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^Qy^-d-^
"^
DYNAMICS
FETTER LANE,
CLAY, Manager
E.G.
C. F.
/DYNAMICS
BY
HORACE
I^AMB,
Sc.D.,
LL.D.,
F.R.S.
Cambridge
at
1914
'iT
(iTambrtligE
PREFACE
book is a sequel to a treatise on Statics published more than a year ago, and has a similar scope. To avoid repetitions, numerous references to the former volume are made,
a
little
THIS
writer
who undertakes
Dynamics
ment
assist
so abstract that
it
is
than to
something about the behaviour of actual bodies which he can see and handle. There is no doubt as to which is the proper course in a work like and I have not hesitated to follow the method the present adopted by Maxwell, in his Matter and Motion, which forms,
the
student
who
looks
to
learn
think,
the best
elementary introduction
to
the
'absolute'
abstract,
is,
system of Dynamics.
Some account
is
of the
more
if
more
logical, wa}^ of
its
however,
given in
There
students
is
as to the order in
which
To many
as possible, of
'
rigid
'
intricate
more important that they should gain, as soon some power of dealing with the simpler questions Dynamics, than that they should master the more problems of 'central forces,' or of motion under various
This consideration has dictated the arrangeadopted,
laws of resistance.
ment
here
bat
as
the
later
chapters
are
largely
may be
read in a different
aZ
VI
PREFACE
Some
practice.
The standard
collections,
first
generations, supply at
priation,
sight
but they do not always reward the search for problems which are really exercises on dynamical theory, and not merely In the present algebraical or trigonometrical puzzles in disguise.
treatise, preference
Most of
those which are in any degree original have been framed with this
intention.
I
am
for
again
greatly
for
indebted
their
to
Prof.
F.
S.
Carey, and
Mr
and
J.
H. C. Searle,
various useful
suggestions.
The
latter
has
moreover
verified
H. L.
The University,
Manchester. January 1914.
CONTENTS
CHAPTER
I.
PAGE
Velocity
Acceleration
2. 3. 4.
The Acceleration
Differential
5.
Equations
1
Examples
6
8
9
14
CHAPTER
II.
Dynamical
Principles.
Dynamics
8. 9.
Application to Gravity
10.
11. 12.
Impulse
The Pendulum
Disturbed
Force
Simple-Harmonic
.....
.
Motion.
13.
Work; Power
18.
19.
Equation of Energy Dynamical Units and their Dimensions Examples II, III, IV
.
....
VI 11
CONTENTS
CHAPTER
IRT.
III.
TWO-DIMENSIONAL KINEMATICS.
CONTENTS
IX
CHAPTER
lRT.
VI.
CONTENTS
CHAPTER
DYNAMICS OF RIGID BODIES
ART.
()1.
IX.
(Continued).
xMOTION IN
PAGE
TWO DIMENSIONS.
Comparison of Angular Momenta about Parallel Axe.s Rate of Change of Angular Momentum
Application to Rigid Bodies
....
.
173 175
177
181
Equation of Energy
General Theory of a System with
Oscillation.s
65. 66.
67.
One Degree
of
Freedom
183
68. 69.
70.
71.
about Equilibrium. Stability Forced O.scillations of a Pendulum. Seismographs Oscillations of Multiple Systems
Stre-sses in
186 192
196 198
a Moving
Body
Initial
Reactions
200
202 207
.
Instantaneous Impulses
72. 73.
The
Ballistic
Eflect of
209 210
Examples XV,
XVI
CHAPTER
74.
X.
LAW OF GRAVITATION.
75.
76.
77.
216
217
The Problem
Hodograph
of
Two
Bodies
219 223
227
Construction of Orbits
78.
79.
....
.
.
228
231
80.
81.
Laws
82. 83.
Perturbations
....
Law
.
234
237
241
The
Con.stant of Gravitation
XIX
243
CHAPTER XL
CENTRAL FORCES.
84.
247
85.
86.
The Inverse
Pro]>lem
249
251
.
Polar Coordinates
87.
88.
256
259
CONTENTS
ART.
89. 90. 91.
XI
PAGE
Critical Orbits
Diflferential
261
263
2f)6
Law
of the Inverse
Cube
Examples
XX
271
CHAPTER
92.
93.
.
XII.
DISSIPATIVE FORCES.
Resistance varying as the Velocity Constant Propelling Force, with Resistance
274
276
277
94.
95. 96. 97. 98.
99.
282
.
The
Spherical Pen.luluni
Quadratic
Law
of Resistance
287 290
291
100.
Case of a Constant Propelling Force Effect of Resistance on Projectiles Effect of Resistance on Planetary OrVnts
.
294 297
Examples
XXI
....
XIII.
29S
CHAPTER
101.
102.
.... ......
.
301
303
103.
104.
The
Spherical
Pendulum
Lagrange's Equations
. . . .
305
.
308 313
31.J
105.
106.
107.
108.
......
320
322
109.
110.
324
Normal Modes
of Vibration
328
331
111.
Forced Oscillations
Examples XXII
334
APPENDIX.
NOTE ON DYNAMICAL PRINCIPLES
Index
. .
338
343
CHAPTER
Velocity.
We begin with the elementary kinematical notions relating to motion in a straight line.
The
i.e.
position
of a
t
moving point
is
t,
at the instant
when
which
some
is
particular epoch
specified
by
its
distance x from
some
fixed point
on the
line,
In any given case of motion x is then a definite and continuous function of t When the form of this
side of
on which
P lies.
P'
Fig.
1.
function
in
is
known
it is
it
graphically,
an auxiliary diagram, by means of a curve constructed with t This may be called the space-time as abscissa and x as ordinate.
'
curve*.'
If equal spaces are described, in the
same
sense, in
any two
is
There are various classical experiments, especially in Acoustics, where such \>y mechanical or optical contrivances, as e.g. in studying the
On a nature of the vibration of a tuning-fork, or of a point of a piano-wire. different scale we have the graphical records of the oscillations of the barometer, (fee.
L. D.
2
velocity*,' the
DYNAMICS
magnitude of
this velocity
[l
it.
Hence
is
from by
',
cCq
to x in the time
t,
the velocity
(x
Denoting
this
we have
X
rf'o
id
(1)
is
velocity
is
may be
called the
'
mean
velocity
'
interval.
