H U

- E
TF
2b-RELATIVE MOTION
s Z
s i c
h y
P 1

Bibliography

Some of the contents that will be worked on this topic can be found in the

U
following book chapters:

Book

EH
P.A. Tipler, G. Mosca. Physics for Scientists and Engineers.
Chapter

6th ed., W.H. Freeman & Co Ltd, 2007.

-
F
H.D. Young, R.A. Freedman, F. Sears, M. Zemansky.
University Physics with Modern Physics. Global Edition (14th
ed.), Pearson Education, 2015.

Z T
W. Bauer, G.D. Westfall, University Physics with Modern
Physics. McGraw-Hill Global Education, 2011.

ic s
P.M. Fishbane, S. Gasiorowicz, S.T. Thornton, Fisika
zientzialari eta ingeniarientzat. UPV/EHU-ko argitalpen
3

s
zerbitzua, 2008.

y
UEUko Fisika Saila. Fisika Orokorra. UEU, 1992. 4

h
UEUko Fisika Saila. Fisika Orokorra: Ariketak. UEU, 1989. 4

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Some images appearing in the current document were taken from these
bibliographic sources. 2
 ●
The concept of motion is relative.

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Physical events are individual,
although they appear to be different in

E
different frames of reference.
According to observer A

-
F
●
There is no absolutely stationary

T
frame of reference (FR).

s
According to observer B Z ●
Every frame of reference must be

ic
considered relatively.

y s ●
It is very important to be able to

h
compare measurements performed in

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different frames of reference.
According to observer C 3

Observer A Observer A

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- E
T
Observer B
F Observer B

s Z
s ic
For the mother the For the child the

h y
tricycle is at rest. tricycle is in motion.

P 4
 TRANSLATION
y'
●
B' Uniform motion with respect to B V


V

U
P ● ⃗r : Position vector measured by B
y ⃗r '
⃗r
⃗
R
B'
0' x'
●

d
EH
⃗r ' : Position vector measured by B'
d dt ' d

-
●
t=t' = =
B dt dt ' dt dt '

F
0 x x= x ' +V x⋅t Galilean transformations
⃗r =⃗r ' + ⃗
R

Z T
⃗r =⃗r ' + V⃗ t y= y ' +V y⋅t ● Not applicable when V ∼c
z=z ' +V z⋅t ● Suitable for Newtonian Mechanics
t =t '

s Any two observers moving at

●

ic
Take derivative with respect to t or t' constant speed and direction
with respect to each other

s
⃗v =⃗v ' + V⃗ ⃗a =⃗a ' measure the same acceleration

y
(GALILEAN INVARIANCE).

h
⃗v , ⃗a : velocity or acceleration measured by B
●

P
● ⃗ ≠const . ⇒ ⃗a =⃗a ' + ⃗
V A
●
⃗v ' , ⃗a ' : velocity or acceleration measured by B'
5
Exercises: 1,2,3

B' B Example:

U 
v =v ' V

H
E

v ' =v −V

-
TF Measured by B'

Z
Measured by B

s
vA = R i vA ' = R i−V j ∣vA '∣=  2 R 2 V 2
A:

B:
vB = R j

s ic vB ' = R j−V j ∣v⃗B '∣=∣ω R−V∣

C:
vC =− R i

h y vC '=− R i−V j ∣vC '∣=  2 R 2 V 2

P
vD =− R j vD ' =− R j−V j ∣v⃗D '∣=∣ω R+V∣
D:
6
Uniform circular motion Magnitude of the velocity changes
Example: 2B exercise sheet, exercise 11

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TF
s Z
s ic
h y
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RELATIVE UNIFORM CIRCULAR MOTION

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Rotating one about the other,
but no translation.

-
●

●
E 0=0'
0xyz: 'at rest'

TF ●
0x'y'z': 
 angular velocity
with respect to B

s Z  is a constant vector and

● 

passes through 0=0'.

