Showing posts with label frame of reference. Show all posts
Showing posts with label frame of reference. Show all posts

Thursday, April 18, 2019

Chapter 7.9 - Frame of Reference at Center of Mass

In the previous section, we saw that, if the external force acting on a system of particles is zero, then the 'C' of that system will be moving with uniform velocity. In this section we will see some examples for this type of motion

Example 1:
We will write it in steps:
1. Consider a moving radium nucleus (Ra)
• The radium nucleus is an unstable particle. It disintegrates into two other particles: 
(i) A radon nucleus (Ra)
(ii) An alpha particle (He)
2. The forces leading to the decay are internal. Those forces do not contribute to the $\mathbf\small{\vec{F}_{system}}$
• The other external forces acting on the system are negligible
• So we can write: $\mathbf\small{\vec{F}_{system}=0}$  
3. Then what happens to the 'C' of the system?
• We have seen that, if $\mathbf\small{\vec{F}_{system}=0}$, the 'C' of that system will travel at a constant speed along a straight line
• Consider fig.7.47(a) below:
Fig.7.47
• The Ra was initially travelling along the x-axis. So the 'C' of the system is on the x-axis
• After disintegration, there is no Ra. It has changed to Rn and He
4. So what happened to the 'C'?
• Ans: Since $\mathbf\small{\vec{F}_{system}=0}$, the 'C' will continue to be on the x-axis
• It travels at a constant speed along the x-axis
5. Take any instant. Measure the distances of Rn and He (from the x-axis) at that instant
• Upon calculations on those distances, we will see that, the 'C' (of the Rn-He system) will be on the x-axis
6. In the above analysis, the observer is on the ground and watching the disintegration of Ra
• A special case occurs when the observer is at the center of 'C', travelling with it. Let us see it's details:
7. Initially, the observer is at the center of Ra nucleus
• After disintegration, the observer finds that, the Ra nucleus which was covering him, has disappeared
• Instead, two new particles (Rn and He) have formed
• From his view point, 
    ♦ What will be the direction of Rn?
    ♦ What will be the direction of He?
8. Let us analyse:
• We have learned about relative velocity (Details here)
• Relative velocity of Rn with respect to 'C' is given by:
$\mathbf\small{\vec{v}_{(Rn)(C)}=\vec{v}_{(Rn)}-\vec{v}_{(C)}}$
• When viewed from 'C', the Rn will appear to be moving with the above $\mathbf\small{\vec{v}_{(Rn)(C)}}$