Thus
if,
t,
1,
the
P denote the
respectively,
the
mean
-ti^
PF'l(t'-t),
or
(a;'-x)/(t'-t),
where x, x are the abscissae of P, P', respectively. If we write X x-\- hx, t' =t+ ht, so that hx, 8t denote corresponding increments of X and t, the mean velocity is denoted by
Bx
'Si'
In
all
cases which
it
is
when
the interval Bt
is
indefinitely
diminished
and
this
Denoting
it
by
k,
we
have, in the
"4:
In the space-time curve, above referred
instant
*
is
<2)
to,
curve at the
The phrase uniform velocity is often used but it seems preferable to use when invariability in time is meant, the term 'uniform' being reserved to express invariability in space. Thus a constant field of force would be one which does not alter with the time whilst a uniform field would be one which has the same properties at every point. Cf. Maxwell, Matter and Motion, London,
;
may
1-2]
corresponding point,
angle which the tangent line to the curve, drawn in the direction
of
t
increasing,
employed
in the Calculus.
velocity u is in general a definite and continuous function and may be represented graphically by a curve, called the velocity-time curve, constructed with t as abscissa and ii as ordinate. Since, by integration of (2), we have
The
of
'
t,
'
=/ dt,
it
(3)
appears that the area swept over by the ordinate of this curve
integral in (3) corresponds in fact to the ordinary
The
jydx of the
Calculus.
If Pi,
P.J
x^, Xo
their coordinates,
then putting
^ = P,P,
= x,-x,,
dx,
(4)
,_,
^^^^^^"
i.e.
dp
dxo
TrTi-^t'
is
^^>
of Pj
and Pg.
Acceleration.
2.
sign) in
'
the velocity increases by equal amounts (of the same any two equal intervals of time, the motion is said to be uniformly accelerated,' or (preferably) the moving point is said to have a constant acceleration and the amount of this acceleration is specified by the velocity gained per unit time*. Hence if the velocity change from Hq to u in the time t, the acceleration is {u u^jt. Denoting it by a, we have
'
When
'
xL=UQ
+ at
(1)
The
velocity-time curve
*
is
negative acceleration
is
12
4
In
tht'
DYNAMICS
general case, the
[l
intc-rval
may
be
increment of the velocity in any result which of time, divided by that interval, gives a or briefly the mean called the mean rate of acceleration,'
' '
in
That is would have its velocity changed Hence if u, u' denote the same interval.
t, t',
respectively, the
t),
mean
acceleration
-tis
(u'
- u)/{t' -
or
if
we
write
all
ii
Bu,
t'
=t +
Bt.
In
important cases, except those of impact, this fraction when Bt is indefinitely diminished,
and
this limit is
t.'
'
acceleration at
a,
the instant
we have
(2)
is
Since u
= dx/dt, we
have
=
It
is
(3)
which
Thus the
b}^
may be denoted by
we regard the
It is to
x,
u or
x.
the
acceleration
is-
velocity
(u)
as
a function of
the
position (x).
may
But
more than
once, there
may
x.
we
fix
we have
,
. s
_ dii _ du dx
dt
dx
dt
du dx
2]
5
P,_,
x^
and
if
= P,Po = cc^-a;
d-^
-d^
d-x
d-Xi
(5)
,.
^^^^^^^
i.e.
= l^--dP'
Pj
is
^^^
the acceleration of
P.,
relative to
In particular,
if
0,
we have
d^~"d^''
i.e.
constant velocity.
Ex.
If
1.
X be a quadratic function
of
t,
say
(7)
(8)
x = at + l3,
therefore constant.
x=a
Ex.2.
x = acos{nt + (\
(9)
we have
(10)
(11)
is
a curve of sines
and the
is
a
of
See Fig.
If
4, p. 26.
Ex.3.
x=Ae''t+e~'''\
(12)
(13)
we have
x = nAe^^-nBe-^\
x=n^Ae^''+n-Be-"'^ = n^x
(14)
Ex.
4.
If
^c' is
a quadratic function of
u^
x,
say
(15)
= Ax' + 2Bx + C,
u-r=Ax-\-B
we have
(16)
The
x= BjA,
constant.
6
3.
DYNAMICS
Units and Dimensions.
[l
TIk" unit of leiKjth is generally defined by some material standard, or as some convenient multiple or submultiple thereof.
system we have the metre, with its subdivisions the decimetre, centimetre, etc., and its multiple the The standard metre was originally intended <o kilometre.
Thus
in the metric
earth's
.
The agreement, though since meridian as closely as possible. found not to be exact*, is very close; but the practical and
legal
definition of the
metre
is
of course
standard was that on the decimal minute of latitude on the earth's surface
corresponds to a kilometre.
and
inch,
and
its
multiple the
There
is
and the sea-mile, which corresponds to a (sexagesimal) minute of latitude, differs considerably from the statute mile of 1760 yards.
are
to
The relations between the two systems of length measurement shewn by the following table f, which gives the factors required
reduce the various British units to centimetres, with
their
Inch
3]
In this book we shall employ mainly the foot or the centimetre, the latter being the unit now generally adopted in scientific
measurements.
For the measurement of time some system based on the earth's is universally adopted, all clocks and watches being regulated ultimately by reference to this. From a purely scientific standpoint the simplest standard would be the sidereal day, i.e. the period of a complete rotation of the earth relatively to the fixed stars but this would have the serious inconvenience that ordinary time-keepers would have to be discarded for scientific purposes. The units commonly employed are based on the mean solar day,'
rotation
;
'
i.e.
In
scientific
i.e.
generally
the ^:fon^^ P^^^ ^^ t^ mean solar day, whilst for practical purposes the hour, or the day, or year, are of
solar second,
mean
The
first
instance arbitrary
and independent. Those of velocity and acceleration depend upon them, and are therefore classed as derived units. The unit velocity, i.e. the velocity which is represented by the number 1
'
'
1, is
directly as
magnitude therefore varies that of the unit length, and inversely as that of the
Its
unit time.
It
is
'
dimension
'
in length,
and minus one dimension in time. If we introduce symbols L and T to represent the magnitudes of the units of length and time respectively, this may be expressed concisely by saying that the unit velocity is L/T, or LJ-^ The number which expresses any actual velocity will of course vary inversely as the magnitude
of this unit.
When
it is
adopted we
second,'
by the addition of words such as feet per or miles per hour,' or more briefly ft./sec.,' or mile/hr.'
this
'
may do
'
'
The
in
unit acceleration
is
is
acquired
the
unit
or
time.
L/T",
Its
LT~7T,
specified
or
LT"^.
An
actual
acceleration
'
may be
8
per second,' or
be.
'
DYNAMICS
[l
miles per hour per hour,' &c., as the case may These indications are conveniently abbreviated into ft./sec.^' or mile/hr.-; &c. The double reference to time in the specification of an acceleration is insisted upon sufficiently in elementary works
'
'
may
notice that
it
is
indicated
To
and hour
to
fundamental
WQ may
L'
write
= 5280L,
T' = 3600T.
Hence
L7T'=f|L/T.
The units of velocity on the two systems are therefore as 22 to 15, and the numerical values of any given velocity as 15 to 22. Thus a speed of 60 miles an hour is equivalent to 88 feet per second.
Again
L'/T'^
= ^^Vo
11
it
L/T'-,
to 27000.
4.