POSITION VECTORS

s ic ⃗r =⃗r '

h y
Measured by B ⃗r =x ^i + y ^j + z k^

P
Measured by B' ⃗r ' =x ' ^i ' + y ' ^j ' + z ' k^ '
8
VELOCITIES
d ⃗r d dx^ dy ^ dz ^
Measured by B: ⃗v = ( ) ( )=
dt B dt B
( x ^i + y ^j + z k^ )=
dt
i+
dt
j+
dt
k

^i , ^j , k^ unit vectors are constant for B: d ^i

dt B
=
d ^j

H
dt B
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( ) ( ) ( ) =0
=
d k^
dt B

E
Measured by B':

-
d r⃗' d d x' ^ d y' ^ d z' ^
⃗v ' =( ) ( ) =
dt B ' dt
( x ' ^i ' + y ' ^j ' + z ' k^ ' )=
dt
i'+
dt
j'+
dt
k'

F
B'

T
d ^i ' d ^j ' d k^ '
^i ' , ^j ' , k^ ' unit vectors are constant for B':
( dt ) ( ) ( ) =0
=
dt
=
dt

Z
B' B' B'

s
Which is the relationship between the velocities measured by B and B'?

ic
v and ⃗
(⃗ v ')
⃗r =⃗r '
s
Consider that observer B takes derivatives in this equation.

y (
h
d ⃗r d ⃗r '
) ( )
dt B
=
dt

P
B

9
⃗v above ??

d ⃗r ' d
( ) ( ) ( x ' ^i ' + y ' ^j ' + z ' k^ ' )=
dt B
=
dt B

d x' ^ d y' ^ d z' ^ d ^i ' d ^j ' d k^ '

i'+ j'+ k '+ x' ( ) ( ) ( )
+ y' +z'

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dt dt dt dt B dt B dt B

⃗v '

EH
-
With respect to B ^i ' , ^j ' , k^ ' are not constant,
because their directions change.
^i ' , ^j ' , k^ ' : rotate with 

T F
 constant angular velocity.

Z( )
(Remember circular motion)
d ^i '

s

 ω ∧ ^i '
=⃗
dt

ic
B

y s d j^'
( ) =⃗ω∧ ^j '
dt B

h
i '

P d k^ '
( ) =⃗ω∧k^ '
dt B 10
d ⃗r '
( )
dt B
= ⃗v ' + x ' ( ω
⃗ ∧ ^i ' ) + y ' ( ω ⃗ ∧ k^ ' )
⃗ ∧ ^j ' ) + z ' ( ω

= ⃗v ' + ( ω
⃗ ∧ x ' ^i ' ) + ( ω ⃗ ∧z ' k^ ' )
⃗ ∧ y ' ^j ' ) + ( ω
= ⃗v ' + ω⃗ ∧( x ' ^i ' + y ' ^j ' + z ' k^ ' ) = ⃗v ' + ω ⃗ ∧⃗r '

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( ddt⃗r ) =( ddt⃗r ' ) - E
F
B B

⃗v

Z T ⃗v ' + ω
⃗ ∧⃗r '

ic s⃗v =⃗v ' + ω

⃗ ∧⃗r '

y s
Ph 11

ACCELERATIONS
d ⃗v d d vx d vy d vz ^
Measured by B: ⃗a = ( ) ( )= (v x ^i + v y ^j+ v z k^ )= ^i + ^j+ k

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dt B dt B dt dt dt

Measured by B': ⃗a ' = ( ) d ⃗v '

dt ' B'
=
d vx '
dt
dv '
H
dv '

E
^i ' + y ^j ' + z k^ '
dt dt

-
F
B takes derivatives to get the relationships between measurements done

T
by B and B' as follows:
⃗v =⃗v ' + ω
⃗ ∧⃗r '

s Z
( ddt⃗v ) =( ddt⃗v ' ) +[ dtd ( ω⃗ ∧⃗r ' )] =( ddt⃗v ' ) + ω⃗ ∧( ddt⃗r ' )
ic
B B B B B

y s ⃗ =const .
ω ⃗v ' + ω
⃗ ∧⃗r '

