Académique Documents
Professionnel Documents
Culture Documents
A. A. Louro
Winter 2002
2
Contents
1 Rotations 1
1.1 Rotation kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1.1 Angular displacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1.2 Angular velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1.3 Angular acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1.4 Are angular variables vectors? . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Relation between rotational and translational variables . . . . . . . . . . . . . . . . . 3
1.3 Rotational inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3.1 Rotational kinetic energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3.2 General procedure for calculating moments of inertia . . . . . . . . . . . . . . 6
1.3.3 Dependencies of the moment of inertia . . . . . . . . . . . . . . . . . . . . . . 6
1.3.4 The parallel-axis theorem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4 Newton’s 2nd. law for rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.5 Rolling motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.6 Conservation of energy, including rotation . . . . . . . . . . . . . . . . . . . . . . . . 9
1.7 General definition of torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.8 Angular momentum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.8.1 Extension to systems of particles . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.9 Conservation of angular momentum . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2 Oscillations 15
2.1 Oscillators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.1.1 Simple harmonic motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.1.2 Hooke’s law . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.1.3 Period and frequency of the oscillation . . . . . . . . . . . . . . . . . . . . . . 18
2.2 The ideal pendulum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.3 Elastic potential energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
i
ii CONTENTS
3 Waves 21
3.1 Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.1.1 Definitions and terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.1.2 Why study waves? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.1.3 A general description of a sine wave . . . . . . . . . . . . . . . . . . . . . . . 23
3.1.4 Transverse and longitudinal waves . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 Waves in a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2.1 The speed of propagation of a wave in a string . . . . . . . . . . . . . . . . . 23
3.2.2 Energy transport by a wave . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3 The superposition principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4 Interference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.5 Standing waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.6 Resonant modes of a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.7 Intensity of sound and sound level . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.7.1 The inverse square law . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.7.2 Intensity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.7.3 The decibel scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.7.4 Hearing curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.8 The Doppler effect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.8.1 Moving detector, stationary source . . . . . . . . . . . . . . . . . . . . . . . . 29
3.8.2 Moving source, stationary detector . . . . . . . . . . . . . . . . . . . . . . . . 30
3.8.3 The general Doppler effect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4 Fluids 33
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.1.1 Solids, liquids, and gases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.1.2 Density and pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.2 Fluid statics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.2.1 Variation of pressure with depth . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2.2 Buoyancy and Archimedes’ Principle . . . . . . . . . . . . . . . . . . . . . . . 36
4.3 Fluid dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.3.1 The velocity field in a fluid . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.3.2 Streamlines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.3.3 The continuity equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.3.4 Bernoulli’s law . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
C Dimensional analysis 49
C.1 The magic of dimensional analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
C.1.1 Step 1: What does the quantity of interest depend on? . . . . . . . . . . . . . 50
C.1.2 Step 2: Narrow down the possible functions by demanding that the dimen-
sions are right . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Rotations
1
2 CHAPTER 1. ROTATIONS
s
Rotation axis
θ
r
t t+ ∆ t
dθ
ω= (1.1)
dt
(ω is the Greek letter “omega”). Angular velocity is measured in radians per second.
dω
α= (1.2)
dt
and it is measured in (rad/s)/s .
1.2. RELATION BETWEEN ROTATIONAL AND TRANSLATIONAL VARIABLES 3
s = rθ (1.3)
d(rθ) dθ
v= =r = ωr (1.5)
dt dt
since r is of course constant. (The body is rigid, so the distance from the point to the rotation axis
doesn’t change).
If the body does not rotate at a constant rate, but rather has an angular acceleration α, the
point has an acceleration in the direction it is moving, i.e. tangent to its circular path. This
tangential acceleration is easily found:
dv d(rω)
at = = = rα (1.6)
dt dt
Recall that at the same time, because the point is turning in a circle, it has a centripetal, or
radial acceleration
v2
ar = (1.7)
r
which we can also write
ar = ω 2 r (1.8)
See Figure 1.2.
