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CLASSICAL MECHANICS

SOLUTIONS MANUAL

R. Douglas Gregory

November 2006

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Contents
1 The algebra and calculus of vectors 3

2 Velocity, acceleration and scalar angular velocity 27

3 Newton’s laws of motion and the law of gravitation 62

4 Problems in particle dynamics 76

5 Linear oscillations and normal modes 139

6 Energy conservation 179

7 Orbits in a central field 221

8 Non-linear oscillations and phase space 276

9 The energy principle 306

10 The linear momentum principle 335

11 The angular momentum principle 381

12 Lagrange’s equations and conservation principles 429

13 The calculus of variations and Hamilton’s principle 473

14 Hamilton’s equations and phase space 505

15 The general theory of small oscillations 533

16 Vector angular velocity 577

17 Rotating reference frames 590

18 Tensor algebra and the inertia tensor 615

19 Problems in rigid body dynamics 646

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Chapter One

The algebra and calculus

of vectors

c Cambridge University Press, 2006

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Chapter 1 The algebra and calculus of vectors 4

Problem 1 . 1
In terms of the standard basis set fi ; j ; kg, a D 2 i j 2k, b D 3 i 4 k and
c D i 5 j C 3 k.
(i)Find 3 a C 2 b 4 c and j a b j2 .
(ii)Find j a j, j b j and a
b. Deduce the angle between a and b.
(iii)Find the component of c in the direction of a and in the direction of b.
(iv) Find ab, bc and .ab/.bc/.
(v) Find a
.bc/ and .ab/
c and verify that they are equal. Is the set fa; b; cg
right- or left-handed?
(vi) By evaluating each side, verify the identity a.bc/ D .a
c/ b .a
b/ c.

Solution

(i)
3a C 2b 4 c D 3.2 i j 2k/ C 2.3 i 4 k/ 4.i 5 j C 3 k/
D 8 i C 17 j 26 k:

ja b j2 D .a b/
.a b/
D . i j C 2 k/
. i j C 2 k/
D . 1/2 C . 1/2 C 22 D 6:

(ii)
jaj2 D a
a
D .2 i j 2k/
.2 i j 2k/
D 22 C . 1/2 C . 2/2 D 9:

Hence jaj D 3.

jbj2 D b
b
D .3 i 4 k/
.3 i 4 k/
D 32 C . 4/2 D 25:

Hence jbj D 5.

a
b D .2 i j 2k/
.3 i 4 k/




D 2  3 C . 1/  0 C . 2/  . 4/
D 14:

c Cambridge University Press, 2006

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Chapter 1 The algebra and calculus of vectors 5

The angle ˛ between a and b is then given by

a
b
cos ˛ D
jaj jbj
14 14
D D :
35 15
1 14
Thus ˛ D tan 15
.
(iii) The component of c in the direction of a is
 
a
c
b
aDc

jaj
 
2 i j 2k
D .i 5 j C 3 k/

j2 i j 2kj




1  2 C . 5/  . 1/ C 3  . 2/
D
3
1
D :
3

The component of c in the direction of b is

 
b
c
b
bDc

jbj
 
3i 4k
D .i 5 j C 3 k/

j3 i 4 kj




1  3 C . 5/  0 C 3  . 4/
D
5
9
D :
5
(iv)
ab D .2 i j 2k/.3 i 4 k/
ˇ ˇ
ˇi j kˇ
ˇ ˇ
D ˇˇ 2 1 2 ˇˇ
ˇ3 0 4ˇ




D 4 0 i . 8/ . 6/ j C 0 . 3/ k
D 4 i C 2 j C 3 k:

c Cambridge University Press, 2006

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Chapter 1 The algebra and calculus of vectors 6

bc D .3 i 4 k/.i 5 j C 3 k/
ˇ ˇ
ˇ i j kˇ
ˇ ˇ
D ˇˇ 3 0 4 ˇˇ
ˇ 1 5 3ˇ




D 0 20 i 9 . 4/ j C . 15/ 0 k
D 20 i 13 j 15 k:

Hence

.ab/.bc/ D .4 i C 2 j C 3 k/. 20 i 13 j 15 k/
ˇ ˇ
ˇ i j k ˇˇ
ˇ
D ˇˇ 4 2 3 ˇˇ
ˇ 20 13 15 ˇ




D . 30/ . 39/ i . 60/ . 60/ j C . 52/ . 40/ k
D 9 i 12 k:

(v)
a
.bc/ D .2 i j 2k/
. 20 i 13 j 15 k/




D 2  . 20/ C . 1/  . 13/ C . 2/  . 15/
D 3:

.ab/
c D .4 i C 2 j C 3 k/
.i 5 j C 3 k/




D 4  1/ C 2  . 5/ C 3  3
D 3:

These values are equal and this verifies the identity

a
.bc/ D .ab/
c:

Since a
.bc/ is positive, the set fa; b; cg must be right-handed.

(vi) The left side of the identity is

a.bc/ D .2 i j 2k/. 20 i 13 j 15 k/
ˇ ˇ
ˇ i j k ˇ
ˇ ˇ
D ˇ 2 1 2 ˇˇ
ˇ
ˇ 20 13 15 ˇ




D 15 26 i . 30/ 40 j C . 26/ 20 k
D 11 i C 70 j 46 k:

c Cambridge University Press, 2006

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Chapter 1 The algebra and calculus of vectors 7

Since




.a
c/ b D 2  1 C . 1/  . 5/ C . 2/  3 b
Db
D 3i 4 k;




.a
b/ c D 2  3 C . 1/  0 C . 2/  . 4/ c
D 14 c D 14.i 5 j C 3 k/
D 14 i 70 j C 42 k;

the right side of the identity is

.a
c/b .a
b/c D .3 i 4 k/ .14 i 70 j C 42 k/
D 11 i C 70 j 46 k:

Thus the right and left sides are equal and this verifies the identity.

c Cambridge University Press, 2006

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Chapter 1 The algebra and calculus of vectors 8

Problem 1 . 2
Find the angle between any two diagonals of a cube.

D
E
C

B
α

O
a
FIGURE 1.1 Two diagonals of a cube. A

Solution
Figure 1.1 shows a cube of side a; OE and AD are two of its diagonals. Let O
be the origin of position vectors and suppose the points A, B and C have position
!
vectors a i , a j , a k respectively. Then the line segment OE represents the vector

ai C aj C ak
!
and the line segment AD represents the vector

.a j C a k/ a i D a i C a j C a k:

Let ˛ be the angle between OE and AD. Then

.a i C a j C a k/
. a i C a j C a k/
cos ˛ D
ja i C a j C a kj j a i C a j C a kj
a2 C a2 C a2 1
D p
p
D :
3a 3a 3

1 1
Hence the angle between the diagonals is cos 3, which is approximately 70:5ı .

c Cambridge University Press, 2006

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Chapter 1 The algebra and calculus of vectors 9

Problem 1 . 3
ABCDEF is a regular hexagon with centre O which is also the origin of position
vectors. Find the position vectors of the vertices C , D, E, F in terms of the position
vectors a, b of A and B.

C B

D A
O a

FIGURE 1.2 ABCDEF is a regular

hexagon. E F

Solution

!
(i) The position vector c is represented by the line segment OC which has the
!
same magnitude and direction as the line segment AB. Hence

cDb a:
!
(ii) The position vector d is represented by the line segment OD which has the
!
same magnitude as, but opposite direction to, the line segment OA. Hence

d D a:
!
(iii) The position vector e is represented by the line segment OE which has the
!
same magnitude as, but opposite direction to, the line segment OB. Hence

e D b:
!
(iv) The position vector f is represented by the line segment OF which has the

c Cambridge University Press, 2006

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Chapter 1 The algebra and calculus of vectors 10

!
same magnitude as, but opposite direction to, the line segment AB. Hence

e D .b a/ D a b:

c Cambridge University Press, 2006

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