VECTOR FUNCTIONS
12.4
Motion in Space:
Velocity and Acceleration
In this section, we will learn about:
The motion of an object
using tangent and normal vectors.
VELOCITY
VELOCITY
Vector 1
r (t + h) r (t )
h
approximates
the direction of the
particle moving along
the curve r(t).
VELOCITY
VELOCITY
VELOCITY VECTOR
Equation 2
r (t + h) r (t )
v (t ) = lim
h 0
h
= r '(t )
VELOCITY VECTOR
SPEED
SPEED
ds
| v(t ) |=| r '(t ) |=
dt
= rate of change
of distance with
respect to time
ACCELERATION
Example 1
Example 1
Example 1
| v (t ) |= (3t ) + (2t )
2 2
= 9t + 4t
4
Example 1
When t = 1, we have:
v(1) = 3 i + 2 j
a(1) = 6 i + 2 j
|v(1)| = 13
Example 1
Example 2
Example 2
v (t ) = r '(t ) = 2t , e , (1 + t )e
t
a(t ) = v '(t ) = 2, e , (2 + t )e
t
| v (t ) |= 4t + e + (1 + t ) e
2
2t
2t
Example 3
Example 3
Example 3
Example 3
It follows:
v(t) = 2t2 i + 3t2 j + t k + i j + k
= (2t2 + 1) i + (3t2 1) j + (t + 1) k
Example 3
Example 3
v (t ) = v (t0 ) + a(u ) du
t0
r (t ) = r (t0 ) + v (u ) du
t0
Example 4
Example 4
Example 4
Example 4
Notice that:
F(t) = m2r(t)
This shows that the force acts in the direction
opposite to the radius vector r(t).
Example 4
CENTRIPETAL FORCE
Example 4
Example 5
Example 5
Example 5
Example 5
Example 5
Example 5
Example 5
E. g. 5Equation 3
Example 5
E. g. 5Equations 4
Example 5
Example 5
Example 5
Setting y = 0, we obtain:
t = 0 or t = (2v0 sin )/g
Example 5
2v0 sin
d = x = (v0 cos )
g
v (2sin cos ) v sin 2
=
=
g
g
2
0
2
0
Example 6
Example 6
Example 6
= 10 + 75 2 t 4.9t
Example 6
Example 6
Then,
x 75 2 (21.74)
2306
Example 6
v(t ) = r '(t )
= 75 2 i + (75 2 9.8t ) j
Example 6
151m/s
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
r '(t )
v (t )
v
T(t ) =
=
=
| r '(t ) | | v (t ) | v
Thus,
v = vT
ACCELERATIONCOMPONENTS
Equation 5
ACCELERATIONCOMPONENTS
Equation 6
| T'| | T'|
so | T ' |= v
=
=
|r'|
v
ACCELERATIONCOMPONENTS
T ' =| T ' | N = vN
ACCELERATIONCOMPONENTS
Formula/Equation 7
a = v 'T + v N
2
ACCELERATIONCOMPONENTS
Equations 8
and
aN = Kv2
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
a = v 'T + v N
2
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
ACCELERATIONCOMPONENTS
(Since T T = 1 and T N = 0)
ACCELERATIONCOMPONENTS
Equation 9
Therefore,
v a
aT = v ' =
v
r '(t ) r "(t )
=
| r '(t ) |
ACCELERATIONCOMPONENTS
Equation 10
| r '(t ) r "(t ) |
2
aN = v =
| r '(t ) |
3
| r '(t ) |
| r '(t ) r "(t ) |
=
| r '(t ) |
2
ACCELERATIONCOMPONENTS
Example 7
ACCELERATIONCOMPONENTS
2
r (t ) = t i + t j + t k
2
r '( t ) = 2 t i + 2 t j + 3 t k
r "( t ) = 2 i + 2 j + 6 t k
| r'( t ) | =
8t + 9t
2
Example 7
Example 7
ACCELERATIONCOMPONENTS
r '(t ) r "(t )
aT =
| r '(t ) |
=
8t + 18t
8t + 9t
2
ACCELERATIONCOMPONENTS
i
r '(t ) r "(t ) = 2t
2
2t 3t
2
6t
= 6t i 6t j
2
Example 7
Example 7
ACCELERATIONCOMPONENTS
r '(t ) r "(t )
aN =
| r '(t ) |
=
6 2t
8t + 9t
2
KEPLERS LAWS
F = ma
Law of Gravitation:
GMm
F= 3 r
r
GMm
= 2 u
r
GM
a= 3 r
r
So, a is parallel to r.
It follows that r x a = 0.
d
(r v ) = r ' v + r v '
dt
= v v + ra
= 0+0
=0
Therefore,
rxv=h
where h is a constant vector.
We may assume that h 0;
that is, r and v are not parallel.
h = r v = rr '
= r u (r u) '
= r u (ru '+ r ' u)
= r (u u ') + rr '(u u)
2
= r (u u ')
2
Then,
GM
2
a h = 2 u (r u u ')
r
= GM u (u u ')
= GM [ (u u ')u (u u)u ']
(Property 6,
Th. 8, Sec. 11.4)
However, u u = |u|2 = 1
Also, |u(t)| = 1
Therefore,
a h = GM u '
Thus,
Equation 11
v h = GM u + c
where c is a constant vector.
r ( v h) = r (GM u + c)
= GM r u + r c
= GMr u u + | r || c | cos
= GMr + rc cos
where c = |c|.
Then,
r ( v h)
r=
GM + c cos
1 r ( v h)
=
GM 1 + e cos
where e = c/(GM).
However,
r ( v h) = (r v ) h
= h h
=| h |
=h
where h = |h|.
Thus,
2
h /(GM )
r=
1 + e cos
2
eh / c
=
1 + e cos
Equation 12
ed
r=
1 + e cos
KEPLERS LAWS