Lec2 PolarCoords PDF

Lecture 2
P OLAR C OORDINATES
Polar Coordinates
Unit vectors r and
Polar & Cartesian components of a vector
Velocity and Acceleration in Polar Coordinates
Examples
Lecture 2
P OLAR C OORDINATES
Polar Coordinates
Unit vectors r and
Examples
Polar Coordinates
Two Dimensional Plane
Vectors in Polar Coordinates
Polar Coordinates
2/9
Polar Coordinates
Cartesian Coordinates:
(x, y)
y
r
Polar Coordinates
2/9
Polar Coordinates
(x, y)
Polar Coords: (r, )
Polar Coordinates
2/9
Polar Coordinates
(x, y)
Polar Coords: (r, )

r [0, ),
[0, 2]
Polar Coordinates
2/9
Polar Coordinates
(x, y)
Polar Coords: (r, )
Polar Coordinates
r [0, ),
[0, 2]
p
r = x2 + y 2 ,
y
tan =
x
2/9
Polar Coordinates
(x, y)
Polar Coords: (r, )
Polar Coordinates
r [0, ),
[0, 2]
p
r = x2 + y 2 ,
y
tan =
x
x = r cos ,
y = r sin
2/9
Polar Coordinates
(x, y)
Polar Coords: (r, )
r [0, ),
[0, 2]
p
r = x2 + y 2 ,
y
tan =
x
x = r cos ,
y = r sin
Use of Polar Coords
nothing to do with
rotational motion
Polar Coordinates
2/9
Unit vectors r and
r(), ()
Unit vectors r
and
3/9
Unit vectors r and

y
r(), ()
Unit vectors r
and
3/9
Unit vectors r and

r points along increasing r
r(), ()
Unit vectors r
and
3/9
Unit vectors r and

points along increasing
r(), ()
Unit vectors r
and
3/9
Unit vectors r and

r and not constant unit vectors!
r(), ()
Unit vectors r
and
3/9
Unit vectors r and


y
r(), ()
x
Unit vectors r
and
3/9
Unit vectors r and


y
r(), ()
x
Unit vectors r
and
3/9
Unit vectors r and


y
r(), ()
A
B
Unit vectors r
and
x
3/9
Unit vectors r and


y
r(), ()
B
Unit vectors r
and
r
x
3/9
Unit vectors r and


y
r(), ()
B
Unit vectors r
and
r
x
3/9
Unit vectors r and


y
r(), ()
B
Unit vectors r
and
r
x
3/9
Unit vectors r and


y
r(), ()
Ex: What are r, at the points
(x, y) = (1, 0); (1, 0);

(0, 1); (0, 1)?
Unit vectors r
and
r
x
3/9
r& in terms of i&

j
4/9
r& in terms of i&

j
y
4/9
r& in terms of i&

j
y
4/9
r& in terms of i&

j
y
4/9
r& in terms of i&

j
y
r =
cos i + sin
j
= sin i + cos
j
4/9
r& in terms of i&

j
y
r =
cos i + sin
j
= sin i + cos
j
A = Ax i + Ay
j
4/9
r& in terms of i&

j
y
r =
cos i + sin
j
= sin i + cos
j
A = Ax i + Ay
j
= Ar r + A
4/9
r& in terms of i&

j
y
r =
cos i + sin
j
= sin i + cos
j
A = Ax i + Ay
j
= Ar r + A
Ar =
Ax cos + Ay sin
A = Ax sin + Ay cos
4/9
Velocity & Acceleration in Polar Coordinates