It
The Acceleration
may
at
is
of Gravity.
experimental evidence
fireely
any given place near the earth's surface has a definite acceleration g, the same for all bodies.
creasing from
however with the locality, inthe poles, and diminishing slightly with altitude above the sea-level. There are also local irregularities of comparatively small amount. According to recent
precise value of
The
varies
^r
at sea-level
is
represented to a high
= 978-03
<^),
(1)
where
second.
<f>
is
= 32-088 (1
-I-
-0053 sin-
</>)
(2)
The
total variation
Helmert, Encycl.
d.
vi.
3-5]
The
given by the
f'orimila
/ = (7(l--0000003/i),
Avhere
(3)
is
This variation
is
For illustrative purposes it is in general sufficiently accurate to assume g = 980 cm./sec.-, or = 32 ft./sec.^, the latter number being specially convenient for mental calculations, on account of its
divisibility.
5.
Differential Equations.
formulae (3) and (4) of Art. 2 enable us to find at once
The
when
is
given as a
But
in dynamical questions
we have more
is
given as a function of
and
it is
assigned instant.
We
more im-
solution.
The
acceleration
may be
thus
i^=/
This can be integrated at once with respect to
t.
w
We
have
(2)
~=jf{t)dt + A=Mt) + A,
say,
for
any
and the
additive constant
is
arbitrary.
Integrating again
we have
(3)
oc
= I f\(t) dt + At + B,
where
5 is a
that a point
may
10
DYNAMICS
[l
any arbitrary position with any arbitrary velocity, and to be governed as to its subsequent rniHion by the law expressed in (1). A solution, to be general, must therefore be capable of adjustment to these arbitrary initial conditions. See Ex, 1 below. The reason
why
fiinii
At +
is
The
;
acceleration
may be given
as
a function
of
the
position
thus
^ = '
If
<*)
we multiply both
by dx/dt
it
becomes
thus
.
dx d~x
dx
dtdt'^^^''^~dt'
=
by the ordinary formula
integral.
for
if{x)dx
+ A,
(5)
This process will occur over and over again in our subject, and
the
'
equation of energy.'
as follows.
may be
manner
Taking x
we
"d;=/wx
;
()
which
is
thus
(7)
x,
hi'=lf(x)dx + A
In either way we obtain
u- or x- as
a function of
say
(iy=^w>
whence
w
^9^
^= + ^[2?(^)]
5]
11
The two
point
moving
may
x.
In particular problems
both cases
may
form
^^^^
(^"-xpX^'
whence, integi'ating with respect to
x,
'=/vrfei+^
This solution really contains
is
^"*
tiuo
already involved
in.
That one of the arbitrary t might have been foreequation (4), which is un-
be shifted.
selves will be
Such further tjrpes of differential equation as present themmost conveniently dealt with as they arise.
1.
Ex.
if
be upwards,
=-'
~==-gt + A, x=-hgfi + At-^B
If the initial conditions are that
c^)
(13)
x = Xq, x = Vq,
for
= 0, we
have
Uf,
= A,
Xq = B,
whence
x=Uo-(/f,
x = XQ + Vot-hgf~
which
(14)
is
therefore a parabola,
shewn
du ^d^=--^'
h^-'=-ffx + C,
._.,
(1^)
(16)
(17)
whence
a result which
^u'^+gx = ^2iQ'^+gxQ,
may
also be
deduced from
(14).
12
If xi,
.v.,
DYNAMICS
and
i, U2
[I
respectively,
we have from
.?'2
Xi
t-i-U
.(18)
The mean
tlie
velocity in
any
interval of time
initial
and
final velocities.
and also to the arithmetic mean of the These are, moreover, obvious corollaries from the
46'
iO
3fJ
24
16
-8
-16
13
If the acceleration
origin) in
we have
=-"'-^'
where
that
n"^ is
(22)
The minus
and
sign
is
is
negative
when x
is
positive,
vice versa.
An
equivalent form
is
-T-
n^'x
(23)
From
this,
or from (22),
we
C n'^x^
C
is
(24)
Since u^
that
is
nuist be positive, so
we may
arbitrary.
Hence
(25)
(
confined between certain limits
^Y = 7i2(2_.^2)
initial
.v
must be
a. We are x = a cos 6,
where ^
is
a new variable.
Substituting in (25)
we
find
Hence
where
e is
^^'^
(28)
is
The
therefore
x=a
cos
{7it
+ f),
e.
we put
a cose = .4,
asin
f= -
B,
(30)
we have
x=A
Conversely we can pass from
(29),
cos7it
+ Bsmni
A
and
(31)
(31),
where
B are
arbitrary, to the
form
(30).
The
it is
well to
remember, once
for
all,
(29) or (31).
It is indeed evident
(cf.
and that since there are two arbitrary constants at our disposal, it can be made to fit any })rescribed initial conditions. For instance, if x = Xq, .v Uq, for t = 0, we have, in (31), Xq = A, Uq = 7iB, whence
(31) does in fact satisfy (22),
(32) ^
14
Ex.
4.
DYNAMICS
If the acceleration
[l
be always /row the origin, and proportional to equation has the fomi
5-'*
It has
<-^>
2,
is satisfied
by
(34)
= ^e"' + 5e""',
and since there are two arbitrary constants the solution is complete. = A->rB, Uo = 7i (A-B), whence a: = XQ, x=Uf^, for = 0, we have XQ
.r=.rocosh
7i;
Thus
if
sinh
?i^,
(35)
This result
may
be compared with
EXAMPLES.
1.
to
I.
to return.
steamer takes a time ti to travel a distance a up a river, and a time Prove that the speed of the steamer relative to the water is
a (h +
2 ^1^2
^2)
is
moon
[35'3.]
and hour as
If the greatest admissible acceleration or retardation of a train be 3. 3 ft./sec.^, find the least time from one station to another at a distance of 10 miles, the maximum speed being 60 miles per hour. [10 m. 30 s.]
4.
sees.,
upwards, and
is
at a height h after
ti
sees.
Prove that
initial velocity
was
5. The speed of a train increases at a constant rate a fi'om to v, then remains constant for an interval, and finally decreases to at a constant rate (3. If I be the total distance described, prove that the total time occupied is
ll/l
?
is
'
EXAMPLES
6.
15
bullet describes
two consecutive spaces of 150 ft. in "754 sec. and Find its retardation, and its velocity when half-way.
[3-43ft./sec.2; 198ft./sec.]
7.
pierces in
succession
three
first
thin
If the time
^2?
from the
to the
second be
^i,
(assumed to be constant)
2a {U
- <i)
is
kh ih + h)
8.
If the coordinates of
Xi,
X'i,
x^ at the instants
^i,
a point moving with constant acceleration be t^, <2 respectively, prove that the acceleration is
^2
{{X2
- X^ ti + (a-3 - A-i)
(.^1
- X2) is}
{h-h){tz-h){ti-h\
9.
If a point
velocity over
any distance
U1
+ U2
'
where
?/i,
and
final velocities.
?
