Polar coordinates are an example of a 2-D system of coordinates that are not rectangular:
r = r(x,y) = (x+y)
r = r(x,y,t) = (x+y)
{note: sign difference due to fact that if we let = +t, then = -t}
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3. We also need generalized velocities for energy considerations (for use in conservation of energy) and
for momentum considerations (for use in Newtons Second Law: F = dp/dt).
where x = dx/dt.
KE = T = i[mi{xi+yi+zi}].
so x1 = dx1/dt
i(x1/dqi)qi + x1/t
x = r cos(t+)
x component
of r
and of
and of
r .
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4. The KE involves not just x, but x. What does this look like?
= [k{(x/qk)(x/q)qkq}] + [k{(x/qk)(x/t)qk}]
+ [{(x/q)(x/t)q}] + (x/t) .
Since the k and the are what are called dummy indices (because they are summed over completely) and
do not matter whether they are called k or , the second and third terms are exactly the same and can be
combined. Thus the expression becomes:
If we have more than one particle, all the x symbols above are replaced by x i.
We can now write the expression for KE (sometimes referred to as T):
where the
-------------EXAMPLE:
For the case of one particle, use the above to show what the kinetic energy looks like in the
rotating polar coordinates. In particular,
a) find A11, A12, A21 and A22; show that this system is orthogonal (A12 = A21 = 0);
b) find B1 and B2;
c) find To;
d) write down the final Kinetic Energy; identify each term in the expression.
and
x = x(r,,t) = r cos(+t)
y = y(r,,t) = r sin(+t)
We have only 1 particle, so there is no need to take the sum over i, and all the mis will just be m, all of the
xis will be x, and all of the yis will be y.
We only have 2-D, so there are no z terms.
a) Therefore, we have:
A11 = m[(x/q1)(x/q1) + (y/q1)(y/q1) = m[cos2(+t) + sin2(+t)] = m.
A12 = m[(x/q1)(x/q2) + (y/q1)(y/q2)] = A21
= m[{cos(+t)}*{-r sin(+t)} + {sin(+t)}*{ r cos(+t)}] = 0.
A22 = m[(x/q2)(x/q2) + (y/q2)(y/q2) = m[r2sin2(+t) + r2cos2(+t)] = mr2.
b)
B1 = m[(x/q1)(x/t) + (y/q1)(y/t)]
= m[{cos(+t)}*{ -r sin(+t)} + { sin(+t)}*{ r cos(+t )} ] = 0.
B2 = m[(x/q2)(x/t) + (y/q2)(y/t)]
= m[ {-r sin(+t)}*{ -r sin(+t)} + { r cos(+t)}*{ r cos(+t)}]
= mr2 .
c)
d)
w = ln(r/a) + tan()
HINT: You can try to find the inverse transformations to get x(u,w) and y(u,w), and
then proceed as indicated above. Or it may be easier to get the kinetic energy in
polar form (r,); find the inverse transformations: r(u,w) and (u,w); then find
r(u,w,u,w) and (u,w,u,w); then write the kinetic energy in terms of u,w,u,w.