4 CHAPTER 1. ROTATIONS
a_t
a_r
1
K = mv 2 (1.9)
2
A rotating body also has kinetic energy, even though it isn’t going anywhere. Every atom in the
body is moving around the rotation axis as the entire object spins, so its total rotational kinetic
energy is simply the sum of the kinetic energies of all the particles that make up the object.
1.3. ROTATIONAL INERTIA 5
Following the analogy with translational motion, we write the rotational kinetic energy as
1
Krot = Iω 2 (1.10)
2
where I stands for the rotational equivalent of mass, as yet undetermined.
Consider for example a thin ring of mass M spinning about an axis through its centre, perpendicular
to the plane of the ring. (See Figure 1.3). If we isolate a tiny mass element m of the ring, its kinetic
energy is
1 1
mv 2 = mω 2 R2 (1.11)
2 2
Since all the mass elements that make up the ring are at the same distance R from the axis, and
rotate with the same ω, the total kinetic energy of the ring is
X 1 1 X 1
Krot = mω 2 R2 = ω 2 R2 m = M ω 2 R2 (1.12)
0
2 2 0
2
all m s all m s
I = M R2 (1.13)
I is called the moment of inertia of the ring about this particular rotation axis. In general, if
the ring were rotating about any other axis, for example around a diameter, the moment of inertia
would be different because it depends on how the mass is distributed relative to the rotation axis.
6 CHAPTER 1. ROTATIONS
In most cases, this integral turns out to be beyond the scope of this course. Refer to Table 11-2,
page 227 in the textbook for moments of inertia of some common bodies.
• the shape of the object, that is, how its mass is distributed around the rotation axis
CM h 2
[sum over all mass elements of (mass × position)] / (total mass) . This being a continuous
body, the sum is really an integral:
R
x dm
xCM = (1.17)
R M
y dm
yCM = (1.18)
M
Now we’re ready to tackle the parallel-axis theorem. As usual, to find a moment of inertia we isolate
first a mass element dm. For notation, see Figure 1.5. Notice in particular that the coordinate
system is chosen with CM at the origin, that is xCM = yCM = 0. We have
Z Z
ICM = r2 dm = (x2 + y 2 ) dm (1.19)
and Z Z Z
I2 = r22 dm = 2 2
[(h − x) + y ] dm = (x2 + y 2 + h2 − 2xh) dm (1.20)
so Z Z Z
2 2 2
I2 = (x + y ) + h dm − 2h x dm (1.21)
The last integral is just the x coordinate of the centre of mass, which is zero by our choice of
coordinate system. We get finally
I2 = ICM + M h2 (1.22)
8 CHAPTER 1. ROTATIONS
y
dm
r
y
r_2
CM
2
x h−x x
dr
dθ
ds
• a rotation with angular velocity ω about an axis through the centre of mass.
Exercise 1.6.1 Two cylinders of equal mass M and radius R roll without slipping down an inclined
plane, dropping through a height h. Cylinder 1 is solid, but cylinder 2 is a hollow shell. Which
cylinder wins the race?
F
φ
x
O
where the + sign is due to the fact that F~ accelerates m in a counterclockwise direction.
Compare this with the vector formed by the cross-product of ~r and F~ (see Appendix B):
~r × F~ = rF sin φ k̂ (1.29)
This suggests that we should extend our definition of torque. We shall say that the torque about
a point O on a mass at a position ~r relative to O by a force F~ is
~τ = ~r × F~ (1.30)
• Torque is defined relative to a point rather than a rotation axis. In general, the orientation
of the rotation axis may not stay constant.
• Torque is a vector. If we limit ourselves to a rotation about a fixed axis, then the only choices
for the direction of ~τ are “up” or “down”; for that we had the sign convention mentioned
earlier.
• The torque is zero if ~r k F~ . Interestingly, this is the case of the gravitational pull by the
Sun on the planets: If we consider the torque due to gravity about the Sun, it must be zero
because the force acts along the line joining the Sun and the planet, which is also the direction
of the planet’s position vector relative to the Sun.