Shew, graphically or otherwise, that the following three quantities, viz. (1) the mean velocity in a given interval of time, (2) the arithmetic mean of the initial and final velocities, and (3) the velocity at the middle instant of
the interval, are in general distinct.
acceleration be constant.
Prove that if a curve be constructed with the space described by 11. a moving point as abscissa, and the velocity as ordinate, the acceleration will
be represented by the subnormal.
Illustrate this
12.
by the case
if
of constant acceleration.
{t)
Prove that
is
the time
the retardation
where u
13.
is
the velocity.
i is
If
a quadratic function of
a',
If
a-2
is
a quadratic function of
t,
l/o.-'',
16
15.
DYNAMICS
[l
from the
16.
directrix.
point
the projection of
P describes a straight line with constant velocity, and Q is P on a fixed straight line fron) a fixed centre 0. Prove
with an acceleration varying as the cube of
it,
that
How
17.
is
the distance
rest.
?
Can
18.
it
move
its
Prove that
fixed point
finite time.
distance
from a
in
which
approaching,
it
will
any
CHAPTER
II
Dynamical
Principles.
Gravitational Units.
is
The
to investigate the
motion of bodies as affected by the forces which act upon them. Some system of physical assumptions, to be justified ultimately by
comparison with experience,
the forces are in one straight
is
therefore
necessary as a basis.
For the present we consider specially cases where the motion and
line.
The subject may be approached from different points of view, and the fundamental assumptions may consequently be framed in various ways, but the differences must of course be mainly formal, and must lead to the same results when applied to any actual dynamical problem. In the present Article, and the following one, two distinct systems are explained. Both systems start from the idea of force as a primary notion, but they differ as to the principles on which different forces are compared.
'
'
The
first
is
in each
case
that
embodied
in
it
is
compelled to
itf.
In other words,
is
This
law of
inertia.'
is
6.
t "Corpus
omne
in directum, nisi
quatenus illud a viribus impressis cogitur statum suum mutare." The law of inertia
18
DYNAMICS
[ll
Tho
first
purely terrestrial and local standpoint, and adopts the system of force-measurement, in terms of gravity, with which we are familiar
in
Statics.
The
physical
assumj^tion
now introduced
It
is
that
produced in the same body when falling freely under its own It will be noted that the assumption here made is the gravity.
simplest that
altiiough its validity
we can frame consistent with the law of inertia, must rest of course not on its simplicity but
weight
'
on
its
It
'
'
and
the
'
gravity
of a body.
When we
weight
in the
W,' as determined
pressure which
ratio
it
when
at rest,
is
to
therefore in the
gramme,
it is
or
and by the standard pound or kilowhatever the unit is*. The 'weight' of a body is
like circumstances,
under
same
locality,
the same at
all
By
equal
the
'
gravity
'
is
meant the
supports
downward
to
upon
it.
This
is,
on statical principles,
its
the
pressure
when at rest, but is of course to be distinguished from it. It is known to vary somewhat with the latitude, and with altitude
above
sea-level.
It foll(jws
if
a be the
(i.e.
acceleration produced in a
a force equal to
by
This
is,
of Dynamics.
*
The sense
'
weight
it
'
is
is
of course
8.
See Art.
6]
19
The
force
whose weight
is
therefore
P = .
9
(2)
'
The
factor
W/g
is
inertia
'
of the body,
i.e.
it
when regarded as a measurable quality, by the term 'mass'; the mass of the body on
It
now
is
therefore W/g.
is
simple
and
straightforward,
and
observed
implied,
but
it
open
viz.
Hence if measurements made at different places are to be compared with accuracy, a correction on this account has to be applied.
also variable
The
surface
cent.,
and
this degree
of
vagueness
many
The
rely,
For
retained by engineers
But when,
is
as in
is
greater precision
becomes necessary either to express the results in terms of gravity at some particular station on the earth's surface which is taken as a standard, or to have recourse to some less arbitrary dynamical system, independent of terrestrial or other gravity. The latter procedure is clearly preferable, and in the application to questions of Astronomy almost essential. We
possible, it
desired and
system of force-measurement to
'
22
20
7.
F(n-
DYNAMICS
[ll
of Dynamics.
it
is convenient to appeal to a imagine that we have some means, independent of gi-avity, of applying a constant force, and of verifying its constancy, e.g. by a spring-dynamometer which is
We
stretched or deformed to a constant extent; but we do not presuppose any graduated scale by which different forces can be
compared numerically *
The
first
we may suppose
to be
established in this
way
is
amounts in equal
times.
same
This
is
'
inertia,'
Two bodies which acquire equal )r mass,' of the respective bodies. velocities in equal times, when acted upon by the same force, are regarded as dynamically equivalent, and their masses are said to be equal.' The standard, or unit, of mass must therefore be that of some particular piece of matter, chosen in the first instance arbitrarily, e.g. the standard pound or kilogramme. A body is said to have the mass m (where w is an integer) when it can be divided into m portions each of which is dynamically equivalent to the unit. Similarly, if a unit mass be subdivided into n dynamically equivalent pieces, the mass of each of these is said to be 1/n. It is evident that on these lines a complete scale of mass can be constructed, and that the mass of any body whatever can be indicated by a numerical quantity.
'
different bodies
The next statement is that the accelerations produced in by the same force are inversely proportional to the respective masses as above defined. If we introduce the term momentum to designate the product of the mass of a body into its velocity, we may say that a given force generates always the same momentum in the same time, whatever the body on which it
' '
acts.
* The course of the exposition is substantially that adopted by Maxwell in his Matter and Motion. The sequence of ideas is somewhat different from that of Newton, but this does not affect the final results.
7-8]
21
unit time is therefore un inand expresses all that is necessary to be known about the force, from the dynamical point of view. It is therefore conveniently taken as the measure of the force. The unit force on this reckoning is accordingly one which generates
variable characteristic of a force,
unit
momentum
is
This
called the
all
absolute
'
same
in all places
and at
times.
if
Hence
a which
it
F be
produces in a mass
is
via
It will
= F.
no mention
of gravity.
The
may be supposed
carried out in
sensible
;
some remote region of space where gravity is inan illustration used by Lord Kelvin, we may performed in a central spherical cavity in the imagine them to be Whatever the other inconveniences attendinterior of the earth.
or,
to adopt
of the experiments.
It
is
The
various
made cannot be
The most
striking verification
afforded
by
Newton's
8.
If
Law
of Gravitation.
Application to Gravity.
we apply
711
terrestrial gravity,
we
mass
is
expressed by
mg
momentum
Since the value of ^ at a given place is known to be the same for all bodies, it follows that the attractions of the earth on different
bodies are proportional to the respective masses.
Hence bodies
00
whicli
DYNAMICS
have
oqiuil
[ll
weights, as
tested
comparing masses.
viz.
the absolute and that the ratio of any two given forces has the same numerical may remark, indeed, that the value on either system.
