, Or Os A MaMa ona Beck to ZOgKR* Anak = ZK AR 2 > Samnctrog/“orr Be 2 yyyhiye elements > y ho -[hS, 5] ot 7 fe te BLS] 1 XX ne AX = XL Xe[ =| 00 As nae Yr te YeKAK= A case) Lrg 5 Stmilavity Fransformodon Orthagonabity property of A ne, AREA. anh AA-A = (A-M)A = 4% nee portant ‘ans poset vob Pe ee ae ~Al= |4-A > |A-al= 14-Al (4) eae Gonard groped, of anxm matrix ( B) |-B] = cry [8] Yolatw fm 3D, M=3 ile A above [A-Al= Ct) J a-al =—|a-Al = (4 -Al , [4-dlso (#82) 6 ; FOV OKS — Mocvix, |A- at|=o fete solvetrns for A's (4.82) A + orthogonal draustrimakon (& AfeA) D> A=4 mM (sr) Ney, oF leash One a out theee thee Solutns is 4 CA=4) & Euler's team R=AR=AR whth AL 48)Whet about the other fio eigenvalues excopl A? LII-f] Au Ar, amd Assad A > fea AL = x ' AK Similavitg transforwadon {Al = iA’ general popety cima tlavidg trans fermafion of doerminout fav the = AA dort NC . > 7 complx ore each =A rr Ae A y Ai sil “veal. “ ortheyonall matrix Calefirrng rotatnw ) because eigenvalues af A, allowed +to be complex A's que te solutrms of the Secular > [A-Atl]= ©. =) expusctes of Ai alse allowed to be complex Square of the length or meynrtude of a canplex veety Ro = z-R* = Ret Aas é CEB, BD («:) scelumn vecter row vec & Veptestectachnn heptsen bdUndo a vob ordaoyenak Fravsfovmaton, be spucre of the LI -o waegnr tae TS Myariant nh a a) ~ R= Gear’) = REAR = RR t : ie-0a 4 > fFoesa comple eigervectr> wrth O Complex Cigfmvale Xr R=AR=AR (#44) x ~ R=AR pha nae rn S RR = Aree (= ke RTs at e® y ) DaANMa4 All exgeauelves (of the orthogonal real worn) have unt Jude (amd Bvt Complex numbers Mm general ), magne Thee possible Alishecbutins of eignvalves A, 7 Av, AS veal Aad trivial I Ay= Ave Ase 4 by 7 about the RB Avet, Mea Ast rota tow dich of the wechamged Axis Age| Creek) Ay Ar! complex Ay L Ar + complex conjugate of each other 1H is ce = ef é@=> Any nontrivial veak orthoganel matrix has one, cmd LiF onby ome, erpnvelue 4 Bace to CHS) or 480) (A-AatyR=o Aad (On-1) xX +42 Yan % =e Gey X +(Onr-I)Y +03 Z= © (4.51) Os + Goze + (ay-1) Bo Solu fe (XY, 2) 9 directrmall cosine of the axis iN 3D, an eguatin fr G shalt! (me is op ee fhe ax of rotation possmg (0,0,2,) the "fixcct” port Whet about te rota timed gieg le 2 ho Ao: eons along the ont of rekon Sim lari, Fransfornation A‘= 58 sw O | = [ome oS Od ° } [ f trace of A = 2 Ot = [+ocs genera preety of trac! trace fe Muariant wader ox Similatty Fransformafron (need 40 pee! )C461) Lu-l0 Tw Tr Ai = [4+2e080 A= ip fore Similarih KansPrmaton, rf B® pestle to tid E even be by wsog (4.61) / x, 0 A= [ ads ° | D tr As Atreds 0 OA a a 7 = et ead 6 gonciSfent with = [+205 F Te Al = [recs d £1 Finite Roretrons 4 represoutatton of the Coovdmate dans forma t7 Gagle of potato + olirectron of rotation axis in a vector kwise yotation Ligue 49. ctv voratton of Pagar IU clockwise rotate = cauntercloc! of He coordinate system. a L bp view Ww peanstavmaton : = eee r=06 how fo wre 7 J G6 a fancton of oe r=0 a a PR oamd(a, Z)ON WAR, length (mespitne) = Gr F) aya” Ce. jae ra y Nv. p= OP-ON = P- AR? jeagth =(N@] Cos® = lWpjos F = (AP! = [Pxm] Va: 1 (heh) lemgth = [Malou d = 1erm | so i Ey va = (Fehon © > eo on (at)t CP A(M PY es. + Ro) sm = Res b+ AAP) CI cosE) +(Pem) sm E (442) spotatrn formula (4.63) os & iets 2 9.0.8: three Euler angles TAs [tom = +rA Cin 446)Lie} 48 lufinitegimel Rosesions \ Finil Yoatrn, now commutative AB+BA A, 3: vepesent a votatnn avout oli ferent (finsle) Avises, “Orde” Ys innparhowt woe vS lnlenclesimal Rotetons ; xT = H+EiX F Ee ke t Se Gy, Ge, Sy KL > MAK, + OC) } 2 Ko MEF GX = (5 +) XG (4.65) mmabig veprsirtioms cq) — C46) , Vechr ae medrix (3x3) fy 2P vectoy \ OR Ha] > indiwitesin al deoms fevm ato ZH Commutat ve majleckd (1+ € )(44+e,) = 4+ Gara és weh+ G+ = (46) ) (4.69) Fate Robtin represented by Exler dug les (4.46) Cosafces b ~c0g Seng Seat Cas pam tos Qeapsmy gieetisng A= —sinfesh ~cosOsm Pesp ~smiprmptesacesp ope cosysrd sm sing ~ SB Cosh caKr, 0K4, $64 | infinctesimd votatan pode Li2-2. coslili)= cadb)= codth)= 4. Soll) xd ix dd, sMbx ) Pagneving an eadvadre ody, solide , srl xap gore) "sn . AGdhdodp)- ft ore 0 Gre) 4 dé O -dé 4 [nvewe wedvix for an rvfinctesinal rons formedson 5 Aztt€ 2 Aste pot AA'=4 = (+e) (4-€) ignoring ee \ Ae representing infinresiwal rotten) A: orthoganal medic Ahed or A-A 7 art a“ -l A= (tre = 4+€= 4 =4-€ D> E=-€ 2 Eis autigywmebvic SSE cea (Ss; €5) Caz (wat summatte) = 0 Owl 3 indep vaviables abe reputred to s peerfy € é- Oo ARs -dAr 7 pe } a | £4) AQ, ~ AR, }°Pe (ute)r C466) ple Pea? Lp _ fad? =€F c$.10) alee &Pa 0 dp —dQ. x / X2 Ay — Ky Aa a Le 9 a [| = | YsxAa ~ KAR \ (3) de, do, d 7) ¥%8 \ Yate — ¥en, | S78 arate ie (4.41 age rx dd “f° ( a8.) ) (4.92) 2s iy ay Noles back to tntwnrksi nad Exlor oesle } a andl Fe cae “ (aw 4 dal? €=fapy o 40 ° -d@ 4 \ 9 -de o/ Ais [de ° = Cdbskcdp+dy) ddedty df] Geowhicl Unduatondny of odPaple ef xdB = Px mdt (415) Finite rotate $ocue = Pla Peosb + AAP) (LcosE) + (Pet) smh tbe) TxdGKt fp ae aba, = rt r xmde (4-1) ME dE >» A Aa~ ndb :"vechr" csee Figure 41)ache volotm of a vechy 5 Connbeclcwae Lie P= Fasg + AF) CoE) + cnr F) sok c462") —- & br) s/h oe dé = (nx? )de = (Ada)x? = AR xt = -(PeWAS vw =A new E ; a fe Mi Fay = Rx ca, re dpe PP = “] ; > pid - p09 - AA. In CAYO e 8 Fe Ad= AAt& C= [0 dy Am Om ny ee ME dns O ~dr | * E 6 “nla eerste “AM AQ, 0 —m mo amie ailf te wo back te ovigmal cnfinclesind refatron , X= (Ut VX 04.66 7 ee = é Stalar 5 dia HR ek = - NO muti s vu vector oO —Ms Ne > ae A sae an dé. Ax”, wlme " my O -ny “Wa mh O Ne = Coste Ny Eye =, O 17f ony too of esd YS Save Ma=s = Ens ihs 41 tt 85 Simeetmf ST (1.2.3) cyele ~1 sit " ded permeated Aly =~ the = Gao Ma ci) Cics2 Jf” fermebo Ea C29) 93Re-wwite ae - jee € = nthe aE ay eres ‘Spent 0 0 © eal malo | iaress Tae -( dod pact Ms 7 [ / Oo } (4. 1) ~ 0 a 8 My i iokincksinal coteton —_gproetors Mas My AG Mi = [Me My) = Eyal [ 5 commuter or Lie bracket > Lie abighro fo the whacton ser Se Aggenaix B Dizol net comer Axial veetw or preedovectr on pags 169-169 thot welaks to genvod rule ef transfer medion , Parity , time revesed , invertor oporstrn/ transit,49 Role of Chomye of a weotr 6 dof's Fed's aded's OB )yu = CGty + AG )rot AQ booly Rte this caordnate systeen body it fined act the boely i 4 wmoving with the bode LB- Spee, Fixed. ChE oe From Euler's theorem + motan of a vid body wv. t ao Fixed carvdrate Syst at the body ts described as ao votetrm abot on Bx, Fd CUE )me > For om infinitesimal, vofaton Ai = Ah WE )wt = ALE © Comerelocente ) cans’) s a > > = 3 (18a. = 1G) body + dDXE — C481) [HSton taneous Oe ylar Veberty O such thet adt -di 4 (354 ) Lb (#8) muavirg the? luring to Lele, the olvechon of BD 75 the astm taneass O48 of rotedion, da aa oes ee = SE ay +HOXG (432) 9 (2). = (A). + Bx for ony gawnk verlr Cet)4.10 The Corrofs eect LB-2 Considor oO Gixed coordinete system on Barc whrch i whting | The inertal frame iS now the stars guide the solar Systm. d\ fd) 1.8 (2h “(fle t ae) _ fol? exe a eR eae (k= (Ge)t8 eae a (£8) Vw = i = cont 2 Vy ay é = _ [dis AU) 3 > (i d(x) a = (Fe) co. ort = Cet de | + Ox (9, $2Cae Rh) + Ox (Oxr) (4.84) ma, = tue fra of Farce jim jportonl Fame Ge = mde-tom (arg) + md x(deP) C440) (£41) Beg = mae = weatoed Cor felt) on Earth tt i ratty, = 3 Cees) = fr -2m(a@xtp)— mex (axe) — 4) ee Psat! duc force te} gravitat ned free. Grroks effet" cose tage farce.5. Anguloy mowortumn dard Kinet overry ef motron Lit Ooo oO port [2).= (A). + 8% (486) J@ hon a veto is measured at a Coord Aied with a rigrd body (2) a5 =O) mate Systm that rs al _ (i). ee ‘Only rotnng, matters } Abo & pore Bigtd body rotakes abu op fied pont with the Sane, onngerlay velocity ad (Pook) Figure 5! eet 2 eK al = RtR | es RY I al (at 7 7 22) i (2), «(2 ed fal tees pr Bi wre wsed = (@), + pxk —P CK4.2) S iN Le eet (GE), = aix® wnt. C9), Be) 3 Coovdmates that Ja AR) = de® lke lB) ws Fixed wrth the bod (8) = (2\-@) - Gy-at -o 4 He i (®)- ox CR) wrt (cd, yl a) > 040; Gi - we) xR =0 a wh) R for avortarg z, We =OCvsidey Word onby ove Case; a vigid body vroves Lige with one pomt Statonery E> only rofatwn meters ! lar montedunr abot ‘Yeb pomt” : fobel omy as 3 Lo= mc (%exve) (et) x tT -7 Summation Convention = a i : ne Ze vadiug vector of the i-th parltele tm the avin Pe Jes veloerhy vector 7 peasund Wt the space set of aves = > h=Oxh from ese) (48),-0 C82) “same iS br abl pitts tm te rad body! b=milixtixa)) @ B ex c@x2) = mi [Oe -%%-S)] ¢s.3) 8 EAD oy Lye = Wy meri — M: Xe (Xe uy + Yeldy t+ 2 We) = We mi (re-4F) — Wy MBE — We meXe zr — (S4) Ly R' Le mn Ve obburd Stumilardy GrevtrslDy, Ly = Lae i + Laywy + Tez We Ly = Lyx Wx + Ty oy + Tye We és.) las Tax Wy + Tay boy + Te WeTox, Toy, Tee \ diagonal elemids = monest of Guertin mie cofficiends (56) oft dujond lemonds « products of jnatra Tee = m(ti -¥i ) Fay = = me xoye 5.9) Cotinvous bodves | lg = f er) (Pad dv (5a) 7, Ta =f parla Kre)aV (5.3) jbe1 23 os L=Ia css) y “tensor” ¢ repeseting physten? puowties conmectry vector (B) to vecty ( ct). fan be vepresanted by wadrix such as a tans formation thet alse Connects ov vecte- to gmather vector. £2 Tensors Cyonmesd oheharton Toye CEO = Bit Om Cigntteeligan iC) S70). T Nth rank tensor Vavng 3" camporiorts a OSPR N inatcesBig, jp am ortheganl transtormaton A Ly ( Compo nots of) Salar) a fenfor of zero ramk vectr 3 Q tensor ot fiest rome / ee T= Aa 'y onduts 5 A teaser of the seconel tome has nine comp Tis = Cee Ga Tet Mathewuhellly, this ts. egeivalat fo pactltix elepbrer of (x3) modvices, CBut, the rigorous concopt differat behween the fenser cind genord 2x3 wotrix Read Ha Jertboo le page 129 for mow detmils. >) vs A clafines Coordinate trans formecon ; Under A, TT Fransovm qT! = ATA : similarity tronsforme toy T= ATA cs) fs a itty - pong draws formation, ees (84)= BAT = BAB BF) operator (Tike « tensor ) in (8.1) cG=aAh : A> BAB A plays @ mle AB je, Hansbmadon of Ge BG tnd PoBhy Coordin o see eguation (444)ATA @ Ty = AuTi ose 6812? Lis Same as tle defmitrm of 2nd vote tensor rn C&D rank tensor, Two vecors construct co Qn = AcB; (8.14) ae <) for 2-1 vectors Te = AyBx A585 ac Cy Tyg Z Axi Ay; Ty = a Aye Oys Ac Bj = Okc Ac Ay;85 = Ax By Pies that Tors a “towsor! unit tear 7 Tate Mes 4 = ji (S15) B= TC ou od pep. 2 bey Be Shh hh aay a. + a 3 ae i fy BTC Se Z2RHS FT Stalav Cer Tez = Ac Bs ) #-T-(FAR-BHE ici Ob wy Wy = A(B2) =(BDA |t3 The jnertra tensor ancl fhe monunt of inertia iS-| Keowhic Quoryy of mo tron abot a pomt : = =m, 8. (ax Ue) tensor 2 e esi 2 i aie B.T- =< ml(cxve) = a = és.16) Ree eC a se = A w= WH Then, 2 e Te STS 2 Fre z 2 th = “ EEE Te ATR = me Cr (2-8) | Pedi 2 a 2 ee ee EBB =gbe bm laorc- 2d) ] i me [ AE- BCA) ea a iS a ast REM = we mel herve le AY| =m [ré- 02-4) In Loy wom of jnertta aboot "the ax of m4atm” generah concept «fT [Tem (EK) z CRAYLis2 T= Me pw os Serres _ ee (ax Fe) - CBr) the Wan = 2 Op = Ba" we Teiaw Sie ealioe 2 Sand Concopt Parallel Axa thom Cabot He ax through the center of rt) R5m0 pee of atm 2 fa 6b anh Seat al Y= R +0 Cs.20) a Sean as 2y ag? ym fae To. =m (xn) = MM CR +k KN Seer neta ae “ ea CCR] Oi abet He ang oO = mi | (ert) + OT = my CRY 4 + me (Fev) 2m (Bh): a) aa Pee Eee eee = MRM) + In gat = 0 =o the ox geforitne st comm) = I, +n’ sid ea Os angle befwetn RB & 4Lig} eeeeeersret a Troi = bmg (ipa) = Zoe L (S16) = fd. miLare-t(@)] a Ol — =L ¢53) a ate 2 sim wa (4-3) tae }. “= 1 5 [ Watle dyg fe ~ Wa Fig We Np = twa wp me [ big te — Nia tia | Tag We We Tog = me (Gog te ~ fia Yop ) (82) For Cort nous vip bods bl ~ Tog = t pc?) (Lip r— ratg) dV 7) a Same as (5.2) homegnesns Cube chemssty e |) ass M Side OwLye The Eigenvelnes of the inerta Tensor and Lise The Proeapal Axis Tronstoy maton Inertia teaser TS Symmedvic., *@, Try =Tyx (sv) Bom C5.23) Tug = i i ve fap = {1p ) bag tata) a ex ees diagonal + 3 oft-diegenah Comporeds = Cav abesys tind SOF of coordmeks lore the Pnsor oy Jb x Aragon vith the. tree privcrpal values Ze ea 3 ‘ die nl x x3 " tre (Ki, Xe, XD has ee aff —diegpral HTT! we (alive, 8) has he derres ie, diagonal mattix (Kip %e,%) CK/, xd, 3) orthogonal Avansformation Contato of Goydrncrles ") Gouctce Zp = RIR=ere (5.22) One L is cliagonal reel , [eta a> zo Vi, Le~T. We , (3= Jz Ws (8.5) Site ; T= a oe 7 tute het +3 oe (8.26)y dr, Dy prmespal mortat of mnerta Liss ZL, t ' (Ki, Xe xy): principal axis or eigenvectors Low = Sip g Ss add, = OW, WW, we) new wordiale Lrew) werk tensor ox, xl, we) coordina 5S Solvmg Rigid body problems amd the Euler Corratius of = Motron sony Cav Separote. the genordl wotim of % raid becky hte a moti of Com and a vwtatinel moton abot C-o- (thet iS & Firceol pemt attacked to te rigid becky”) Te