Exercise 1.7.1 A point mass M is at ~r = (ı̂ + ̂ + 2k̂) m from point O. Two forces act on M :
d~p
F~ = (1.31)
dt
where F~ is the total external force on the system, and p~ is the particle’s momentum. We may
conjecture that there is a similar quantity for rotations, and write
~
dL
~τ = (1.32)
dt
where L~ is known as the angular momentum of the particle. (Immediately after this, we will
discuss the angular momentum of a system of particles).
12 CHAPTER 1. ROTATIONS
We will show that the angular momentum is linked to the linear momentum; in fact,
~ = ~r × p~
L (1.33)
~ depends on where the origin
where ~r is the particle’s position vector. (Notice that the value of L
is taken). To see this, take the derivative with respect to time of equation (1.33):
~
dL d~r d~p
= × p~ + ~r × (1.34)
dt dt dt
The first term vanishes, since
d~r
= ~v k p~ (1.35)
dt
and in the second term we recognize d~p/dt = F~ , so
~
dL
= ~r × F~ = ~τ (1.36)
dt
L = Iω (1.37)
~ only has a component along the rotation axis,
where we have dropped the vector arrows since L
but the usual sign convention still holds.
where Ti,f are the initial and final periods of revolution of the star. The moment of inertia of
a sphere about an axis through its centre scales with the square of its radius. Let us assume
conservatively that the initial radius of our doomed star is of the same order as the Sun’s, 109 m,
and Ti is also similar to the Sun’s, about 2 × 106 s. If the final radius is 104 m,
Rf2
Tf = Ti = 10−10 × 2 × 106 = 2 × 10−4 s (1.39)
Ri2
See pp 261-263 in the textbook for many more interesting applications of the conservation of angular
momentum.
14 CHAPTER 1. ROTATIONS
Chapter 2
Oscillations
15
16 CHAPTER 2. OSCILLATIONS
2.1 Oscillators
An oscillator is a physical system where the physical variables that describe it are periodic func-
tions of time. There are well-known instance of mechanical oscillators, of course, like the pendulum,
or a loaded spring; there are also electrical circuits that produce an output voltage or a current
that are periodic functions of time, and qualify as oscillators equally well. All oscillators may be
described formally in the same way. So even though we will often refer to pendulums or springs as
illustrations, we should not lose sight of the generality of the properties of oscillating systems that
we shall study here.
x = x0 cos ωt (2.1)
The argument of the cosine, ωt, is an angle, expressed as usual in radians; ω (Gr.: “omega”) is
called the angular frequency of the oscillator, and it is measured in rad/s .
Of course, we could start measuring t at any instant, so that the most general form of x(t) is
A little jargon:
• x0 is the amplitude of the oscillation. Since the cosine function oscillates between ±1, the
extreme values of x are ±x0 .
• The argument of the cosine function, ωt + φ0 , is called the phase. Since φ0 is the phase at
t = 0, it is called the initial phase. In our initial example, φ0 = 0.
Exercise 2.1.1 Suppose the mass was pulled down and released from rest, but we didn’t start
measuring time until a while later, when it passed through x = 0. What would be the initial phase
of this oscillation?
1
Strictly, we should be considering the effect of gravity as well. In fact, as we shall discuss later, it may be ignored,
as the only effect is to shift the equilibrium position downwards. We will show this later.
2.1. OSCILLATORS
17
x = 0 : Equilibrium
It is important to note that the choice of a cosine function to describe the oscillation is arbitrary;
we could just as well have used a sine function.
Exercise 2.1.2 Write the position of the mass as a function of time in the conditions of Exercise
2.1.1, but using a sine function instead of a cosine.
To get a feel for the behaviour of an oscillator, you may want to look at the simulation at
http://www.phas.ucalgary.ca/physlets/shm.htm.
18 CHAPTER 2. OSCILLATIONS
Fx = −kx (2.5)
where k is the spring constant, or elastic constant of the spring. It is a coefficient that must
determined experimentally, and it depends on characteristics of the particular spring used, such as
the material it’s made of, its shape and size.
Exercise 2.1.3 Sketch a plot of Fx (x). What is the effect of varying the value of k? Why do you
think a spring with a large value of k is called a “stiff ” spring, and one with a small value of k is
called a “soft” spring?