We
viz.
ma = F,
and
(1)
Wa = Pcf
if
(2)
they are applied to the same problem, i is numerically equal to W, whilst F is the absolute measure of the gravity of a body whose mass is numerically equal to P, and is accordingly
For
equal to Pg.
we
by
most convenient for general application, and the equations of motion which we shall use will therefore be on the model of (1). If we adopt the foot, pound, and second as units of length, mass,
and time, the absolute unit of force will be such that acting for one second on a mass of one pound it generates a velocity of one
foot per second.
This unit
is
the
Since the year 1875 the centiand second have been generally adopted by physicists as fundamental units. The absolute unit of force on this system* is called the 'dyne.'
is falling
name
into disuse.
metre,
gramme,
is
an ounce
whilst the
(roughly) a milligramme.
all
notice of verbal
questions.
which the word 'force' has come to bear in Mechanics. It is perhaps unfortunate that some more technical term was not introduced instead of a word which in popular language has so
*
many
Usually referred
'
8-9]
23
different meanings*.
The usage
is
must be accepted.
There
is
much
word 'weight.'
In ordinary
employed in a great variety of senses. Thus it may mean the actual statical pressure which a body exerts on whatever is supporting it, as when we speak of the weight of a burden it may also mean (as in Art. 6) the ratio which this pressure bears to that exerted by a pound or a ton it is often
language this
'
'
used virtually in the sense of mass, as when we refer to the weight of a projectile when, again, we speak of the weight of
' '
'
'
is
that of
This
is
of course equal
above referred
precisely
to,
but
it.
is
it is
Unfortunately this
new and
some writers of eminence have sought to attach exclusively to the word weight in Mechanics. In the author's opinion it is best not to attempt
sense
is
that which
'
meaning of
so familiar a word,
but to
use
is
it
freely in
whatever sense
may be
'
no risk of misunderstanding. When there is danger of confusion, some other term such as mass,' or gravity,' may be employed to indicate precisely the sense which it is wished to convey.
'
9.
Impulse.
moving
in
Since
X
if
momentum
if
finitesimal time
is
Xht
h
Hence
imu)
instant
t,
we have
X8t,
{vis) is
with such combinations as vis matrix, vis acceleratrix, vis inertiae, of which the
first
is
'
force
'
modern
specialized sense.
24
DYNAMICS
[ll
'4'=^'
If
w be the abscissa of the particle measured from some fixed point in the line. Ave have u=dx/dt, and therefore
'4'=^
<')
The product X ht is called the 'impulse' of the force in the time St. The 'total' impulse in the interval from ^o to t^ is defined
as the time-integral
j'^Xdi
This
(3)
may be
structed with
as abscissa
and
as ordinate.
The impulse
ordinate.
t
is
by the
we
to
between the
and
we obtain
mUi
7nvQ=l Xdt
in
(4)
The increment
of the
momentum
any
interA'al
of time
is
The theory
discussion of
is
sufficiently illustrated in
elementary
treatises.
We
force
proceed to the
is
variable.
lO.
Simple-Harmonic Motion.
case of a particle attracted towards a fixed point
in the
The
is
line of motion,
impfjrtant, as typical of the most general case of a dynamical system of one degi-ee of freedom oscillating about a position of
stable equilibrium.
If
Avill
v
,
K denote
Kx,
be
The
d^r
"^-Sf
= -^>-
9-10]
If
25
we
n'=K/m.,
Ex.
3,
(2)
the solution
is,
as in Art.
.V
5,
or
(3) (4)
a,
e,
are arbitrary.
The motion
is
x and
doc/dt recurring
whenever nt
The
intervtU
^=7F=^-.v/(l)
is
<-^)
it
is
initial
'
and the
be
isochronous.'
The type
called a
'
of motion represented
by the formula
'
(4)
is
of great
;
it is
simple
'
vibration.
Its character
if
with
as
a,
Fig. 3.
a point
The
reciprocal
;
(/'27r)
complete vibrations
frequency
'
iu Acoustics,
2f)
DYNAMICS
[n
execute a vibration of the
(4)
of
Q on
a fixed dianieter
AOA'
t
will
above character.
point
To correspond with
the angle
AOQo =
e.
The
abscissa of
.(6)
;
thus
(7)
= na sin {)it + e) =
n.
FQ,
provided
PQ
be reckoned positive or negative according as it lies line AA'. This is otherwise evident on resolving
of
parallel to
OA.
is
The
the
'
called
amplitude
A OQ
initial
on the auxiliary
or
e,
circle
from
is
called the
'
phase.'
may
phase*.'
L^-O
ro
-ro
-2-0
10]
It appears
27
from (4) and (7) that both arc sine-curves, and that
maxima
or
minima
of the
where the amplitude The space-scale, which refers to is 1 cm. and the period 4 sees. the continuous curve, is shewn on the left, and the velocity-scale,
figure refers to a case
The annexed
The
come under
the spring
itself
Law of elasticity, and that the inertia of may be neglected in comparison with that of the
displaced vertically through a space
suspended body.
x from Kx is called into play, where K is a constant measuring what we may call the 'stiffness' of the particular spring. The equation of motion is
the body
is
When
^^ ^^
(1),
is
accordingly
(8)
r=27rV(m/Ar)
This increases with the mass m, but
of the stiffness K.
It is to
is
diminished by increase
however conveniently expressed in terms of the statical increase of length which is produced by the weight when hanging equilibrium. Denoting this increase by c, we have
result is
The
in
Kc mg,
so that the period
is
(9)
^-^V(i)
It will
<''
oscillation of
in
be seen presently (Art. 11) that this is the same as the period of a pendulum of length c. A similar mode of expression applies
analogous problems.
1V>V*^
many
T and
c,
we can
formula
9 = ^^^
but the method
spring.
If
is
(11)
to the
an addition m'
= 47r2(mi-|-m'),
KT.^ = -iiT-{in, +
m'),
(12)
2S
wliilst
DYNAMICS
from
(9),
[ll
Kci = )nig,
Aci^m^g,
{lo)
whoro
suspondoil
Tlie.se
equations lead to
4^,_-^
if
y 2 _ 7^,2
^j^)
^
^
Ex:
theory,
2. if
also
and V the volume displaced by the mass is p V. If the ship be depressed through a small space x, the buoyancy is increased hy gpA.v, in dynamical measure, where A denotes the Hence areii of the water-line section [S. 101]*.
If p denote the density of the water,
ship, its
pFg'=-.9pJ.r,
or
if
(15)
/i= VjA,
i.e.
h denotes the
mean depth
of immersion,
S+f--"
The
period
is
('<''
therefore
T=2n^ih/g),
the same as for a simple
(17)
h.
pendulum
of length
Ex.
3.
is
makes small
lateral
"
~"Ti
Fig. 6.