Particle moving from
5/9

Particle moving from ~
r 1 at time t1
~
r1
5/9

r 1 at time t1
1
r1
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
1
r1
~r2
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
1
r1
~r2
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
1
r1
~r2
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
1
r1
~r2
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
1
r1
~r2
d
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
r2
1
r1
~r2
d
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
r2
1
r2
r1
~r2
d
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
r2
1
r2
d
d~
r1
~r2
d
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
r2
1
r2
d
r2 r1 + d 1
~r2
d
r1
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
r2
r2
d
r2 r1 + d 1
~r2
d
r1
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
r2
r2
r2 r1 + d 1
~r2
d
r1
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
r2
1
d
r2
r2 r1 + d 1
~r2
d
r1
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
r2
1
d
r2
2 d r1 + 1
~r2
d
r1
r2 r1 + d 1
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
d
r d
d d
r
r2
1
d
r2
2 d r1 + 1
~r2
d
r1
r2 r1 + d 1
~
r1
5/9

r 1 at time t1 to ~
r 2 at time t2
d
r d
d d
r
r2
1
d
r2
2 d r1 + 1
~r2
d
r
d
=
=
dt
dt
d
d
r
= r =
dt
dt
r1
r2 r1 + d 1
~
r1
5/9

~
r (t) = r(t)
r
6/9

~
r (t) = r(t)
r
~
v (t) =
d~
r
dt
= r
r + r
6/9

~
r (t) = r(t)
r
d~
r
dt
d~
v
~
a(t) =
dt
~
v (t) =
= r
r + r

=
r r2 r + r + 2r
6/9

~
r (t) = r(t)
r
d~
r
dt
d~
v
~
a(t) =
dt
~
v (t) =
= r
r + r

=
r r2 r + r + 2r
Note:
6/9

~
r (t) = r(t)
r
d~
r
dt
d~
v
~
a(t) =
dt
~
v (t) =
= r
r + r

=
r r2 r + r + 2r
Note:
r2 looks like Centrifugal force and 2r like Coriolis force
6/9

~
r (t) = r(t)
r
d~
r
dt
d~
v
~
a(t) =
dt
~
v (t) =
= r
r + r

=
r r2 r + r + 2r
Note:
But we are in a inertial frame with no fictitious forces
6/9

~
r (t) = r(t)
r
d~
r
dt
d~
v
~
a(t) =
dt
~
v (t) =
= r
r + r

=
r r2 r + r + 2r
Note:
But we are in a inertial frame with no fictitious forces
Polar coords used for general motion in plane,
NOT for rotational motion alone
6/9
Eg. 1: Straight Line motion
Examples
7/9

y
~v (t)
b
~r(t)
O
Examples
7/9

Cartesian:
~
r (t) = (vt)i + b
j
~
v (t) = v i
y
~v (t)
b
~r(t)
O
Examples
7/9

Cartesian:
y
~
r (t) = (vt)i + b
j
~
v (t) = v i
r
~v (t)
b
~r(t)
O
Examples
7/9

Cartesian:
y
~
r (t) = (vt)i + b
j
~
v (t) = v i
r
~v (t)
Polar:
~r(t)
vt
i + p b
p
j
2
2
(vt) + b
(vt)2 + b2
b
i + p vt
= p
j
2
2
(vt) + b
(vt)2 + b2
r =
~
r (t) = r
r
~
v (t) = v
vt
p
r p
(vt)2 + b2
(vt)2 + b2
Examples
7/9