Since we postulated the form of the position of the mass as a function of time, it is nice to confirm
that it is consistent with Hooke’s empirical law:
Exercise 2.1.4 Find an expression for the frequency of the loaded spring, in terms of k and m.
θ
L
F_g
perpendicular to the string. As we shall see, for small amplitude oscillations, the pendulum also
executes simple harmonic motion.
Consider the angle that the pendulum forms with the vertical, θ. (See Figure 2.2). The torque
on the mass about the suspension point is
and since its moment of inertia about the same point is simply
I = mL2 (2.11)
Exercise 2.2.1 Verify this. Use your calculator to find sin(0.1), sin(0.01), and sin(0.001). In each
case, what is the percentage error incurred by approximating sin θ as θ?
So, for small-amplitude oscillations, we may approximate equation (2.13) as
g
α=− θ (2.15)
L
which we may recognize as the fundamental relation between position and acceleration for a simple
harmonic oscillator:
acceleration = −(positivec onstant) × position (2.16)
From this, we may write with confidence
θ = θ0 cos ωt (2.17)
(where again we’ll assume the initial phase is zero). The angular frequency is
g
ω= (2.18)
L
(compare with equation (2.7)).
Exercise 2.2.2 What is the pendulum’s period T in terms of g and L?
Exercise 2.3.1 If the principle of conservation of energy holds true, the total energy
1 1
E = mv 2 + kx2 (2.20)
2 2
should remain constant over time. Verify this for the mass on the end of a spring, bearing in mind
that it is doing simple harmonic motion.
Chapter 3
Waves
21
22 CHAPTER 3. WAVES
3.1 Waves
3.1.1 Definitions and terminology
A wave is a periodic perturbation in a quantity that is a function of position in space. Consider,
for example, a sound wave in air travelling in the x direction. The simplest form of wave is a
sine wave, so called because the pressure as a function of x and the time t has the form
Here, p0 is the amplitude of the wave: The pressure oscillates between ±p0 . The argument of
the sine function, (kx − ωt), is called the phase of the wave. To understand the meaning of the
parameters k, consider the form of the wave at a specific time, which we can call t = 0 without loss
of generality. In that case,
p = p0 sin(kx) (3.2)
which is a periodic function of x alone. The spatial “period” is the wavelength λ, which is clearly
equal to 2π/k. The parameter k is called the wave number, defined as
2π
k= (3.3)
λ
If instead of looking at a snapshot of the wave in time, we look at the wave at a fixed position, which
again we can call x = 0 without loss of generality, then we see that the pressure varies periodically
with time, with angular frequency ω. If T is the period of the oscillation at a fixed point, we have
again that
2π
ω= (3.4)
T
A sound wave “travels”. Look at a peak in the wave, for example where the phase is equal to 2π.
The peak will occupy different positions x over time, given by
ω
kx − ωt = 2π ⇒ x = t (3.5)
k
This equation says that the position of the peak moves with velocity
ω
vx = (3.6)
k
along x. Because it is the velocity of a certain value of the phase, it is called the phase velocity.
y = y0 sin(kx − ωt + φ0 ) (3.8)
where y0 is the amplitude and k and ω have the same meaning as before. There is a new parameter
in this equation, which we didn’t include before not to complicate matters unnecessarily: φ0 is
called the initial phase, which is simply the value of the phase at x = 0 and t = 0. If we are only
analyzing a single wave, it may be set equal to zero without restriction, but if we consider two or
more sine waves interacting, as we shall do later, then the difference in initial phase between them
is significant. More about this later.
thin, it may be represented by a one-dimensional line, so the relevant density is the linear density,
or mass per unit length. It is usually represented by the Greek letter µ.
Let us settle on these two factors, then, as affecting the speed v, and write
v = CT a µb (3.9)
a+b = 0 (3.11)
a−b = 1 (3.12)
2a = 1 (3.13)
the wave excites new parts of the string as it travels. This means that the wave is transporting
energy along the string. At what rate is this energy transported?