^7
If
we
to be so small
negligible
and assume the lateral displacement .v compared with the length I that the change of tension is a fraction of /', the restoring force is -iPxjU, whence
"*S=-^^?
approximately.
(')
The
is
solution
is
as in
(3),
provided
(19)
n^=4PI)nl;
,
therefore
ror mstance,
if
-|=V
cm.,
(-)
^=100
the period
*
'
is -071
sec,
thus
[.S".
means
'
10-11]
29
11.
The Pendulum.
oscillations of the
The small
rectilinear,
bob
but by a slight anticipation of principles to be later they may be brought under the present treatment.
A
light
mass m, suspended from a fixed point string or rod of length I, is supposed to make small
particle of
by a
oscillations
in
its
position
of
equilibrium.
string to
so
assume that the inclination 6 of the the vertical is never more than a few degrees,
particle,
viz.
We
Z(l cos^),
vertical
2^sin-^^,
is
small
quantity of the
may
therefore
be neglected.
tension
The
of the
component (P cos
6) of the
string
may
mg
of
same
degi'ee
of approxi-
P=>ng
Hence
if
(1)
particle,
we have
P sin = - mg ^
6'
(2)
^=
provided
n^
-'^--^'
^^^ (4)
= g/l
simple-hannonic, and
The
horizontal
is
motion
is
therefore
the
period
^=^-7
It is to be
(>
remembered that
since
it is
was reduced
any
be
u^,
initial
displacement
Ex.
3, for
in Art. 5,
=XoCos nt+
n
"
sin
?i^
(6)
30
Till' ratios x^jl
DYNAMICS
and
Uolnl
[n
small.
The
latter
condition requires, by
i.e.
(4),
the
initial
velocity
afiuired
to
by a particle
in
of the simple
pendulum
will
be discussed in
The
ideal simple
by a
fine
g^^irHIT^
(7)
The more
later.
The theory of the pendulum is important as leading to the most precise means of verifying that the acceleration of gravity at any given place is the same for all bodies, and consequently that the gi'avity of a body varies as its mass. If, without making any assumption on this point, we denote the gravity of the particle by G, the equation (2) is replaced by
7)1
Gj,
dtI
(8)
and the
pericxl of
a small oscillation
is
therefore
^=^-V'(l')
The
('xperimental feet, observed
()
confirmed by more refined appliances, that for pendulums of the same length the period is independent of the mass or material of the bob, shews that the ratio G/vi is at the same place the
same
Constant
a particle
is
Art.
10,
11-12]
31
A"",
extraneous or 'disturbing' force whose accelerative effect the equation of motion takes the form
^'+n^^ = X
Thus,
if
(1)
acceleration /,
we have
^+=^'=/
(2)
We may
is
'
,^(,c
"-
f x
n-
=A cos nt + B sm nt
the
(4)
The
the
interpretation
is
that
harmonic
oscillation of arbitrary
amplitude and
initial
phase about
27r//i
new equilibrium
position {x =flr^\
The period
of this
oscillation is the
same
Ex.
on by a constant
disturbing force for one-sixth of a period, that the force then ceases for onesixth of a period,
and
is
Fig. 8.
Let
OA =fjn^i where
The
particle will
/ is
as a
new
position
of equilibrium, with
the
and the guiding point will therefore begin to describe a circle about A, starting from 0. After one-sixth of a period it will be in the
32
position
(J,
DYNAMICS
[ll
.such that the angle OA(^ = \n, and the vil.rating particle will be at P, the mid-point of OA. Since, by hypothesis, the disturbing therefore describe a circle about 0, force now ce<xses, the guiding point will proceed to Since AOQ =l7r, the particle initial velocity is n PQ. starting at Q since the
.
at
.1.
Hence
if
now
a period arrive with zero velocity applied again, the particle will
remain at
rest at A.
This example illustrates a rule devised by Gauss for applying the current an inidaniped tangent galvanometer. It is assumed that the deflections are so small that the restoring couple on the needle can be taken as proportional
in
by the
The needle
it is then interrvipted mitil the one-half the estimated equilibrium vali;e If the estimated deflection needle comes to rest, and finally applied again.
at rest.
is
were correct, and the operations exactly performed, the needle would remain In practice these conditions camiot be exactly fulfilled, and the result
But that the needle finally oscillates about the new equililirium position. is small, this position can be determined with great accuracy.
13.
X ^fcosjJt,
inquire
(1)
where the vahie of p is given. To solve the equation, we may what extraneous force is necessary to maintain a simpleharmonic motion of the prescribed period 27r/p, say
x=^
Substituting in Art. 12 (1)
C cos pt
find
(2)
we
(3)
{n^-p^)C=^f.
(4)
'
The given
maintain the
forced
'
oscillation
= x,_
To
this value of
cos pt
n'p"^
(5)
cos nt
+ B sin nt,
12-13]
33
they represent
free
'
oscilhxtions
We
X=
f
n-
p^
cos pt
+A
cos nt
+ B sin
nt,
(6)
The
same period
l-n-jp
as the
disturbing force.
phase
is
p$
n,
we have
jo
= 0, and
the dis-
a steady force equal in magnitude to the instantaneous value of Borrowing a term from the theory of the Tides, the actual force.
we may
call this
the statical or
it
'
equilibrium
'
placement.
Denoting
by x we have
a:
=^
cos pt
oscillation,
(7)
n-
Hence
for
^=f=iv.^^
As p
period
is
^^>
increases from
0,
increases, until
when p
is
nearly equal to n,
it
becomes very
before this cease to be applicable, as inconsistent with the fundamental assumption as to the smallness of x on which the approximation was based. It may be added that frictional forces,
may
may
also
become
but we have already an indication that a vibration of abnormal amplitude may occur whenever there is approximate coincidence
This phenomenon, between the free and the forced periods. which is incident to all vibrating systems, is known as resonance/ the term being borrowed from Acoustics, where illustrations of the
'
and conspicuous.
3
34
DYNAMICS
[n
preceding method
In the case of exact coincidence between the two periods the fails, but the difficulty is resolved if we examine limiting form of the solution (6) for p^n, when the constants the
A,
initial conditions.
If
we
have
x = Xq, x=Uo,
for
= 0, we
find
A +
whence
x = Xa COS nt
u +n
.
nB = Uo,
nt+ - f
n
p.
(9)
sin
(cos pt
cos nt).
...(10)
The
last
term
may
n+p
p > n we have
X
h{n-p)t
^'
Hence
for
= *o cos nt +
n
sin
nt-V~~ sin nt In
(11)
The
last
For a
is
If
critical value,
its
forced oscillation
reversed,
and
amplitude con-
tinually diminishes.
case
The preceding theory may be illustrated by the of a pendulum whose point of suspension is moved horizontally to and fro in a given manner. It
is
assumed that the conditions are such that the inclination of the string to the vertical is always small.
If ^ denote the displacement of the point of suspension, and x that of the bob, fi-om a fixed vertical
line,
we have
d'^x
.(12)
I
or, \{n-
= gll,
as in Art. 11,
Fig.