inert gist boh get SR Myla = NG (6:38) wrt the principal ayes 3 Lo = Tee | Tye cst => 7, Av 7 kh = a > Le Fe tek yk ey (Mo Summatron ) J, wir be 3 (T- Fs) at M1 Ta Wr Wy W) (4;-J)) = Ne a Ty thy —ty oh (1,-L)= Nz Euler's equations of motion.sb Torpre ~ free moton of a rigid body Lif N,= Nv > Ns 20 in ch34a') Tui) = Wavy CL- ts) Lin = Ws) (-41) ce Ty tis = Wo We (Tr) Exomple sa symmebi ob ngid body Tt. $4s Le i the prmemped Axi Lu) = Wes (1-43 ) i cs4)) Tyr = Ws “i (Ls- 3) Tvp= 0 3 bs = stat (aclermmed 7 onitrak Conditton >) - L-y Wy = ~ We Ww, = -Rwe 1 (5.43) sie ek ee We Wd} = Ww3 Dy, 3,-4) i ln te Sa a, 30 (L2T) oauler Peaneng x Wy = - QW =~ wy, 2 Vs AcKQE [o« Was ~ Go = -5 CAam)smat = AsmieFiguie SL est Led arty ue} a C Ca ) (op tub, = Const iyt}-—7 i | /2 | \ G-8xR (aa) co) Gan) 0) = = fw Wee S241 wt wri ws 1k Sp: & i 2, | ' z By- Set T= shim t 5 lee tats fe a ( I-42 = sl A+ shes 2 7 Sete enue! Ls Tfaet Tor + hus = ZA +t 4 inh cuitm A GU, & T gle L ckspred — mertra ellipsosd to Sem bg Omd colic eos (Bret) ellepsrrd Section Sh, Pease veod these HE yau're preslel am gualitafve doseriptins of forges Pee tanta ff5. The Heovy Cymmetrecel Top wrth One Pmt Fixed LA OG. d ) fixed m space w $4 rye x92) fixed with a the top ao x & ie x Culer guy's (¢,0,4) Dime of nodes T=IL4t : syranthicel ry booly ay yortn or spiny of the hp about its own frye Oxs Ze $ : peceson oy behdion of tHe Fiore os 2 abot the vevive ans 2! so natrtten or bobbing VP fod oun Heletive fo fe yevticakl spe xe Z of the & Faure oH Assume Pru 6» o Enlev eguetins (5.97) Tio, te, (L2-T)) Ni, Dy wy tba Wz (A- Ts) = My Tega ay2 (6 Wr, wy) jn tome, eevee ae Lip-2 femory ho Cyr 6,9) changes ote inal we tl . foe this, Grler Epuotins ave hot useful | Bm pm whreh Ory choita of Back to Lagrangrmn formal ret coordinates are allowed 52.3. (, @, 4g) coords gonad + 2 T = $2, (of+ we) ai gas Comeckon belweon (We, Ws) aad ce 4.6) See eg (481) On page 114 at the end of a a ipesonted jm preps axes = (Uh, th, 0) , @ . Enler amjle (9, 2, ©) in or ign prpuwent . See Fae &4) festa . O92) EG? cx ¥, 2) x P\ c a org le % 3 Fined m space (0¥) fired with He vid boy, hey prmepel axes Gp ove 2 > » 9.2) p Cprmespal axes ) nea Euler angle transfirmaton , /-¢,A> BCD (4.46) pherts Woy =A (2) 2 [fetes % OC) = | gaspsme 4 $ C6(Be = b smOsmip Li-3 (Bs) = p58 coh y @e)y = g cs8 6 above ¢ cm Fawe £9) - m Og 2!) Grlor angle. trans function Bom 44) (5) mceyee) =B 4 a Kom 64/3) Coovdinoks i 6 cos v bv soe ~ . 2 (4) , = @ coy (oe)y = Osu (Be), = ole 2 —> pp aly Bm G2’) fe 7 i ; (3p, Be, By.) in (4.2) 2 WO MOOD 2)wy = $68 send + bos : Lib-4 Wy = 6 98 comp ~ 9 SHU (4 6) Inge = Gosd + Wy HW, wy =We , wy >We mM our case phen the. prmegpl axes Te 2 L(+ pow e)+ 5% (y-+pes0) (5.50) writen om (48,4) md C6.6,%) Pobatink omer: BR: a vectr fram the fixed pomt to = Mg Leos (s. GL. st") 4h c-o-m a mtg = MR G L= TV = 11) (6+ 97s) +4t G+ bene) — Mg Leos8 (s.s2) Coustomls of waabin j OL Qu teeta ene i 3g 7° 3 brag “CLO thos 0) P +I; rose ba Pras? ee Eas (8.89) pe ay oe _ ZA baad Za? == — C06 cro 6,83) After Frmal ng 8), 4 and p are solved Via (6.9) & (E83) ‘Left's solve or Ot)!i Lib-6 —— = constawt ae be Is Ws; = E- Esu3 = = Llc coustaut vf vepleas with até) r, (b-a cose). + Mafce@ C551) om tains) = vie) :efectwe potartiol (5,00) Cawiler te 4~-D portman Comtral fre problem t Yowrss to find = 44042! A gered chateyy fo Se (ve fh r° A _{ Ag b=fte) > #-fe) a (55 I a Los 1 (b-acee)” (e'< Str 40) 5 he+ = a + 3 Tipend salt J Crgne tte) : (b- ace)” s.be) S| a= fl 00s cs. 2 ered . + . ue a sce 2 Aa 8 Trig = [Ge = Clu’) (Bu) ) - tb-au)’ ch!) = fw) du alu da = fu) D te —_ (8.43) 7 ue) J Fa)fin) = QU? = (atat)U* + (2ab-B) U4 ct-b%) LI] Cubic egution im U (B70) Yel two — moyinuy Coomplec three solutes } one Apree KALLS tuo equed all hice Aferents compen) the gyroscope B= Oo possrvte fy in general fag le top an the hareowkal plane } ero Solute for Lun) =0 =) Yowges of O ALU] ou okey consdyamt ove See Fuue 6.8 ound Figure G4 amd read page” ais fy the fuatchdne cleserphm Loy fle soluctron |! ale A special Cxowplary se) ot t20, 02% amd d-p=0 bt to as tne ges by, bo, fo J u nuked - pees Quowditetve CStinatnn FS On page 26-291! Howe wwe. Chay ter 4 13, 1S, 1b, 19, 21, 2B, 24,25, 26, 3 ©bt Free Vrbratins of a Linear Tretomic Moleule Lr - i we te, Tete all a Fagae * eae cnee Ick As “pny constant X=0 x1 ¥e %3 be epuatitbvivm oligtomee poten tral euwryy of the System. (b70) 2 2 Ve Ek (xe-n-b) tek %b) 06.48) eget postions of Ki, %, x = Nol, Xoo, %os, respectively Ui: =Xi- Xoe velahive positon to the epeitcbriuen postion Xoo- Xo: = b = Yos—You ' sts pea ie 2 Vi 5 RC Ka Ken +69 SK, + if Yor) >) SS, +h Canty Qoy< tet Wee cK) >) % = a G, LA Gants LAC my? oo il M ik (q+ 2m 4. 