9. Now, we can find $\mathbf\small{\vec{v}_{(C)}}$ using Eq.7.7: $\mathbf\small{\vec{v}_{C(t)}=\frac{\sum {m_i\;\vec{v}_{i(t)}}}{M}}$
• Substituting the known values, we get:
$\mathbf\small{\vec{v}_{C}=\frac{m_{Rn}\;\vec{v}_{Rn}+m_{He}\;\vec{v}_{He}}{m_{Rn}+m_{He}}}$
10. Now the equation in (8) becomes:
$\mathbf\small{\vec{v}_{(Rn)(C)}=\vec{v}_{(Rn)}-\frac{m_{Rn}\;\vec{v}_{Rn}+m_{He}\;\vec{v}_{He}}{m_{Rn}+m_{He}}}$
$\mathbf\small{\Rightarrow \vec{v}_{(Rn)(C)}=\frac{m_{Rn}\;\vec{v}_{Rn}+m_{He}\;\vec{v}_{Rn}-m_{Rn}\;\vec{v}_{Rn}-m_{He}\;\vec{v}_{He}}{m_{Rn}+m_{He}}}$
$\mathbf\small{\Rightarrow \vec{v}_{(Rn)(C)}=\frac{m_{He}[\vec{v}_{Rn}-\;\vec{v}_{He}]}{m_{Rn}+m_{He}}}$
11. Similarly, the relative velocity of He with respect to 'C' is given by:
$\mathbf\small{\vec{v}_{(He)(C)}=\vec{v}_{(He)}-\vec{v}_{(C)}}$
• When viewed from 'C', the He will appear to be moving with the above $\mathbf\small{\vec{v}_{(He)(C)}}$
12. We have already calculated $\mathbf\small{\vec{v}_{C}}$  in (9) above
• So the equation in (11) becomes:
$\mathbf\small{\vec{v}_{(He)(C)}=\vec{v}_{(He)}-\frac{m_{Rn}\;\vec{v}_{Rn}+m_{He}\;\vec{v}_{He}}{m_{Rn}+m_{He}}}$
$\mathbf\small{\Rightarrow \vec{v}_{(He)(C)}=\frac{m_{Rn}\;\vec{v}_{He}+m_{He}\;\vec{v}_{He}-m_{Rn}\;\vec{v}_{Rn}-m_{He}\;\vec{v}_{He}}{m_{Rn}+m_{He}}}$
$\mathbf\small{\Rightarrow \vec{v}_{(He)(C)}=\frac{m_{Rn}[\vec{v}_{He}-\;\vec{v}_{Rn}]}{m_{Rn}+m_{He}}}$
13. So we have two results:
(i) When viewed from 'C', the Rn will appear to be moving with a velocity given by:
$\mathbf\small{\vec{v}_{(Rn)(C)}=\frac{m_{He}[\vec{v}_{Rn}-\;\vec{v}_{He}]}{m_{Rn}+m_{He}}}$
(ii) When viewed from 'C', the He will appear to be moving with a velocity given by:
$\mathbf\small{\vec{v}_{(He)(C)}=\frac{m_{Rn}[\vec{v}_{He}-\;\vec{v}_{Rn}]}{m_{Rn}+m_{He}}}$
14. We see that, the denominators are the same for both results
• In the numerator, the 'quantity with in the brackets' are also the same, except for the sign
• So the two velocities in (13) will be having opposite directions
■ That means, when viewed from 'C', the Rn will appear to be moving exactly opposite to He
15. But that is not all:
• $\mathbf\small{\vec{v}_{(Rn)(C)}}$  starts from 'C'
• $\mathbf\small{\vec{v}_{(He)(C)}}$ also starts from 'C'
• So the two vectors have a common point
■ That means, the two vectors will be lying on the same line
16. So we can write:
■When viewed from 'C', both Rn and He will appear to be moving back to back along the same straight line. This is shown in fig.7.47(b) above