The kinetic energy of a certain element of the string of mass dm = µdx is
1
dK = u2 µdx (3.17)
2
where u is the speed of the oscillating element:
∂y
u= = −ωy0 cos(kx − ωt) (3.18)
∂t
3.3. THE SUPERPOSITION PRINCIPLE 25
Consequently,
1
dK = ω 2 y02 cos2 (kx − ωt)µdx (3.19)
2
We find that the rate at which kinetic energy is transmitted by the wave as
dK 1
= µvω 2 y02 cos2 (kx − ωt) (3.20)
dt 2
where we have replaced the speed of the wave v = dx/dt.
This is an oscillating function of x and t. The average kinetic energy transmitted is
dK 1
= µvω 2 hcos2 (kx − ωt)i (3.21)
dt 2
where h. . .i denotes an average. In fact,
1
hcos2 (kx − ωt)i = (3.22)
2
(see Appendix D for the derivation of this result). Therefore the average kinetic energy transmitted
is
dK 1
= µvω 2 (3.23)
dt 4
This not all the energy that is transmitted by the wave, though. As each string element is
perturbed, its elastic potential energy changes too, so potential energy is transmitted with the
wave as well as kinetic energy. We will state without proof (see, however, Exercise ?? below) that
the average rate at which the wave carries potential energy is the same as that of kinetic energy:
dU dK
= (3.24)
dt dt
so that the average power, the rate at which energy is transmitted by the wave is
dK 1
hP i = 2 = µvω 2 y02 (3.25)
dt 2
A final note: Although we have derived this result for a wave in a string, it is a general property
of waves that they transport energy at a rate proportional to the square of the amplitude, and the
square of the frequency.
3.4 Interference
One typical wave phenomenon is neatly explained by the superposition principle: Interference.
Suppose that two waves, identical in every respect save for a constant phase difference, propagate
along a string. What is the resultant wave?
Call the two waves y1 and y2 , with
We use a standard trigonometric formula for the sum of two sine functions
α+β α−β
sin α + sin β = 2 sin cos (3.29)
2 2
to write y as
y = 2A cos(φ/2) sin(kx − ωt + φ/2) (3.30)
This is again a sine wave, but its amplitude depends on the phase difference φ between the two
waves. If φ = 0 so that the two waves coincide, then y is twice each of the two component waves.
This situation is called constructive interference. At the other extreme, if φ = π so that the
two waves are half a cycle out of phase, y = 0: The waves cancel! This is called destructive
interference.
Exercise 3.5.1 Consider a “peak” in each wave, where the phase is equal to zero. What is x(t),
the position of the peak as a function of time? From this, what is the direction of propagation of y1
and y2 ?
3.6. RESONANT MODES OF A STRING 27
sin(kL) = 0 ⇒ kL = nπ (3.35)
centered at the source. The surface of such a wave front is proportional to the square of its radius:
A = 4πr2 . If a detector of collecting area a is located at a distance r from the source, the fraction
of energy that the detector collects is a/A, which is proportional to 1/r2 . Thus, the power (energy
per second) collected by the detector is inversely proportional to its distance from the source.
3.7.2 Intensity
Since the power received by a detector is also proportional to its area, it is useful to have a measure
of power per unit area at the detector. This is the intensity of the sound, and it is measured
in W/m2 . If the power emitted by a point source is P , the intensity received by a detector at a
distance r from the source is
P
I= (3.37)
4πr2
I
β = (10 dB) log10 (3.38)
I0
where dB stands for decibel. I0 is arbitrarily chosen to be 10−12 W/m2 , approximately the lower
limit of human hearing. Thus the dynamic range of human hearing goes from approximately 0 dB
to 120 dB.
x_D=v_D t
t
x_2 = v ( t − T )
T’ x_1 = v t
0 x
x1 = vt (3.39)
x2 = v(t − T ) (3.40)
30 CHAPTER 3. WAVES
where T = 1/f is the period of the signal. The diagram also shows the detector, whose position as
a function of time is
xD = vD t (3.41)
For simplicity, we have chosen the detector to coincide with the source at t = 0, precisely when the
first wave front is emitted.