2m 24, % ) Sebiseys) tetas’ = Lat ey tam, oe tee eet eye ye L= T-V i= gil ens) 42 May - Le lyfoqeens = 21, 2 ~ 2s )61 Formulation of the Problem Liq-2 L= dtm —Viz det; ED 4(e)\— : day om, =0 9 Ty Ne + Very =o (ho sum overs) (6.10) £2 The Eigenvalue Epuaecton and The Prerpol Anis Transformation Assume gon osertlatory solutan of the form Hiwt N= Cae” C811) ° jut We = CQ: Cw) = OM ~ (wt (69 TEew)i t+ vay, zo Ee : commen) > | ij ay~ wT o;)=0 C612) Move genersh fover of (6.4%) allowing THate tty then (i) (vipag-w Tas) =O EI) marie epastron for ay dor Novtrivial Colutmm to exBt for af Vit Vie Vin | 2 ae (has) v(w : a we) © fie)(a) Wirt Vins 8 Tio LIV Vaj-w' Tet Vert Tie ~~ - fn modvix representactrnn , VR=ATA CAvo®) (6,14) (ste the slrybtly sterert fn of diegonalizeton Low the previnws one ; AB=AR ae Ag=R fee “votetnn" Skt, Similar (ov some) diagonalization prs blews in nedhenatiesl! Assume thet we fund erprvecters Gin. that icasonatae the matrix Such thee Column vector Vou = An The (6.15) (.) VTi symmetrre Le, Vise Ve, Tey hh J amd real movin. =) Ae real amd posttive I Ty i ve A= if Tey) ) a, as \ smedvix of tho eqenvectus june 50n5e) ovthegomel (7 € we A 4 ASe vA zane (7 ys). i => Oe. =| Crormatigntinn condition !) g6.3 Freguocis of Free Vibration, amol Liq-ye Normal Copy dimraks The. ganorel soluton of the epuatins of motin ; cl) Ni = Cr Qite e ne : gererel superpostten Component Het we fend for A thet may diaglae |y—wet|=0 (VET) n ~ degres of Fredo Don oyyls : fregroncies of fre oe 1n solutes uibratimn ov qn = Cede pene yesovowt fieguonces fsiaieysamaiior, Sum over N-was i ey Se (6.44) Jp now cooydraks 2 ~ C normal caordantes ) oe maeViK tren a L Ae ex Trans pose Poje tek eur = A Mey Ut = 3 iva C642) e a Z @loua eo Boe eArera gevent property of Metrix Calin a veecio- rou ltplientiin ya 1 Seat Hel AVI = a AVAS = Guy OH) =A Shim ever (poperty ot A) . NinLos no time ep. because it composes of lo AF owe Mow, Let's go back to gecttm 64 problene Hf sy Lae pee ee ! fe ( L: 5 Cte M, Veg Ny) = ee esr) ER (nf pets 2th 5 Vs ~ a Mee fae 2 af -k v*( i Has aa a (° i =a se) . Syrnmehric aul tes oo Vig ~Y (= ( oM >| (6.5-) oO om Find eran values | p-wm -k 0 -k ob-wM -k o RB e-tm [v-WT]=0 =La-$ (h- tam) [ (hewn) (ht) ee] +h (-k)(b-w?m) = 0 iS usin) [ ae rkwin Rw tum KK] = 0 (k-win) 00*[ wfim — (Mom) ]=0 C644 Soluts; wyrog & Airer) : = (4 =) Puede! a 2m oo, efi, um [EBS 9 agenda ete pre Cipoavectrs ; Yack to secular ezuatin ae any ae (uj- wy a; =0 oy ay © 5 = (a 3B 58 5, goal dye 5 Ge won) Guy” ~k O25 ae a Qu + (ok-8iM) Ag 4 das =o (694) ~ADaz + (howls = O pormalizednan § ATA a4 = a; 74; = 4 = (Ay 05 wT 2 2 i. : > Oy mM + GasM> Os; m = (a5 +05) +m Or = 4 césnb)w=o Cia) > Ln KA ~ ROw =O Qy = Ao aot +2 Ory ~ Rar =o 9 Os = Ay — RO, + G3 =O = fay = Ari = On M Cay +451 ) Moe = 4 | (Me 2mar=4 2D au = a ao (6.884) ee (ete : ee wy=(# G2) > R-wim=0 Clon <0 (4st amd 2rd) - PQ ~ RO32 =O > Air =- O32 5 \ m (Ora + ge ) z=4 23 Gre pee =~ (6.525) A ” - / Ws= | (j23) ; ke ws St | Gig = 203, Ay2 =e an 2 itz) (6.s8¢) See Frye 64, for those 8 meckes |]Fira, normal madscll Line Gai = AE) Ur Coordineks Vaormel onadles Ag= MAY = Ps Ayo we cali TA = 4A) Ait ae TAL GS ome Rie Rm BT Moo ~ beawe Tis dngonel (om 7 :) SA a. = Si Ci 5 = Gi Ti, + Oe Toe + 931 Ts Ms Pie 2mt m+) o S. = Oe Tia, + Ten Ne + 0k Ty eae | bid = am (m4, — m4, ) [2 e-™) % = Os Thy O23 Ta In + Ass Tos Is = mu ” ‘te lt a] yen ( fom (#2) ates es (in ey 2 (2mt") és)bl Formudetron of the Problem Li3-] Fmd Vig AhecA anppeets po the oserllating problow lilee dhe 4fvrehmic problem The conditm fv ther eget librivnn of fa systm ; no exkrnad fee Ney Q; =0 --(%) VC%, Bays an): pomne ob) of the. Allow