Example 2:
1. Consider a system of binary (double) stars shown in the animation in fig.7.48 below:
Fig.7.48
• The yellow and pink spheres represent two stars P and Q, having equal masses
• The magenta line is an imaginary line joining the centers of P and Q
2. 'C' of the system is shown as a small white sphere
• Since the masses are equal, 
    ♦ The 'C' of the system will lie on the magenta line
    ♦ Also, 'C' will be exact midway between P and Q
• Both P and Q rotate about 'C'
3. In the fig.7.48 above, the 'C' is stationary on the cyan line
• The animation in fig.7.49 below, shows the same system. But this time, 'C' is moving along the cyan line
Fig.7.49
4. So we have a system which has rotation as well as translation
• If we trace the paths of the two stars, they will appear as shown in fig.7.50 below:
Fig.7.50
• The series of pink spheres indicate the path followed by P
• The series of yellow spheres indicate the path followed by Q
5. When the crest of Q and trough of P occur together,
    ♦ Q spheres are further apart
    ♦ P spheres are closer together
• When the crest of P and trough of Q occur together,
    ♦ P spheres are further apart
    ♦ Q spheres are closer together
■ So we see that the trajectories are complicated. We will try to obtain simplified trajectories
6. Generally, there is no external force acting on the binary star system
• So the 'C' in fig.7.49 will be moving with a uniform velocity
7. As in the previous example, let the observer be at the center of 'C'
• From his view point, 
    ♦ What will be the direction of P?
    ♦ What will be the direction of Q?
8. Let us analyse:
• We have learned about relative velocity (Details here)
• Relative velocity of P with respect to 'C' is given by:
$\mathbf\small{\vec{v}_{(P)(C)}=\vec{v}_{(P)}-\vec{v}_{(C)}}$
• When viewed from 'C', the star P will appear to be moving with the above $\mathbf\small{\vec{v}_{(P)(C)}}$
9. Now, we can find $\mathbf\small{\vec{v}_{(C)}}$ using Eq.7.7: $\mathbf\small{\vec{v}_{C(t)}=\frac{\sum {m_i\;\vec{v}_{i(t)}}}{M}}$
• Substituting the known values, we get:
$\mathbf\small{\vec{v}_{C}=\frac{m_{P}\;\vec{v}_{P}+m_{Q}\;\vec{v}_{Q}}{m_{P}+m_{Q}}}$
10. Now the equation in (8) becomes:
$\mathbf\small{\vec{v}_{(P)(C)}=\vec{v}_{(P)}-\frac{m_{P}\;\vec{v}_{P}+m_{Q}\;\vec{v}_{Q}}{m_{P}+m_{Q}}}$
$\mathbf\small{\Rightarrow \vec{v}_{(P)(C)}=\frac{m_{P}\;\vec{v}_{P}+m_{Q}\;\vec{v}_{P}-m_{P}\;\vec{v}_{P}-m_{Q}\;\vec{v}_{Q}}{m_{P}+m_{Q}}}$
$\mathbf\small{\Rightarrow \vec{v}_{(P)(C)}=\frac{m_{Q}[\vec{v}_{P}-\;\vec{v}_{Q}]}{m_{P}+m_{Q}}}$
11. Similarly, the relative velocity of Q with respect to 'C' is given by:
$\mathbf\small{\vec{v}_{(Q)(C)}=\vec{v}_{(Q)}-\vec{v}_{(C)}}$
• When viewed from 'C', the star Q will appear to be moving with the above $\mathbf\small{\vec{v}_{(Q)(C)}}$
12. We have already calculated $\mathbf\small{\vec{v}_{C}}$  in (9) above
• So the equation in (11) becomes:
$\mathbf\small{\vec{v}_{(Q)(C)}=\vec{v}_{(Q)}-\frac{m_{P}\;\vec{v}_{P}+m_{Q}\;\vec{v}_{Q}}{m_{P}+m_{Q}}}$
$\mathbf\small{\Rightarrow \vec{v}_{(Q)(C)}=\frac{m_{P}\;\vec{v}_{Q}+m_{Q}\;\vec{v}_{Q}-m_{P}\;\vec{v}_{P}-m_{Q}\;\vec{v}_{Q}}{m_{P}+m_{P}}}$
$\mathbf\small{\Rightarrow \vec{v}_{(Q)(C)}=\frac{m_{P}[\vec{v}_{Q}-\;\vec{v}_{P}]}{m_{P}+m_{Q}}}$
13. So we have two results:
(i) When viewed from 'C', the star P will appear to be moving with a velocity given by:
$\mathbf\small{\vec{v}_{(P)(C)}=\frac{m_{Q}[\vec{v}_{P}-\;\vec{v}_{Q}]}{m_{P}+m_{Q}}}$
(ii) When viewed from 'C', the star Q will appear to be moving with a velocity given by:
$\mathbf\small{\vec{v}_{(Q)(C)}=\frac{m_{P}[\vec{v}_{Q}-\;\vec{v}_{P}]}{m_{P}+m_{Q}}}$
14. We see that, the denominators are the same for both results
• In the numerator, the 'quantity with in the brackets' are also the same, except for the sign
• So the two velocities in (13) will be having opposite directions
• Also, since mP mQ, the magnitudes will be equal
■ That means, when viewed from 'C', the P will appear to be moving exactly opposite to Q
15. But that is not all:
• In the previous example 1, the two vectors had a common point
• But here, there is no such common point
• So here, the two vectors must satisfy the following three conditions:
(i) They are opposite to each other
(ii) They have same magnitudes
(iii) They have no common point
16. The three conditions can be simultaneously satisfied only if:
■ The two velocities are parallel
• For that, the two velocities must be at the ends of a diameter
• This is shown in fig.7.51(a) below:
Fig.7.51
That means, when viewed from 'C', the stars P and Q will be diametrically opposite
17. The situation 'where they are not diametrically opposite' is shown in fig.7.51(b) 
• It is clear that, in such a situation, the two vectors are not parallel. Their paths will have a common point. They are not opposite to each other