Ph ⃗a
??
12
 d ⃗v ' d
( ) ( ) ( v ' ^i ' + v ' ^j ' + v ' k^ ' )=
dt B
=
dt B
x y z

d vx ' d vy' dv ' ^ d ^j ' d k^ '

^j ' + z k^ ' + v x ' d i '
( )
U ( ) ( )=
= ^i ' + +v y' +vz '
dt dt dt dt dt dt

H
B B B

= ⃗a ' ⃗ ∧ ^i ' )+ v y ' ( ω

+v x ' ( ω ⃗ ∧ k^ ' )=
⃗ ∧ ^j ' )+ v z ' ( ω
= ⃗a ' ⃗ ∧⃗v '
+ω

- E
Therefore, a=
d ⃗v
( ) =( ⃗a ' + ω
TF
⃗ ∧ ⃗v ' )+[ ω
⃗ ∧( ⃗v ' + ω
⃗ ∧⃗r ' )]

Z
⃗
dt B

ic
⃗ s
a =⃗
a ' +ω ⃗ ∧⃗r ' )+2 ω
⃗ ∧( ω ⃗ ∧⃗v '

y s
Absolute
acceleration
Ph Centripetal acceleration
Relative acceleration
Coriolis acceleration
13

a =⃗
⃗ a ' +ω ⃗ ∧⃗r ' )+2 ω
⃗ ∧( ω ⃗ ∧⃗v '

Absolute Centripetal acceleration

H U Coriolis acceleration

E
acceleration
(measured by B) Relative acceleration
(Measured by B')
-
●

TF
Centripetal and Coriolis accelerations are consequences of the
observers' relative rotation. If the centripetal acceleration is passed to the

acceleration.

s Z
left side of the equation (using a - sign), it is called centrifugal

ic
Coriolis acceleration has to be considered only for bodies that are

s
●

moving (v') in the rotating frame of reference.

h y
Since we are on Earth and it rotates along its axis, Coriolis acceleration

P
should be taken into account.
14
GENERAL RELATIVE MOTION
Z

U
●
0xyz: observer B

r '

EH ●
0’XYZ: Translates
with respect to B.

-
r 0' Parallel axes.
Y

R
X

TF ●
0'x'y'z': Observer B'.
Rotates with respect to

Z
OXYZ.

ic s Special cases:

s
⃗r = ⃗
R+⃗r ' ●
Uniform translation

y
●
Uniform rotation

h
⃗ ⃗ +⃗v ' + ω
v =V ⃗ ∧⃗r '

P a= ⃗
⃗ A+ ⃗
a' +
dω
⃗
dt
∧ ⃗r ' + ω ⃗ ∧⃗r ' )+ 2 ω
⃗ ∧( ω v'
⃗ ∧⃗
Exercise: 7
15

Example: A circular platform rotates about its axis with an angular velocity
of 30 rpm. At a certain time a person A is located at 1.5 m from the origin
O and is moving on a radial direction at 2 m/s. Which are the velocity and
acceleration of A measured at this time by an observer B located outside
the platform at rest?

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TF
s Z
s ic
h y
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Example: Exercise sheet 2A, exercise 13 (solve using geometry)

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TF
s Z
s ic
h y
P 17

Example: Exercise sheet 2B, exercise 6 (solve using equations for relative
motion)

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TF
s Z
s ic
h y
P 18
 MOTION WITH RESPECT TO THE EARTH
Earth's angular velocity:
Direction: Earth's rotation axis 2π −5
=7 , 292⋅10 rad / s

