This document discusses motion in polar coordinates and harmonic oscillators. It begins by introducing polar coordinates as an alternative way to describe the motion of a particle moving in a plane compared to Cartesian coordinates. It then derives expressions for velocity and acceleration in polar coordinates. The document provides an example of a particle moving in a circle to illustrate these concepts. The second half introduces the concept of simple harmonic motion as oscillatory motion about an equilibrium point governed by Hooke's law. It derives the differential equation for simple harmonic oscillation and presents the spring-mass system as a prototype harmonic oscillator.
This document discusses motion in polar coordinates and harmonic oscillators. It begins by introducing polar coordinates as an alternative way to describe the motion of a particle moving in a plane compared to Cartesian coordinates. It then derives expressions for velocity and acceleration in polar coordinates. The document provides an example of a particle moving in a circle to illustrate these concepts. The second half introduces the concept of simple harmonic motion as oscillatory motion about an equilibrium point governed by Hooke's law. It derives the differential equation for simple harmonic oscillation and presents the spring-mass system as a prototype harmonic oscillator.
This document discusses motion in polar coordinates and harmonic oscillators. It begins by introducing polar coordinates as an alternative way to describe the motion of a particle moving in a plane compared to Cartesian coordinates. It then derives expressions for velocity and acceleration in polar coordinates. The document provides an example of a particle moving in a circle to illustrate these concepts. The second half introduces the concept of simple harmonic motion as oscillatory motion about an equilibrium point governed by Hooke's law. It derives the differential equation for simple harmonic oscillation and presents the spring-mass system as a prototype harmonic oscillator.
Motion in a plane: Introduction to polar coordinates
So far we have discussed equilibrium of bodies i.e. we have concentrated only on statics. From this lecture onwards we learn about the motion of particles and composite bodies and how it is affected by the forces applied on the system. Thus we are now startin study of dynamics. !hen we describe the motion of a particle" we specify it by ivin its position and velocity as a function of time. #ow the motion chanes with time is iven by the application of $ewton%s II nd Law. &ne such particle at position movin with velocity and acted upon by a force is shown in fiure 1. The force ives rise to an acceleration . $otice that in eneral the position" the velocity and the acceleration are not in the same direction. 'ach of these vectors is specified by ivin its component alon a set of conveniently chosen a(es. For a particle movin in a plane" if we choose the )artesian coordinate system *(+y a(es, then the position is iven by specifyin the coordinates *(" y," velocity by its components and acceleration by its components . These are related by the relationship and These e(pressions are easily enerali-ed to three dimensions by includin the -+component of the motion also. #owever" in this lecture we will be focusin on motion in a plane only. !ith these components the equations of motion to be solved are )oupled with the initial conditions solutions of these equations provide the velocity and position of a particle uniquely. #owever" the )artesian system of coordinates is only one way of describin the motion of a particle. There arise many situations where describin the motion in some other coordinate system i.e." ta.in components alon some other directions is move convenient. &ne such coordinate system is polar coordinates. In this lecture we discuss the use of this system to describe the motion of a particle. To introduce you to polar coordinates and how their use may ma.e thins easy" we start with the discussion of a particle in a circle. )onsider a particle is movin with a constant anular speed in a circle of radius R centered at the oriin *see fiure /,. Its x and y coordinates are iven as with both x and y bein functions of time *see fiure /,. &n the other hand" if we choose to ive the position of the particle by ivin its distance r from the oriin and the anle 0 that the line from the oriin to the particle ma.es with (+a(is in the counter+cloc.wise direction" then the position is iven as In this coordinate system" r is a constant and 0 a linear function of time. Thus there is only one variable that varies with time whereas the other one remains constant. The motion description thus is simpler. These co+ ordinates are .nown as the planar polar coordinates. 1s e(pected" these coordinates are most useful in describin motion when there is some sort of a rotational motion. !e will therefore find them useful" for e(ample" in discussin motion of planets around the sun rotatin bodies and motion of rotatin ob2ects. So to start with let us set up the unit vectors is polar co+ordinates * r, ) . 3iven a point " the unit vector is in outward radial direction and has manitude of unity. The 0 unit vector is also of manitude unity and is perpendicular to and in the direction of increasin 0 *see fiure 4,. &bviously the dot product . In term of the unit vectors in x and y direction these are iven as 1s is clear from these e(pression the direction of and 0 is not fi(ed but depends on the anle 0. &n the other hand" it does not depend on r. If we o alon a radius" and 0 remain unchaned as we move *recall that two parallel vectors of same manitude are equal,. 5ut that is not the case if 0 is chaned. The position a of a particle in polar co+ordinates to iven by writin 1s particle moves about" chanes. 6oes the mean that the velocity The answer is no. 1s already discussed is a function of " the anle from the (+a(is. Thus as a particle moves such that the anle 0 chanes with time" the unit vector also chanes. Its derivative with respect to time is therefore not -ero. Thus the correct e(pression for is Let us now calculate . 1s already stated" does not chane as one moves radically in or out. Thus chanes only if 0 chanes. Let us now calculate this chane *fiure 7, 1s is clear from the fiure where the dot on top of a quantity denotes its time derivative. The e(pression above can also be derived mathematically as follows:
Thus the velocity of a particle is iven as !e note that the unit vectors in polar coordinates .eep chanin as the particle moves because they are iven by the particles current position. Thus even if a particle were movin with a constant velocity" the components of velocity alon the radial and the directions will chane. Let us calculate the velocity of a particle movin in a circle with a constant anular speed. For such a particle so the velocity is iven as This is a well .nown result: the velocity of a particle movin in a circle with a constant anular speed is in the tanential direction and its manitude is 89. #ow about the acceleration in polar coordinates: This is the derivative of with respect to time. Thus 1s was the case with the unit vector " the unit vector also is a function of the polar anle 0 and as such chanes as the particle moves about. Thus in calculatin the acceleration" time derivative of also should be ta.en into account. From fiure 7 it is clear that This can also be derived mathematically as ;sin this derivative and the chain rule for differentiation" we et <ou can see that the e(pression is a little complicated. The comple(ity of the e(pression arises because the unit vectors are chanin as the particle moves. <ou can chec. for yourself that for a particle movin with a constant velocity" the e(pression above will ive -ero acceleration. 6espite little complicated e(pressions for the acceleration" employin polar coordinates becomes really useful in situations where motion is circular+li.e as we will see in two standard e(amples later. Let us first o to one familiar e(ample of a particle movin in a circle for which r = 8 " . This ives which is the correct answer for the centripetal acceleration. For this reason is .nown as the centripetal term. Let us now solve an e(ample of mechanics usin polar co+ordinates. Lecture 24 Harmonic oscillator I: Introduction #avin analy-ed the motion of particles in different situations" let us now focus on a very special .ind of motion: that of oscillations. This is a very eneral .ind of motion seen around you: 1 partial movin around the bottom of a cup" a pendulum swinin" a clamped rod vibratin about its equilibrium position or a strin vibratin. 1 ood first appro(imation to these motions is the simple harmonic oscillation. Let us see what does that mean: 1t a stable equilibrium point" the force on a body is -ero> not only that" as a particle moves away from equilibrium" its potential enery increases and it is pulled bac. towards the equilibrium point. Thus around a stable equilibrium point ( ? *for simplicity" let me ta.e one+dimensional motion, the potential enery can be written as Since at an equilibrium point" the force F(x 0 ) on the particle vanishes" Further" because (x) has a minimum at x 0 " this ives !ritin I et and the correspondin equation of motion for a mass m as 1s I will show a little later" the solution of this equation is of the form and is .nown as the simple harmonic motion. It is the simplest possible motion about a stable equilibrium point. &f course if k = 0 " the force will have hiher order dependence on y and the motion becomes more complicated. Further" even if " if we include hiher order terms" the resultin motion will become more comple(. It is for this reason that we call the motion above simple harmonic motion. !e will see that this itself is quite a rich system. 1 system that performs simple harmonic motion is called a simple harmonic oscillator. 1 prototype if this system is the sprin+mass system with k bein the sprin constant and m the mass of the bloc. on the sprin *fiure 1,. In these lectures" I will tal. about the motion of this system and how it is represented by a phasor diaram. I will then introduce dampin into the system. The simplest dampin is a constant opposin force li.e friction and ne(t level is a dampin proportional to the velocity. Then I will apply a force on the system and see the motion of force damped and undamped oscillator. 1lon the way" I will solve many e(amples to show wide applicability of simple harmonic motion. To start with let us ta.e our prototype system of mass and sprin with unstretched lenth of the sprin so that equilibrium distance of the mass is . $ow when the mass is displaced about by x in the positive direction" the force is in neative direction so that or This is the eneral equation for simple harmonic oscillator. 8ecall that in such cases we assume a solution of the form and substitute it in the equation to et Since this equation is true for all times" we should have Thus there are two solution and . 1 eneral solution is then iven in terms of a linear combination of the two solutions so let us write Since is real it is clear that . Thus If we ta.e A = A R + iA I " where both A R and A I are real then the solution above ta.es the form which alternatively can be written as 1nother equivalent way of writin the solution is or where 1 is the ma(imum distance that the mass travels durin a simple harmonic oscillation. It is .nown as the amplitude of oscillation. The quantity is .nown as the phase with bein the initial phase. 