• From the two examples, it is clear that, from the view point of a person at the 'C', the analysis becomes simpler
• For obtaining such a view point, we attach the frame of reference to the 'C'
• That is., the origin of the frame of reference is placed exactly at the 'C'

Now we will see some solved examples
Solved example 7.9:
A child sits stationary at one end of a long trolley moving uniformly with a speed V on a smooth horizontal floor. If the child gets up and run about on the trolley in any manner, What is the speed of the CM of the (trolley + child) system?
Solution:
1. The trolley is initially moving with uniform speed
• The floor is smooth. So there is no friction
• That means, there is no external net force on the system
2. When the child begins to run, the forces produced are internal
• Those forces do not contribute any thing towards the external force
• That means, the external force remains zero
■ So, the CM continues to move with the same speed V

Solved example 7.10
A large boat and a small boat are at rest on the surface of a lake. The distance between the two boats is 300 m. A man in the large boat, begins to pull the small boat towards him using a light inextensible rope. When the small boat reaches him, the large boat has moved 45 m towards the small boat. If the large boat has a mass of 5400 kg, what is the mass of the small boat? Neglect the friction offered by the water
Solution:
1. Given:
• Mass of large boat = mL = 5400 kg
• Initial distance between the two boats = 300 m   
• Final distance between the two boats = 45 m
• We are asked to find the mass of the small boat mS
2. Initial position of the 'C' of the two-boat system can be calculated as follows:
• The 'C' is some where on the line joining the two boats
• Assume that the origin O is at the center of the small boat
• This is shown in fig.7.52 below:
Fig.7.52
• We have: $\mathbf\small{X=\frac{m_S x_S+m_L x_L}{m_S + m_L}}$   
• Substituting the known values, we get: $\mathbf\small{X=\frac{m_S \times 0+5400 \times 300}{m_S + 5400}}$
$\mathbf\small{\Rightarrow X=\frac{1620000}{m_S + 5400}}$
3. When the man pulls the boat, the forces involved are internal
• So there is no external force
• So the velocity of the 'C' does not change
• The 'C' was initially at rest (∵ both boats are initially at rest)
• So the 'C' continues to remain at rest. In other words, there is no change in the position of 'C'
4. Finally, when large boat has traveled 45 m, the two boats touch each other
• When the touching happens, both the boats are at 'C'
• That means, the large boat was initially 45 m away from 'C'
• From the fig.7.52, we get: X = (300-45) = 255 m
5. Substituting this value of X in (2), we get: $\mathbf\small{255=\frac{1620000}{m_S + 5400}}$
• Thus we get: mS = 953 kg

Next we have to learn about angular velocity. For that, first we must be familiar with vector cross products. So we will see that in the next section

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Saturday, July 14, 2018

Chapter 3 - Motion in a Straight Line

In the previous section, we completed a discussion on units and measurements. In this chapter we will see motion of objects.
• We have already discussed the basics of the topic of 'objects in motion' in our previous classes. (Details here)
• The reader might want to revisit those details before taking up the present discussion.
■ In this chapter, we will deal with motion of objects along a single straight line only. 
• Figs.3.1(a), (b) and (c) below, shows examples of motion along a single straight line.
Fig.3.1
■ Motion of objects along a straight line is called rectilinear motion
• Motions indicated by figs.3.1(d) and (e) are not rectilinear motion. 