U
●
ω=
●
Orientation: From South to North T

EH
A non-rotating observer measures: a = g0

-
A
A rotating observer measures:



r

TF a ' =⃗
⃗ a −ω
⃗ ∧( ω r ' )−2 ω
⃗ ∧⃗ ⃗ ∧⃗v '

Z
 ⃗a '= g⃗0 −⃗ ⃗ ∧⃗r ' )−2 ω
ω ∧( ω ⃗ ∧⃗v '

s
Equatorial plane Dependent on position and velocity

s ic
y
−2 2
Centrifugal acceleration: ∼3,3⋅10 m /s

h
Very low; if velocity < 400 m/s

P
Coriolis acceleration: ~7,3⋅10−5 v ' (1500 km/h). BUT IT HAS
IMPORTANT DIRECTIONAL 19
EFFECTS!

CENTRIPETAL/CENTRIFUGAL ACCELERATION
● g0 Radial towards the Earth's center
N
(assuming a spherical Earth)

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⃗ ∧⃗r )
A −ω ⃗ ∧⃗r ' )
⃗ ∧( ω
ω
⃗ ∧( ω ⃗g '= g⃗0 − ω ⃗ ∧⃗r ' )
⃗ ∧( ω
⃗r =⃗r ' g⃗0
⊗ ⃗ ∧⃗r '
ω
●

Equatorial plane H
Centripetal acceleration is parallel to

E
-


 |⃗ ⃗ ∧⃗r )| = ω2 r cos λ =
ω∧( ω

F
= 3,34⋅10−2 cos λ m/ s2

T
2
●
A liquid's surface is perpendicular to ⃗g '. ≪ g 0=9,8 m/ s

Z
●
In practice it is considered that g⃗0 and ⃗g '
are in the same direction.

ic s ω2 r cos 2 λ g '=g0 −ω 2 r cos 2 λ

y s A
 −ω ⃗ ∧⃗r ' )
⃗ ∧( ω
 2 r cos 2 ~0,3 % g 0

Ph 

r


g⃗0
⊗ ⃗ ∧⃗r '
ω
20
CORIOLIS ACCELERATION

⃗a ' =⃗a − 2 ω
⃗ ∧⃗v ' Deviation: always perpendicular to the velocity

H U
E


Example: What deviation will undergo a free-falling

-
⃗v ' body in the northern hemisphere?


TF 


Z
 ⃗v '
N

ic s W


s
E
⃗ ∧⃗v '
−2 ω

h


y
⊗ ⃗ ∧⃗v '
ω S

P ⃗v '
ω ∧ ⃗v ' Eastwards
−⃗ Exercise: 8
21

Example: Foucault pendulum.

The consequence of the Coriolis effect can be observed in a pendulum

U
How will a body moving horizontally in the North Pole deviate?

H

 

⊗ ω⃗ ∧⃗v '
E
⃗v ' ω∧⃗v '
−⃗
⃗v '

-
⊙ −⃗ω∧⃗v ' ω ∧⃗v '
−⃗



F
⃗v '

T
Rightwards

Z
The pendulum trajectory deviates rightwards in the northern hemisphere

s
ic
4

s
2 Foucault (1851):

y
1 For a pendulum of

h
67 m, a deviation
3

P
of 11º15' per hour
22
 Example: The difference of the level at the two banks of a river flowing
northwards in the northern hemisphere.

 v '=10 m / s
⃗v ' ⊙ ω⃗ ∧⃗v '

H U λ=45 º
d=1 km

E
⊗ −⃗ω∧ ⃗v '

-
 N d

F
⃗v '
E h

T

ω ∧ ⃗v '
−⃗

Z
−2 ω ⃗ ∧ ⃗v '
g0  g '

ic s |acoriolis| 2 ω v ' sin λ

s
tan α = = ∼10−4
g0 g0

h y tan α =
h
d /2
h=10−4⋅500 m=5 cm

P
⃗g '= g⃗0 −2 ω
⃗ ∧⃗v '
2 h=10 cm
23