The second wave front reaches the detector when x2 = xD , that is, at a time T 0 given by
v(T 0 − T ) = vD T 0 (3.42)
so that
v
T0 = T (3.43)
v − vD
and the frequency measured by the detector is therefore
v − vD
f0 = f (3.44)
v
Exercise 3.8.1 Redo the calculation above for the case that the detector is moving towards the
source with speed vD , and verify that in this case
v + vD
f0 = f (3.45)
v
xS = vS t (3.46)
where once again for simplicity we let the source coincide with the detector at the time when the
first wave front is emitted. Then when the second wave front is emitted at time T , the source
has reached the position vS T , and the second wave front moves away from the source towards the
detector with speed v, so that its position as a function of time is
x2 = vS T − v(t − T ) (3.47)
This wave front will reach the stationary detector at a time T 0 when x2 = 0, that is,
vS T − v(T 0 − T ) = 0 (3.48)
which gives
v + vS
T0 = T (3.49)
v
3.8. THE DOPPLER EFFECT 31
t x_S = v_S t
T’
x_2 = v_S T − v( t − T )
0 x
v_S T
and
v
f0 = f (3.50)
v + vS
Exercise 3.8.2 Like before, verify that if the source is moving towards the detector,
v
f0 = f (3.51)
v − vS
Fluids
33
34 CHAPTER 4. FLUIDS
4.1 Introduction
4.1.1 Solids, liquids, and gases
Fluids – a term that includes both liquids and gases – can flow and change shape, unlike solids.
This difference in basic properties has a simple microscopic explanation. As Figure 4.1 illustrates,
atoms in solids are very closely bound in a rigid lattice; in a liquid, the atoms are a little further
apart, and the bonds between them are weaker, so they can slide past each other; in a gas, the
atoms are so far removed from each other that they hardly interact at all except when two happen
to collide. It follows that in a given volume, atoms will be most closely packed in a solid, a little
less so in a liquid, and far less in a gas. The typical densities of materials in the three states are
consistent with this picture. Typical densities of liquids and solids are on the order of 103 kg/m3 ,
while gases at STP1 have typical densities on the order of 1 kg/m3 .
We shall be looking for the basic laws of motion that govern fluids, analogous to Newton’s laws
in particle mechanics. However, we can no longer apply particle concepts like mass or force to a
continuous medium. Rather we speak of the density and the pressure at a point in a fluid.
The density is the amount of mass per unit volume at a “point” in the fluid. Since a point has
no volume, this may seem puzzling. What we really mean is a very small volume element of the
fluid, much smaller than the size of the fluid sample, but large enough to contain a large number
of atoms. If the fluid is uniform, the density is the same at all points, so even a large volume of
the fluid has the same density.
In a similar spirit we define the pressure at a point in the fluid as the magnitude of the force
per unit area on a tiny disk at that point. Interestingly, pressure is a scalar: The orientation of the
disk is irrelevant.
In the SI system of units, density is measured in kg/m3 , and pressure is measured in N/m2 , a unit
that also goes by the name of Pascal (Pa), after Blaise Pascal, philosopher and mathematician. (See
http://www-groups.dcs.st-and.ac.uk/ history/Mathematicians/Pascal.html for a short biography of
this very interesting individual).
It is a common experience that objects sink or float in a fluid, depending on their density. Legend
has it that Archimedes of Syracuse discovered the exact mechanism for this. (See
http://www-groups.dcs.st-and.ac.uk/ history/Mathematicians/Archimedes.html)
Consider for example the fearsome beast in Figure 4.4 (Credit: D.J.,
http://www.clay.k12.fl.us/wec/Animal.htm). If the animal was removed, it would be replaced by
a portion of fluid of the same shape and volume which would be at rest, sustained by a force from
the fluid equal to its weight. Since the fluid is unaware that this space is now occupied by a shark,
it applies the same force to the shark. This is called the buoyancy force.
To put it mathematically, call ρ the average density of the shark, ρf the density of the fluid, and
V the volume of the shark, which is the same as that of the displaced fluid. The shark’s weight is
ρV g, and the buoyancy force, equal to the weight of the displaced fluid, is ρf V g. The net (upward)
force on the shark is then
(ρ − ρf )V g (4.7)
which is positive if ρ < ρf , in which case the shark floats upward, and negative if ρ > ρf , in which
case the shark sinks. If ρ = ρf , the shark will neither sink nor swim; it is said to experience neutral
buoyancy.