■ For our present discussion, the objects under motion are considered as point objects
• That is., size of those objects are neglected. 
• But can we simply neglect the size of an object?
• Consider fig.3.2 below: 
Fig.3.2
• A 3 m long car travels from A to B. 
    ♦ The distance from A to B is 1 km (1000 m). 
    ♦ Compared to the distance AB, the size of the car is very small. 
    ♦ It appears as a point. It can be seen only by 'zooming in' 
• Consider fig.3.3 below:
Fig.3.3
 • The same 3 m long car travels from P to Q. 
    ♦ The distance from P to Q is 10 m. 
    ♦ This time the size of the car cannot be neglected.
    ♦ It does not appear as a point when compared to the distance PQ. 
■ In most of the real life situations, the objects under consideration can be taken as point objects.

Frame of reference

We will write the steps to describe a frame of reference:
1. Consider a rectangular room in our school or home. 
• Let one wall of the room be painted with yellow colour. 
• Let an adjacent wall be painted with white colour. 
    ♦ The white wall should be adjacent to the yellow wall
    ♦ The white wall should not be opposite to the yellow wall
• Let the floor be painted with brown colour. 
This is shown in fig.3.4(a) below:
Fig.3.4
2. Consider the portion where the floor meets the yellow wall. 
• They meet along a line. This line is an edge of the floor. 
• The x axis can be assumed to lie along this edge.    
3. Consider the portion where the yellow wall meets the white wall. 
• They meet along a line. This line is a vertical edge of the room. 
• The y axis can be assumed to lie along this edge.    
4. Consider the portion where the floor meets the white wall. 
• They meet along a line. This line is an edge of the floor. 
• The z axis can be assumed to lie along this edge.
5. Thus we get the three axes: x, y and z
■ The point where all the three axes meet is called origin. 
• It is denoted by the letter 'O'.  
• It is a corner of the floor.
■ Also note:
• Any two perpendicular plane surfaces will meet along a line
This line will be common to both the planes
• But if there are 3 mutually perpendicular planes, they can intersect only at a point. 
There will not be a line common to three such planes
■ It is very important to note that, the three axes are mutually perpendicular. 
• This can be explained as follows:
Take any two axes randomly. The angle between them should be 90o.
• This 'perpendicular orientations' can be easily visualised, if we look carefully at a bottom corner of the rectangular room.

So now we know how to setup a frame of reference. Let us see how it can be put to practical use. We will write it in steps:
1. Consider any point object anywhere within the room. 
• The object is at rest
2. Let someone ask us to give the position of that object
• We can easily write it's position with the help of the three axes.  It is done as follows:
Case 1: The object is on an axis. 
• This is shown in fig.3.4(b) above. The object is denoted by the magenta dot. It is on the x axis.
• It is at a distance of 2 m from the origin
• This distance should be measured along the x axis or parallel to the x axis
• So we can write the answer. The answer must contain the following 4 statements:
(i) The object is on the x axis
(ii) It is at a distance of 2 m from O
(iii) O is at the point of intersection of yellow wall, white wall and the floor
(iv) The x axis lies along the intersection of yellow wall and floor
The answer will not be complete if we do not write all the above four statements
• However, a simplified way to write the answer using two statements:
(i) The coordinates of the object is: (2,0,0)
(ii)  O is at the point of intersection of yellow wall, white wall and the floor  
(iii) The x axis lies along the intersection of yellow wall and floor
• Note that, in the coordinates the values corresponding to y and z are zero. Because:
The 'distance of object from origin' measured along y axis is zero 
The 'distance of object from origin' measured along z axis is zero
• In fact, we do not need any help from the y and z axes to write the position of a point on the x axis
• We can ignore those axes
In a similar way, 
• If the object is on the y axis, at a distance of 'y' m from the origin, we write: 
(i) The coordinates of the object is: (0,y,0)
(ii)  O is at the point of intersection of yellow wall, white wall and the floor  
(iii) The x axis lies along the intersection of yellow wall and floor
• If the object is on the z axis, at a distance of 'z' m from the origin, we write: 
(i) The coordinates of the object is: (0,z,0)
(ii)  O is at the point of intersection of yellow wall, white wall and the floor  
(iii) The x axis lies along the intersection of yellow wall and floor