9.
d^
dt'
+ n'^x = n^^.
.(13)
13]
35
This equation
fixed
is the same as if the upper end of the string were and the bob were acted on by a horizontal force whose
accelerative effect
If the
is
71-^.
a cos pt,
(14)
the solution
oscillation is
is
as in (5), with
is
prescribed period
that of a
= gll',
V,
i.e.
the
the forced
X=~
71'
p- cos ^pt
T, L
i^
t.
.(15)
This result
cases
is
illustrated
for
the two
where
spectively.
q
I,
as if suspended from
point, the distance
to
/'.
as a fixed
CP
being equal
is
/i\
/
i
The
solution (15)
in fact
The displacement
of suspension
is
given by
.(16)
^'
- ^=
a
This has
the
theory of
the motion
seismographs,
of instrvinicnts devised
an earthEvery seismograph is virtually equivalent to a pendulum, and its indications depend on the relative motion,
of the earth's surface diu'ing
quake.
moves with the support. If p be large compared with n, or V small compared with ^, the relative displacement is -^, approximately, the 'bob' being nearly at rest. Hence vibrations which are comparatively rapid are all recorded on the same scale. For this reason the free period of the
* This illustration is due to Thomas Young [S. 137], who investigated in an elementary manner the theory of free and forced oscillations, and applied it to the theory of the tides, where the question of inversion of phase, in cases where the free period is longer
force, is of great
theoretical importance.
32
36
seismogi-aph
is
DYNAMICS
made
long, 15 or 20 seconds being a
[n
common amount. The by the free vibrations which are set record is however hable to be confused up and for this reason damping appliances are introduced. See Chap. xii.
;
14.
The
^+
ing
force,
rra^=f(t),
(1)
may
'
'
variation
of parameters
If at time t the disturbing force were to cease, the particle would proceed to execute a simple-harmonic vibration
x'
=A
cos nt'
+ B sin nt',
The
coefficients
(2)
t,
where
t'
in
and B are = t, the displacement and the determined by the fact that when t' velocity given by the formula (2) must coincide with those which In other words we obtain at that instant in the actual motion. must have
this hypothetical free vibration.
A cos nt + B sin nt = x,
and
(3)
('^)
nA
sin
7it
+ nB cos yit = ^Y
>
where x and dx/dt refer to the actual motion. The coefficients A and B are determined as functions of the time t, at which the disturbing force is imagined to cease, by the equations just written
Hence
differentiating (3),
we have
dx
-TT
dt
= -jT COS
dt
dA
7it
+ -rrsmnt uA sm
.
dB
dt
7it
dA
Again, differentiating
d'x -J"f"
(4),
,
-jr cos nt
dB ^ + -T-sm)it = ^
.
(5)
= n-A
cos nt
^j, n-B sm
.
nt
dt
dt
dA
dt
dB
dt
13-14]
37
whence
(6)
= -^^f(t)smnt,
dA
1
J,,-.
.
dB 1 ... -^ = -f(t)cosnt,
^
.^.
(7)
whence
A=
1/(0
^in nt dt,
B=-
f{t) cos nt
dt.
.(H)
The formula
with the values of
a:
=A
coh nt
+ B sin nt,
(8),
(9)
and
given by
aimed
at.
It
may
easily
be verified by differentiation.
and
are zero.
i'orce
f(t) be sensible
may be
to be
taken to be
00
oo
For values of t, again, which are subforce, the upper limit may be taken
The
effect of
is
a velocity Ui,
of course given
= sin nt
n
finite interval of time,
(10) '
If the
the amplitude of
less,
same
To
illustrate this,
ff^'i^)
It is true that the disturbing force has
(")
definite beginning or ending,
t,
now no
but when
is
whether
it
be positive or
The
chosen so as to
make
f{t)dt = ui /:'
(12)
The graph
38
DYNAMICS
have now*
I
f{t)su\7itdt = 0,
is
[ll
We
..
.(13)
The
residual vibration
therefore
a;=^e-''^iimnt
(14)
The impulse is more diffused the larger the value of r how this affects the amplitude. The effect is greater,
the greater the natural frequency (/27r) of vibration.
15.
The
the distance
of the motion of a
unstable equilibrium.
The equation
of motion
now
of the form
^^>
^=
The
solution
is,
^'^
as in Art.
5,
Ex.
4,
x = Ae''^-rBe-''\
where A,
(2)
are arbitrary.
^4.
= 0,
in
= 0);
The
solution (2)
An example is supplied by an inverted pendulum (the string being replaced by a light rigid rod). If x be the horizontal
displacement from the position of unstable equilibrium, the thrust in the rod is initially mg, where is the mass of the bob, and its
component
The
of the
The first integral vanishes by the cancelling of positive and negative elements same absolute value. The second depends on the formula
/""
cos ax
x^ + b^
IT
2b
which
is
14-16]
39
16.
If a
motion
is
dx
where
fi
cc^'
Integrating
with respect to
we have
W=
w=
for
-^
(^-
(2)
c,
we must have
x = c, and therefore C =
fi/c.
Hence
<'>
^'Ml-D
If c be very great this tends to the form
^^^
= ^,
is
(4)
called
to the position x.
We may
be
ga-jx"^,
where a
is
Hence, putting
/a
= gd-,
we
u-^^S^'-
(5)
would
(if
\/(2ga),
i.e.
it is
its
surface value.
is
If
we put a =
to
6"38 X lO^cm.,
= 981
found
40
Returning
to the
DYNAMICS
[n
find
more general case, it may be required to From (3) we have the time of arriving at any given position. dx
dt
\2/jb(c
x)
.(6)
is
'V
ca;
To
integrate this
we may put
x c cos6,
(7)
c to 0.
This makes
2cos2^'^^
dt or
.(8)
dd
t
v
=
|^).(l+cos2^),
(9)
whence
('-y(^ + sin6'cos(9),
if
(10)
t
the origin of ^
be taken at
t
=
x.
for
= 0.
This determines
and therefore of
(7),
The
substitution
geometrically as follows.
a circle on
OA
and the result (10), may be interpreted If A be the starting point, we describe as diameter, and
PQ corresponding
of the particle.
any position
6 denote
If
the
angle
AOQ, we
have
OP = OQ cos = 0^cos^^,
6*
in
agreement with
(7).
Also the
area
AOQ
included between
OA,
AQ
is
easily seen
Fig. 11.
be
ic'-
(6
By comparison with (10) it appears that the area increases uniformly with the time, the rate per unit time being \/(iy^c)*
AOQ
It appears also
Newton, Principia,
prop, xxxii.
16-17]
41
be properly
Fig. 12.
If in (10)
origin, viz.
we put 6 =
hir,
of arrival at the
'=V(I:)
This
^">
may
force, viz.
t,=
(see Chap. x).