a Small por harbectooy to the System Syston ot te epurk brivm such thot bit Ui (6.2) Bor 2 Tp 2 smetl per tudbectron © poston ot epeecrbrien VG-- da) = Mba c Garey cob be chosen oa +3 cl Why + i 7 4( Vv 2 (Gam,),"uy = 4 Vip Ne; Vij = Vje + Symmedtec (4) Figure 6.1 VOR, Ba, be)C2 The Eigavelue Eguaton amd the Prmespol Ong 9 C12 Trans frrmnetion fi the prouinns lectue, we used the property of A, empanebe waedbeiK , thet Comes frm +e erymmvalre probes (6.14) a 9 egprveie A, egmrcns(@, BD Va =ATR eee potentral qed rie Kivete emray maii¥ TH Vis J A= (ai, fy) 1 Sates ATA=4 ~ A AVAzA= (>. Cs) Let's prove these pre ports \ure | Tye | kth ern veche Va = Ae TG Gus) Prove that Ap amd Om ove vel whin Vo ond T ave venkl amd spmnabne Jn order to co +h, asfume Ag ood Die ave comp lee odjort Spuvtom (= stravspese + Compe Goget) i = bu, ae > Me Vii = nTime > (Va) = atv = OV = alv “fl = pramsgesed capyyste U Pe ee oe (aT aie) = Me Ti.) = % T Me * =Soler (6.1) 4 = My T Tteq: ved ond Symvie:at o eine ~ a = ant a Gg (Vie = AeTow) > Ghvae= eG) Tae a =T >t = at oa a Be (GV = A Ox T) ae > Alvan = ard THe 2 0 = (Mem )aTH GN) bilan 2-# , (u- ri) OTH = 0 (6.13) = ney = ae = Ll ASUme p= ap +o , Oe ans . ae re Gu T Ge = (Kofi) T het HF) = TT det Bt fati (he Te Gd.) T= veal amd Symuettic Tone Tre BT ok, = (04), Tim (2b), = (en Toe (FH lyr (Bai Baa Ban ee Tes *) oy (4) - = By Tadhy + Pha Te Sua + Ch dey = kar Tibart des Ta fle tas Te Ss ates Se Ha tet ce eis 4 > ORT Ge = AT de + Gul pe = reel gee fe T= (Sen x =54 1% = a Scalor (eT da ately * feinehie ererar *S¢0 lar a qe Ont ibe ase Moe Ae i Qa jo reah Va = Me Tae 9 Gi veel head veh taga (Vin. = Me Tue) 2 Vas mate Lia-4 Gv ae oY 2ev0 | Oe T Dae oe ete defurte = positive define . back to On- A) aT aie =o 1a) Leh M# Aq (Me cezonoracy) 2 a, TG =o (6220) a Me clusse to be A; novmllee bk TAHA Conk) 7 ATA-4 be) Congruence tramsfrmadioy fc by A =AcA C624) vs Simtlavity -tromstrmaton af C by B =BCE ow 8cB if Ke A' 1 Congres trast = Similarity transf Or rhoganal wachrixa aragpnad mobi A » Aie= Me Sik Lies 5 copa =i), ot Ge DVA=TAA 25) Van = Ae Tae > Viz Qe = Te Myr Oe = Ae lu 2? dee lig Qa sn AVA=&TAA=A (2b) =a. Exam ple in 2D 1 Exercise #12 _—_ —— Chose ¥-0 of te lef wall x; |_______4—» 1 e Pred veto x1 42h (fei) ECE EEE ae eee eeeseee eee Roba tik Uwe TageGite ) Chaose Y= %-4 k=, = dem OE ) Mao ke-2h =H, SIE ve den & yh Soe od [yp ase rin y+ dae] = | (shay + adn’ Rt) 76) e| vw TI cigs Gh-wm 34a 3k Ga wion = (4m P= Me thin = 3k, ara i) [7 a =(E ! . novel wodes | W, > whe / ( 4h-wyirm) Gy —34 Gay =O A= a) 3h Ay + Cak-um) Ag =O at B40 ~3kG = 0 DF Ay O24 ATA-4 9 pata Ne =n A Dom (duit Ger) = 4 au Fa a Or lam= WR} 3 Oo —3k Aer=0 Qie= —%: . a, 2 2 e a 2k Q12 ~3kGr -0 mak tat)=4 One im = fl *e co Oy We ayia set engi eae ” iw a ~~ |——+ Spying vot Compresteel — an P 7 oeded ee L18-6A ge novmall wodes (79, SA 3) I i > 4 | Gc. a - oa ANy—Ar We i 2, Fe we ; SY ©: g2£e e 8 MN = cs ta X= mh) i novinal onades, Le RO te)63 Freguomeres of Free Vibrations, amd Normal Coaplontes Ltt] Gmacton to mrtal endetms 1-(0), (0) general seldom Y- aS a lmear Superpestton nlapt Ve = KE (6.35) Ral Compleg (i ery valves Qe : emenvectrs * Conventont choice ) q:(0) = Re Ci Qik (6.37) age (0) = Im CeOlee Wik (628) Felt) =~ Wee Oe E gO) = - WC Ocha (21) > fe= Aree we wad ty chose 5 Peo pore of thes ie) _ [00 On Gq icesic ney Ww) = Re a be veag tl Che tine ; ‘ (6.39) ATA=4 => &Tao) > ATARE = Ree © Be = Oye TA, 0) (6.349) Sim: lo Dy Lm Co = are Os Tye a) (6.40) fe eHtEee comple pune (owp tude) is chefermmd by Hs) Re) ( mitral Condos ) (md 1G, Ag voll nok”)6.5 Forced Utbrattons amd te EHect of Dissipative forces LIV2 Bock to chapter 4, Logromge's epunton (1.63) Hd dl (Zz) a. 2g. de. 25) 9 Q-= Sh ue = javeraltzed ree OB): Coordmede N c 5 team Cl.) Now , Choose. i ro the ganockived Loree corvesponeltes to the coordinek® AT gaol F.C He = the coordinate J 4 Bb Gn) t r ate fram Tm, Qy Corarpnds novel Ceovdonetes ne Ne = Gee Se Qc. = F, we ong 2% Ss Wik Oe = Mis 255 J = Fy hye = Oey >) J named Coovdmates > Ft WS. = @e (6.61) Assinme thet a: = OQ: cos(wt +5; ) (662) Oscilladtyy oriving force. (662 FZ twie,~ @rostwt+5;) (6.6) Tnhomogentous dlifferentsel epuetim | howe goreotss seludioa scent particulars Solutio ue Se Bresslwt +E) (664)Ww & + we Se = Oe; cos (ut + i) _* Be cos (est-+ét ) SB. _ ei OT OF we (6.65) ME Qe Colut dz) Lye We 5 = (4.65) 7-0? Yesonamt We Wwe bey %; 3b not Simall ascdladinn covey more | Ao 7 belt's consider olissipative fee such as Ervcton thet 3B pw portioned to the veloerty, Buck to section (is) a frizdional fereo proPertioned to the veclocity Con be wetten af Fe, So hy Ue fred E (ay Sot by Uy the Uae +) C167) (Rey lergh's ) ebttiyatmn oe od La > B ee es = neton Fie ~ aay, PO FeV cryay ee ~ Fy: at = (he tet ty ig thee) de bao done “by the We og. rete of Cuerry System agoost frrethn dé ‘ ABipadronr ole to frvctonGonorchied foeco. ae fom the fore of frreten LItY an 7 Ay Fy a] LUA -- Lad Fe = % = oH = ott scp a Ui \ atnn } 4 ae at ed oH rompes CBA dt 24) 2%, = a; = 8 Ch) = Ko 3k dehy i i 2sy wwe ic (669) (7 > Te a hy Aes ce SVip tet; Tet; + Fy ts + Mj" =° (6.8) peed to drgonetice T, F, Vo ot te same Hine. to get normal Coardtredes i evel, tha 3 rare (Ee is olmponelted cus Tis, . +hcte tur $ =O (ae Summeton) (a) erm val Cosvd rns — values “non negative coefteiouts in the olegonabicd tm of Assume 4; = ane Seal 2 - 2 we + 6M 'h,- wi =d (no Summadron ) (=)Leg we = i tfyp% (6-91) a % fiestas ; AW for chepler6 wy > & 5 small olaspatom 3, 4,54 (Oy I1, B, _Petly ca i (619 322G (eae C7) sae iV claws p rey Fond case: fread sinusoidal ascrlldoms rm the pretence of As potive. forces aviviong dle Fy > fy € eed ee be complex epnecron of moto; arut Vir 4; +f 5% + Tea. = Bee cé.e) ui eid solubon a; = ASC ole » wad to find Aj (Ve; oH Cod —w Te i -F.=0 Ga) a en lee D; (wo) = (V-wh-wT) i; = Ba B vesonone bolovre > dDed=|{v— wd ~s*T| “aelrcned bY D07=0 modifredon m Dla) sentry taken jth column Cramer's z) O5(@) 5 5 )5(4%) | veglaced by Fou, Fo2.--, Fon8.1 Legadre TranshrmationS ome the Hatnriflon Fgnatos of Motwn Baste telta of Homiton eguatons four — BG seep > eon 4 ae) =o (8)) de \ 94. 3; xn 7 ‘Legends vewrebles but in bet” i aes "gt is trokep. var, aa mer att oi Br H (s,m) 2 Eom Bm oe 1 G Dah order G18 ne oe ) oleh eg "anonre! a he . varrabes “ oe qe OH AG = CBI) ) Heat aL (3,3) these two Po = Cho sum on) inolep aa, yarmbly v C&2) conjugate mnowoudu na Capvuralined ) Legen die Travstovmectes C2.3,4) <> @.nt) "ft aT two mroleg. two meep. oy : 2 var. methawerties fog) 1 tf = Bde t dy = ar tvdy oo a (8.3) (&4) yy gous 4) > Choose Y= feux = Fy) ~ Ux C88) 2 X(WH) VO WKY) &og = af —udx — xd L202, = udx + vey — udy-ydu = wdy- yu = Baya a 3 _ _ oF ot DR=-SG VE oy 8b) Evouple of Legendre -tonsf Thermodynamics” Ast law of thevinocly remies dU = dQ-dWw ( reversible process dQ= Tas ) dws Pav dU = =" Tas — “Pav (84) & (8.3) Ssv) :T - (22) p--B) 8.4) Unlennal) everag fee - olH = dU+ vap-+ pa¥ = TdS +Vdp (8.11) i] G3) , V= 2), bolita — Legend transf, Fi(tv) = U-TS 3 Helebolle fee every GOT p) = H- TS * Gibbs fee Omegy.,Legendia transf betwton Cp, 9,4) L203 Turn bode to owd G, pt) = Ob “OL ahs Bea a 3) & allow a 4 on fmt Lap 8 8? —an “Labvamye's € f= ; & - am OL iG 33° B= 35, Cl) \ \ dl= pele, + dk 4% dt 8.13") Legencve transf ee -- L034) (6.15) L+H 1 Chose H = 2 fi dH = fe dlpe+ pedge AL = Edt - pet be > Ze at i SA OH oH oH i ee ee oH - OH (8.12) ? # = 9%: ~ pe "34: y 2b . 2H (8.19) ae at The Same Newhmrma Machanies + ovad — Hawactontann frmulay bud, methewadseal aggrach 1s Afra. "Gs erlended 40 Qremtum Mock. They are Fem d, Lagransiinn Hemulir, Who the ‘con opt wlerpet! dliffisedey , je, deserters olfferat Phys osPractrl Calculation fo Convert Lag ramsie~ Leow Beme lism to Hawi [forms 4. Construct Lag ramgitn LG, det) =T-V a. Fre Pr Coon jugete wowwstun) by Pp = = (8.2) 2 Gnstmet Haws | towram H= Bferk c8.Is) 4, pleed to find a os a fumctm of fz, Pe, (ond & ) dc Che, fet) & Gr) RCH, Fe #) veh gc fr Be, Pe, amd & 5. brppty Howrton's eguetton (2.18) B81) Exomple 4: Gusider ao genorl Pam of Lagrangian L= Lolist) + Li Get) a + 25) ded Mae eee ae eee ne: 5M . H= 2p -L= BOL Ly=0, Lee-V. LaGe tied =T Sivaple Common ) case et : Peis age = 2(%,t) $- (no Samat ) iz =L(4:,4) Bb. Wired He §ep-LeIsfeke-L= T+V (41) Nes =27aamoton of a partele in splerrcel Le-5 Exam le a D vidred cordirats 9 generlied core Coovdmotes (8,0) g ute Courtral bre freld 1 Dee anes. Vor) oe + 6 a xk +ygeed e) K= rend asd ous Yo Pond amd a ee 2= 1 cosO feedlto frd Xx ae angle ) gn ETNA) Te Zila gh r)= X= PSmBesd +6160 cos —prsmA sme G = PSMA Smp +6 FesOsmd ag rsmé cos Z= F050 — Gr5md Ree at rt Aiea on Kegt2 = rip rtenty d tr)” L=TVs= bm (y+ vpwd o re) - Vir) L : 25 fe zeny pe tos my HEE 7. mero Fo= Sy = mrsitag Tots tn te Foven of Te LeHDRE » then H= T+v = fd mcete viswa phere) + ver) I “~ >= { 2 is M5. ae oh + om + a) t vcr) C824) fo p= Po. pall be m wre y merceBZ Cyclic Coordinates ome Conservation Thoreuns Laie} Gorserankon of wonton | o, Hanctmt eget p= Se = - 3, =O ep’ L dees nat ctepend La - on 2; Legrangeh egeclon ¥ Pad H ces nat po on A OH g | OH Ot GHG de ~ phe * og, eT a ‘oH on ce 82; eee eer —- =o (8.18) SEES eee eeeeaeeeee (841) Ot 8 (71y f tS =O yeanty L cles not ctpenck on time “eplely” Bewnrdk case the US cmst (treme of wotnn) Special = Tey = emery Hen Raa tn CB, Ba) ’ Case p hot Gey, on time Q Vee) ‘ wentethy Sv not abp. om 3. c Com clooce "Zeieralred convdmates” fy Contract Leg remem slit by sty difbret Francfarmedtmn Thug ohaice afkeds the Gk “HH ther & Constructed by L.H can be corsewed ov wit by ee Choices of Go) Se jan chown ant (tr, stat pom 3 0s" Eranple naar 7 Ls ool ? ees vp = constant a Vet (wey Grt) Chose a gorerabiaad Gocdmak as XK | t. portioe of the paviscle ra th Slehowory system. Te det Ve phx Ske (xv) , Kleist -K) = %- VE L&X,t)= T-V= mye, Late ut)” (4.42) 2 2 x tha’ dlepene's on Bem Ses - koewt) “" expheity! moti | mx = te ( x-Vat) A wow coordinate C Galtlen Choose X's X-vat as trast) ek DQ ab’ CH) b jeltive posi fom of fle poole im the cals frawe (in ths aks frawe, He poizle ports OG OM Sipe hovianre osCilletiny Jive by (8.44)ow Let's concfruct the Hamrltonram.of +h8 systm. Lis L= bot) + LG + Ge) Zz If QLe =-V(g,b) + Mob depenctent on OLGHP ST then (t=0) H= T+v Cov tho systm, He Tay = bette BC EY” p= =mxe axe 2 2 J CK pe= so + £ cx-ve) (8.45) Hi Stl the Atel every of te System becouse FF IS conshucled via TeV Bul, Vex) clepends on time, frus H also depos on tme, re, H Cthy tet ewer y fe This wey of constuctmn) fs “not” cansewved|! Th awry becuse fork Should be supphed to the cart ™ ovderto male Tf jmove with a Censha speed Vs. Alermatiely , we con conthnct a differnt Legrangren by Sarg Uiftewd gonerrtred cosrdiratss, Choose x" the. geveretieed Coord tente insked «f X 4s Sturt dam the Same Lagrawgrom Lex, x,+) Le- Last Le CK) uf X= Xovetx = ¥-Ue X = X/4R Large fe book : peceEio Le, xD = fe mx 4 mili + Emin phe! \ he explrert Fing-ceponctomce , but noo has aterm fl He TeV i net valid any more becouse T+ contams Liq) % tere W let's Corstrct tle Hawa | frm from L folleimy the gamed L heed. 2 p= 2 = mx’ + mu5 peye 338 axe Xl LC poms) or fon 8 (8) | — Lata dae” = ry ap’ (p- mvs) — 21s | = ( pls) SH Op) = sh (pms) bmnt dbx? Caan)Holapi) 2 does not Aypend on € explieithy . Ly-§ on =- ae =0 LOX) i does not clependl on BAe, erplicitly, eiHer, H (x1) © Constant af tle moti, Me, not cependinten me, Rd, Hoey) “pet” the tobal energy any wave H Ln tthe toll energy of the mohom of the particle “pletive +o" the movng cart I} However, Hx,p,t) amd Hox! p) wil lead to He" itonbek" Eg. sf moti hecuse thew ehysres is SHI ptertied to Fem, Nowhws 2nd low 8.5 Porivatton of Hamiton's Eguectims fam a Variatimal Proweple. Sect 2.) 5 By ore lye Haw cltows priciple , we olrove the Legrany's eptretin te SL=ff Lat=o 8.64) & Varroko is dove to the configuration Free. LG, 3/4) made by (2,4) dartables Ppp che, Some Varsvattion priztyle to Hg, p) ™ over to dectve Hamilton's eguretrm. Aw the Cont paretron geo 1 Woe by (3,p) Varrables »” YStarting frm the Same eguatim CPL) L2i-b 5-5 [Lat = ale Cap: -H@eel at =o i * c 865) Hea. pt= 2 pp - LB, at) > mooted Hamitfons prmeple Back to Stern 2.2 , epuatron 2.) 5 generf varndio prmciple * : 7 a sf $09,020) Yoods = 9,08), 9,00 oe, xD Cheose f= Z, Pr -HCZ, et) + mi fegramnd tn (6.65) reat ¥ ( b. z, ’, PD CE, p) mates oe Space £4, > 4 Lagrange's ep é makes W— Configuration space. Ale FO Jel 0 06.67) Z| oh ne =O feb Nn (662)oft 5 2 OH Sah > fetes atte 6) 236 4 28; Howartou's eg. of Oey ecoohi et tates tifa i o> ae G- 68.99 \uaton.