• The second and third statements are given in order to specify the exact position of the reference frame
• In this, we need to mention about the x axis only
• Because, once 'O' and 'x axis' are fixed, the other two axes also get fixed immediately. We will learn about it in later chapters

Case 2The object is on a plane. 
This is shown in fig.3.5(a) below. The object is denoted by the magenta dot. It is on the yellow wall.
Fig.3.5
• The yellow wall is bounded by the x and y axes
• So we can say: The object is on the 'xy plane'
• When measured parallel to the x axis, it is at a distance of 1.8 m from O
• When measured parallel to the y axis, it is at a distance of 0.5 m from O
• So we can write the answer. The answer must contain the following 3 statements:  
(i) The coordinates of the object is: (1.8, 0.5, 0)
(ii)  O is at the point of intersection of yellow wall, white wall and the floor  
(iii) The x axis lies along the intersection of yellow wall and floor
In a similar way, 
• If the object is on the white wall (yz plane), we write the following 3 statements: 
(i) The coordinates of the object is: (0, y, z)
(ii)  O is at the point of intersection of yellow wall, white wall and the floor  
(iii) The x axis lies along the intersection of yellow wall and floor
• If the object is on the floor (xz plane), we write the following 3 statements: 
(i) The coordinates of the object is: (x, 0, z)
(ii)  O is at the point of intersection of yellow wall, white wall and the floor  
(iii) The x axis lies along the intersection of yellow wall and floor
Case 3The object is in 3-dimensional space. It is away from the axes and planes 
• This is shown in fig.3.5(b) above. The object is denoted by the magenta dot. It is in 3-dimensional space.
• When measured parallel to the x axis, it is at a distance of 1.8 m from O
• When measured parallel to the y axis, it is at a distance of 0.5 m from O
• When measured parallel to the z axis, it is at a distance of 0.7 m from O
• So we can write the answer. The answer must contain the following 3 statements:  
(i) The coordinates of the object is: (1.8, 0.5, 0.7)
(ii)  O is at the point of intersection of yellow wall, white wall and the floor  
(iii) The x axis lies along the intersection of yellow wall and floor
3. The above 3 are the only possible cases. 
• We can effectively use such reference frames to specify the position of any given point object. 
• We used the corner of a room as the origin. For out door experiments, we can take this reference frame outside and fix it up in any convenient orientation that is suitable. 
• For example, we can assume the 'bottom corner of a bridge pillar' to be O and a suitable line drawn from it as the x axis
• When O and x axis are fixed, other two axes get fixed immediately.


• In this chapter, we are dealing with rectilinear motion. 
• So all objects that we consider will be moving along a single line. They will not change direction. 
• So in this chapter, we can assume that the objects are moving along the x axis.
• But we cannot ask a car for example, to move along the x axis drawn by us. So what do we do?
Ans: We take our reference frame and orient it in such a way that the x axis coincides with 'the straight line path on which the car moves'
• As a result, the coordinates will not have y and z values
That is., all coordinates will be of the form: (x,0,0)
• So we need not write the coordinate notation (x,y,z) in this chapter. We can use a simpler form which can be explained with the help of an example. We will write the steps:
1. Consider fig.3.6 below:
Fig.3.6
• Only the x axis is shown. We do not need the y and z axis and so they are ignored.
2. This x axis is placed in such a way that, it coincides with the path of an object
• After placing the x axis in this way, a suitable point is marked on it as the origin O
3. When the object is at P, some one asks us: 
What is the position of the object?
• The answer should contain 2 statements:
(i) The object is on the positive side of the x axis
(ii) The object is at a distance of 360 m from O
4. A simplified way to write the answer containing only one statement:
■ The position coordinate of the object is +360
5. When the object is at Q, some one asks us: 
What is the position of the object?
We can write the answer as:
■ The position coordinate of the object is +240
6. When the object is at R, some one asks us: 
What is the position of the object?
We can write the answer as:
■ The position coordinate of the object is -120

Now we know how to specify positions. In the next section, we will see distances between these positions.

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