1ll the bo(ed equations above are equivalent ways of writin the solution for a harmonic oscillator. The eneral raph depictin the solution is iven in fiure /. Thus A is the ma(imum distance traveled by the bloc. and ives its initial displacement. The constants C and D or A and are determined by the initial conditions" i.e. initial displacement and velocity of the mass. In eneral any two conditions are enouh to determine the constants. For a displacement the velocity of the mass is iven by Thus the ma(imum possible manitude of the velocity is 0 A . The eneral displacement and the correspondin velocity of the mass with respect to time are displayed in fiure 4. It is clear from the fiure that for a iven displacement" the velocity is such that when displacement is at its ma(imum or minimum" the velocity is -ero and when the displacement is -ero" the velocity has the larest manitude. This is physically clear. !hen the sprin is compressed or stretched to its ma(imum" the particle is at rest and when the particle passes throuh the equilibrium point" its speed is at its ma(imum. Let me now solve a few e(amples. Lecture 26 Harmonic oscillator III: Forced oscillations In the previous two lectures" you have learnt about free harmonic oscillator and damped harmonic oscillator. In this lecture we study what happens when a harmonic oscillator is sub2ected to a force. The simplest case is when an oscillator is sub2ected to a constant force F . In that case nothin much ta.es place e(cept that the equilibrium point ets shifted by (F/k). <ou see an e(ample of it when a mass is attached to a vertical sprin. Mathematically we write This can be written as for an undamped oscillator and for a damped oscillator. 6efine a new variable so that the equation reads *I write only the undamped oscillator equation, This is the equation you are well familiar with. From its solution" that for x is written as So the mass oscillates about . I now ta.e up an oscillator sub2ected to a time+dependent force. 1 eneral time+dependent force F(t) can always be decomposed into its Fourier components li.e so enerally we study an oscillator sub2ected to a force of the form. " where and F is the amplitude of the force. Let me start by first studyin the motion of an undamped oscillator under such a force. The equation of motion for an undamped oscillator under a time+periodic force is or equivalently The eneral solution is a combination of homoeneous part of the equation and a particular solution ( p . Thus #ere you can chec. that Let me start the oscillator from rest at equilibrium. It starts movin because of the applied force. The initial conditions then are . ;nder these conditions the solution comes out to be So the eneral solution is a combination of motion of two frequencies. The resultin motion can be represented on a phasor diaram by addin the two motions vectorially. This shown at t = 0 and two other different times in fiure 1. 1s is clear from the fiure" at t = ?" the net displacement is -ero. 1s the time proresses" the displacement chanes with the lenth of the rotatin vector also chanin with time. 1s an illustrative e(ample" I ta.e the frequency " and two different frequencies" for the force. The resultin solutions are shown in fiure /.
So you see from the fiure above that the ma(imum displacement of oscillations .eeps chanin. This is what I had inferred from the phasor diaram also. The motion is still periodic and reminds us of the phenomena of beats. Interestin is the case when . #owever" I cannot put it directly in the formula become we are dividin by . So we have to ta.e the limit . Let me substitute in the formula or and ta.e . This leads to Thus the displacement .eeps on increasin with time oscillatin with the frequency of the oscillator. This is the phenomena of resonance. The correspondin plot of displacement is shown in fiure 4.
Forced oscillations of an ndam!ed at resonance Figure 3 #avin discussed forced oscillations for undamped oscillator" we now move on to study a damped oscillator movin under the influence of a periodic force. The equation of motion then is 1s earlier" the eneral solution of this equation is oin to the sum of the homoenous and inhomoeneous part. So 1s the time proresses will ma.e the homoeneous solution die down so finally the only solution remainin will be This is .nown as the steady state solution. &bviously it does not depend on the initial conditions. Let us now find this solution. For the equation of motion I assume a steady state solution of the form 5ut when substituted in the equation" this will ive rise to a term containin because of in the equation. So a eneral solution should be of the form. !hen substituted in the equation" this leads to These equations ive So the eneral solution is where Thus after reachin steady state" the displacement las behind the applied force by an anle with and oscillates with an amplitude The oscillation frequency of steady+state solutions is obviously equal to the frequency of the applied force. 1 typical displacement and its shift with respect to the applied force are shown in fiure 7. 1s far as ettin the steady state solution for a forced damped oscillator is concerned" we are done. !hat we need to do now is to analy-e the solution in different situations. First of all we notice that irrespective of whether the system is lihtly damped or heavily damped" it will always oscillate under an applied time+periodic force. Let us first consider the case of liht dampin and see how the amplitude varies with the applied frequency. The amplitude as a function of 9 is iven as This amplitude oes to as . This is nothin but the stretch of the sprin under a constant force. For very lare frequencies . In between the amplitude has a ma(imum at as is easily seen. So in this case" the amplitude as a function of frequency loo.s as shown in fiure @ for two different values of . It is clear from the fiure that the amplitude is ma(imum around which reminds us of the phenomenon of resonance for undamped oscillator. For lare values the pea. shifts to the left *lower frequency,. For heavy dampin * A , we do not see any amplitude ma(imum near but the system has lare amplitude for low frequencies. 1 schematic plot of amplitude as a function of frequency loo.s li.e fiure B. It is evident that only for low frequencies the system oscillates with reasonable amplitude. !hat about the phase of the system with respect to the applied force: I leave this as an e(ercise for you to plot the phase of displacement as a function of frequency.
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