Cartesian:
y
~
r (t) = (vt)i + b
j
~
v (t) = v i
r
~v (t)
Polar:
~r(t)
vt
i + p b
p
j
2
2
(vt) + b
(vt)2 + b2
b
i + p vt
= p
j
2
2
(vt) + b
(vt)2 + b2
r =
~
r (t) = r
r
~
v (t) = v
vt
p
r p
(vt)2 + b2
(vt)2 + b2
Question: What is ~
a?
Examples
7/9
Circular Motion
y
b
~r
(t)
b
Examples
8/9
Circular Motion
y
Cartesian:
b
~r
(t)
b
Examples
8/9
Circular Motion
y
Cartesian:
~
r (t) = b cos (t)i + b sin (t)
j
~r
(t)
b
Examples
8/9
Circular Motion
y
Cartesian:
~
j
~
v (t) = b sin (t)i + b cos (t)
j
~r
(t)
b
Examples
8/9
Circular Motion
y
Cartesian:
~
j
~
j
~r
(t)
b
Polar:
Examples
8/9
Circular Motion
y
Cartesian:
~
j
~
j
~r
(t)
b
Polar:
~
r (t) = b
r
Examples
8/9
Circular Motion
y
Cartesian:
~
j
~
j
~r
(t)
b
Polar:
~
r (t) = b
r
~
v (t) = r
r + r
Examples
8/9
Circular Motion
y
Cartesian:
~
j
~
j
~r
(t)
b
Polar:
~
r (t) = b
r
~
v (t) = r
r + r
= b
Examples
8/9
Circular Motion
y
Cartesian:
~
j
~
j
~r
(t)
b
Polar:
~
r (t) = b
r
~
v (t) = r
r + r
= b

~
a = (
r r2 )
r + (r + 2r )
=
Examples
b2 r + b
8/9
Circular Motion
y
Cartesian:
~
j
~
j
~r
(t)
b
Polar:
~
r (t) = b
r
~
v (t) = r
r + r
= b

~
a = (
r r2 )
r + (r + 2r )
=
b2 r + b
Centripetal +
Examples
8/9
Circular Motion
y
Cartesian:
~
j
~
j
~r
(t)
b
Polar:
~
r (t) = b
r
~
v (t) = r
r + r
= b

~
a = (
r r2 )
r + (r + 2r )
=
b2 r + b
Centripetal + Tangential acceleration

Examples
8/9
Spiral motion
Archimedian spiral
r = a + b
Examples
9/9
Spiral motion
Archimedian spiral
r = a + b
Examples
9/9
Spiral motion
Archimedian spiral
r = a + b
Logarithmic spiral
r = ab
Examples
9/9
Spiral motion
Archimedian spiral
r = a + b
Logarithmic spiral
r = ab
Examples
9/9
Spiral motion
Archimedian spiral
r = a + b
Logarithmic spiral
r = ab
Examples
9/9
Spiral motion
Archimedian spiral
r = a + b
Logarithmic spiral
r = ab
Examples
9/9

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Lecture 2

Unit vectors r and

Polar & Cartesian components of a vector

Velocity and Acceleration in Polar Coordinates

Unit vectors r and

Polar & Cartesian components of a vector

Velocity and Acceleration in Polar Coordinates

Vectors in Polar Coordinates

Vectors in Polar Coordinates

Polar Coords: (r, )

Vectors in Polar Coordinates

Polar Coords: (r, )

Vectors in Polar Coordinates

Polar Coords: (r, )

Vectors in Polar Coordinates

Polar Coords: (r, )

Vectors in Polar Coordinates

Polar Coords: (r, )

Vectors in Polar Coordinates

Unit vectors r and

Vectors in Polar Coordinates

Unit vectors r and

Vectors in Polar Coordinates

Unit vectors r and

Vectors in Polar Coordinates

Unit vectors r and

points along increasing

Vectors in Polar Coordinates

Unit vectors r and

points along increasing

r and not constant unit vectors!

Vectors in Polar Coordinates

Unit vectors r and

points along increasing

r and not constant unit vectors!

Unit vectors r and

points along increasing

r and not constant unit vectors!

Unit vectors r and

points along increasing

r and not constant unit vectors!

Unit vectors r and

points along increasing

r and not constant unit vectors!

Unit vectors r and

points along increasing

r and not constant unit vectors!

Unit vectors r and

points along increasing

r and not constant unit vectors!

Unit vectors r and

points along increasing

r and not constant unit vectors!

Ex: What are r, at the points

(x, y) = (1, 0); (1, 0);

r& in terms of i&

Vectors in Polar Coordinates

Polar & Cartesian components of a vector

r& in terms of i&

Vectors in Polar Coordinates

Polar & Cartesian components of a vector

r& in terms of i&