Exercise 4.2.2 What is the weight of the shark under water? (Assume the shark is more dense
than the surrounding water, which is hardly surprising). If you were able to measure the shark’s
weight outside the water, as well as under water, how would you calculate its density relative to
water from that information?
We turn now to the problem of a moving fluid. Our objective is to find conservation principles
analogous to the known principles that apply to particle mechanics. To describe the motion of
the fluid, we need to keep track of the velocity of the fluid at each point. Notice that this does
not mean to follow a particular fluid element as it moves and record its velocity. It means that
we focus on a fixed point in the space occupied by the fluid, and record the velocity of each fluid
element that passes through that point. A map of the velocities at all points in the fluid is called
the velocity field. It can be visualized approximately by drawing velocity vectors on a grid. Here
are some good examples: http://virga.sfsu.edu/crws/jetstream.html.
If the velocity field does not vary with time, the flow is said to be steady, or stationary.
4.3. FLUID DYNAMICS 37
4.3.2 Streamlines
If you looked at some of the wind velocity maps mentioned above, you could see that the arrows
could be quite easily joined by smooth curves. Such curves are called streamlines, defined as
curves which are tangent to the velocity vectors at each point. If the flow can be visualized using
streamlines, it means that any fluid element that finds itself at some point between two given
streamlines, remains between those streamlines at all future times. This is because of the definition
of streamlines: Since they are tangent to the velocity of the fluid at all points, it follows that no
fluid element can cross a field line. The flow is said to be laminar, since the fluid moves in layers.
The opposite of laminar flow is turbulent flow. There, streamlines are not defined. We shall
restrict our analysis to laminar flow only.
3
It is important to realize that although the pressure has the mathematical properties of a potential energy, it
isn’t really a potential energy. A conservative force requires a source: The gravitational pull on the Moon is due to
the Earth (and other bodies). There is no “source” of the pressure.
4.3. FLUID DYNAMICS 39
Solid
Liquid
Gas
p_0
Cross−sectional area A
0
h_0
Weight
h_1
h
p_1
z+dz
z
A_1
A_2
v_2
v_1
v_2 dt
v_1 dt
43
44 APPENDIX A. DERIVATIONS FOR THE FINAL EXAM
where r is the distance from the mass element dm to the axis, and the integral is taken over
the whole body.
Show that for an arbitrary fixed axis, I is related to ICM , the moment of inertia with respect
to a parallel axis that passes through the centre of mass, by
I = ICM + M h2
where M is the mass of the body, and h is the separation between the two axes.
In your proof, you may use the definition of the coordinates of the centre of mass:
Z
~rCM = ~r dm
where ~r is the position of a mass element dm, and the integral is again taken over the whole
body.
2. Torque and angular momentum: See Section 1.8. Show that for a point mass m with
~ and a net torque ~τ about a point P
angular momentum L
~
dL
~τ =
dt
3. A standing wave on a string: See Sections ?? and ??. Show that if two waves of identical
angular frequency ω and wave number k travel in opposite directions along a string, they
combine to form a standing wave of the form
y = A(t) sin(kx)
where A(t) is a time-dependent amplitude. Give an expression for A(t).
Use the following trigonometrical relation:
α±β α∓β
sin(α ± β) = 2 sin cos
2 2
4. Variation with depth of pressure in an incompressible fluid: See Section 4.2.1. Derive
the pressure p as a function of depth h in an incompressible fluid of density ρ.
Appendix B
45
46 APPENDIX B. THE VECTOR CROSS PRODUCT
~a × ~b = −~b × ~a (B.3)
~a = ax ı̂ + ay ̂ + az k̂ (B.4)
~b = bx ı̂ + by ̂ + bz k̂ (B.5)
we can construct the cross product as a sum of terms containing the cross products of all possible
combinations of ı̂, ̂ and k̂:
~a × ~b = ax bx ı̂ × ı̂ + ax by ı̂ × ̂ + . . . (B.6)
So, we need to construct all the possible cross products of unit vectors. Actually, the only ones we
need are:
ı̂ × ̂ = k̂ (B.7)
̂ × k̂ = ı̂ (B.8)
k̂ × ı̂ = ̂ (B.9)
B.1. THE VECTOR CROSS PRODUCT 47
The cross products of each unit vector with itself are all zero, and a product like ̂ × ı̂ is obtained
as −ı̂ × ̂.
Now we can write the components of ~a × ~b. We’ll leave it as an exercise to show that
Exercise B.1.1 Make up a mnemonic rule to remember the components of a cross product. (Hint:
Cyclic permutations of indices).
√ √ √ √
Exercise B.1.2 ~a = 1/ 2ı̂ + 1/ 2̂ and ~b = −1/ 2ı̂ + 1/ 2̂. Calculate ~a × ~b.
48 APPENDIX B. THE VECTOR CROSS PRODUCT
Appendix C
Dimensional analysis
49
50 APPENDIX C. DIMENSIONAL ANALYSIS
T = f (L, g, m) (C.1)
C.1.2 Step 2: Narrow down the possible functions by demanding that the di-
mensions are right
The fundamental assumption that we make next is that the function f is in fact a power law:
T = CLa g b mc (C.2)
where the exponents a, b, and c are yet to be determined, and C is a dimensionless constant.
Necessarily, the dimensions of both sides of this equation must be the same. Using SI units, this
means that
s = ma (ms−2 )b kg c = ma+b s−2b kg c (C.3)
This leads to a set of equations for the exponents:
a+b = 0 (C.4)
−2b = 1 (C.5)
c = 0 (C.6)
Notice that we find straight away that the exponent of m is zero, so the period T is independent
of the mass. Solving for the remaining exponents, we get b = −1/2 and a = 1/2.
Now we can write s
L
T =C (C.7)
g
This is as far as we can go with dimensional analysis. We could find C experimentally, by
measuring the period of a pendulum and varying the length L. Since we know that the general
C.1. THE MAGIC OF DIMENSIONAL ANALYSIS 51
form of T as a function of L is given by our last result, we could plot T 2 vs. L, and from the slope
find C. We would find that it is very close to 2π.
Indeed, one of the useful features of dimensional analysis is that it suggests experiments. An-
other extremely useful application of dimensional analysis is in modelling. To simulate how a 1
meter long pendulum on the Moon might behave, we would observe that √ g on the Moon is about
1/6 the value on Earth, so we would construct a pendulum of length 6 m here at home.
52 APPENDIX C. DIMENSIONAL ANALYSIS
Appendix D
53
54 APPENDIX D. AVERAGE VALUE OF COS 2 (X)
Since cos2 (x) is a periodic function of x with period 2π, we only need to find the average over one
cycle, say [0, 2π]:
Z 2π
2 1
hcos (x)i = cos2 (x)dx (D.2)
2π 0
All’s fair in love, war, and integration, so we’ll use a dirty trick. A moment’s thought will
convince you that
hcos2 (x)i = hsin2 (x)i (D.3)
since sin(x) is the same function as cos(x), but with a phase shift of π, (remember, the “phase” is
the argument of a trig function), so the averages should be the same. Now,
1
cos2 (x) = 1 − sin2 (x) ⇒ hcos2 (x)i = 1 − hsin2 (x)i → hcos2 (x)i = hsin2 (x)i = (D.4)
2
Appendix E
55
56 APPENDIX E. WORK AND POTENTIAL ENERGY
If F~ is a conservative force, we can associate a potential energy function U to it, defined simply as
∆U = −∆W (E.3)
dU = −Fx dx (E.4)
so that there is a simple relation between the force and the potential energy:
dU
Fx = − (E.5)
dx
Here, for simplicity, we restricted the motion of the particle to one dimension. In general, the
components of the force along x, y, and z are found from the potential energy U as
∂U
Fx = (E.6)
∂x
∂U
Fy = (E.7)
∂y
∂U
Fz = (E.8)
∂z