.(12)
We
have
= iV2 = -l77,
ti
.(13)
nearly.
arrested, it
For instance, if the orbital motion of the earth were would fall into the sun in '177 of a year, or about
65 days.
17.
'
Work; Power.
'
force
acting on a particle,
8x, is
when the
an infinitesimal displacement
is
measured by
The coordinates
of a point
.r
in the
forms
=a
+ sin {2\f/
= a {1 + cos
2\(/)
if
42
;is
DYNAMICS
the directions of the force and the displacement are the
[n
same or
opposite.
To find the work done in a finite displacement, we form the sum of the amounts of work done in the various infinitesimal elements into which this may be resolved. The result is therefore of the nature of a definite integral,
gi-aphically
X
in
by means of a curve constructed with x as abscissa and The work done as ordinate. any displacement is repre-
value, pro-
in accord5.r
of
work
Fig. 13.
system
is
known
as the
'
erg,
certain multiple
(10'')
of
gi^avitational
units
such
as
the
common
use.
is is
employed
being done.
second
is
known
'
as a 'watt+.'
'
kilowatt
'
(= 1000 watts),
'
in use.
of British engineers is a
unit, the
'
75 kilo-
gramme-metres per second. Assuming that the foot is equivalent pound to 4536 gms., we have
to 30-48 cms.,
and the
-^' = 30-48
o
* Inf. Calc, Art. 99.
X 453-6 x 981
= 1356
10^.
+ After J. P. Joule (1818-89), who definitely established the relation between mechanical energy and heat.
17-18]
43
;
The foot-pound
is
or the joule
-7372
ft.-lbs.
Hence,
horse-power
kilowatt
^^^^ ^
^.3^^ ^
10- = -746.
18.
Equation of Energy.
return
We
viz.
now
-4'=^
Multiplying by u we have
(1)
du
mil
-r^
^ = Au,
at
The product
which
will
mu^
is
called the
'
appear presently.
Since
XBx
an infinitesimal displacement 8a;, the product by Xdxjdt measures the rate at which work is being done at the
the force in
instant
t.
The equation
at
energy
is
rate equal to
any instant increasing at a (positive or negative) that at which work is being done on the particle.
t,
we
any interval of time is equal to the work done on the particle in that interval. In symbols,
^ mui
(3)
where
u^, u^
respectively.
If the force
is
a definite function of
the integral
may be
replaced by
Xdx,
have now a and the conThe work applicable.
J Xi
where
x^, x^
We
constant,
and conservative,
of
to
ception
potential
required
44
DYNAMICS
[H
bring the particle from rest in some standard position (x^) to rest in any assigned position x, against the action of the field,
is
the
it
potential energy
'
way the transition be made, and is called corresponding to the position x. Denoting
by
V we
have
V=-rXda-=r''Xdx,
since
(4)
is
which we may
If
we
consider a
we have
8V=-XSx, dV
or
(5)
^ = -^ ax
(6)
rxdx=i'"'xdx+
'
Xi
X,
J Xo
v,
- k.
0)
forces
we
V.,,
i/nw22-4mMi^= Fior
i.e.
imwa^^ Fo = f?n?/i-+
the
Fi,
is
(9)
sum
of the kinetic
constant.
hand
equal
to
the
work
so
done.
energy of the
particle.
is
more
equal to the
moment
is
unnecessary.
18]
45
The quantity ^viu-+V, which we have termed the 'total amount of work which the particle
its
actual
and
jjosition
to
rest
'
in
the
'
standard
is
name energy
applied
to
it,
in the sense of
'energy of motion,' or 'kinetic energy,' or 'actual energy,' and energy of position,' or statical energy,' or potential energy,'
' '
respectively*.
Ex.
height
1.
a:
The
V=mff.v
(10)
Hence
gwi w^
+ 7)igx = const
its
(11)
Ex.
length
I
2.
to a length
The work required to stretch a helical spring fi-om l + x is, in the notation of Art. 10, Ex. 1,
natui-al
/
Hence
in the case of a
Kxdx = lKx^
(12)
(13)
X be measured downwards.
The equation
of energy is therefore
(14)
Ex. 3. If the variation of gravity with distance from the earth's centre be taken into account, the work required to bring a particle from the surfixce
to a distance
is
K=/;ff...=.,^(i-i)
if
(,5,
a denote the
radius.
The equation
^mu"
radial motion,
=const.
X
(16)
cf.
Art. 16.
The product
vufl
of G.
W.
Leibnitz (l(!46-171t))
The name
'actual
llaukine.
46
DYNAMICS
19.
[ll
their Dimensions.
Any scalar quiintity whatever can be specified by a number expressing the ratio which it bears to some standard or unit quantity of the same kind. This number will of course vary
inversely as the
'
system of Dynamics the fundamental units These may be fixed arbiare those of mass, length, and time.
In any absolute
trarily and independently, whilst all other units are derivative, and depend solely upon them. We denote their magnitudes by the symbols M, L, T, respectively.
We
3.
The
unit density
its
is
unit volume;
symbol
is
therefore Mj\J, or
ML~^
Its
symbol
is
is
M L/T,
M LT-\
momentum
per
MLT-l
The unit
of work, or of potential energy,
is
its
symbol
is
(ML/T2)xL,
or
MU/T^,
or
ML-T-^.
The unit of kinetic energy is the kinetic energy of unit mass moving with the unit velocity. Its symbol is M x ( L^T^), or
MLVT^
The
or
ML-T-^.
statics or Elasticity, is
an intensity of unit force per unit area. by ( M L/T^) -t- L-, or M/LT^, or ML-^T-^. Since a strain is a mere ratio, these are also the dimensions (in absolute measure) of coefficients of elasticity, such as Young's
It is therefore denoted
modulus*.
In any general dynamical equation, i.e. one which is to hold whatever system of absolute units be adopted, the dimensions of
* The numerical values given in Statics, Art. 138, are iu gravitational measure. They must be multiplied by g to reduce them to absolute measure.
19]
47
For otherwise a change in the fundamental units adopted would alter the numerical values of the various terms in different proportions. We have an illustration
of this point in the equation of energy (Art. 18), where the dimensions of kinetic energy and potential energy arc the same, viz. MLr/T". The principle is exceedingly useful as a check on
The
consideration of dimensions
is
as helping us to forecast, to
magnitudes involved in
result.
some extent, the manner in which the any particular problem will enter into the
For instance,
lation of a given
if
we assume that the period of a small oscilpendulum is a definite quantity, we see at once
as \/{ilg).
that
it
must vary
it
can possibly depend are the mass {m) of the bob, the length
of
the string, and the value of g at the place in question. And the above expression is the only combination of these symbols whose
{ix)
The dimensions
an acceleration, must be \JT~-. Hence if we assume that the time in question varies as c^/tt?, where p, q are indices to be
determined, the dimensions of the formula will be L^(L^T~-)^, or
LP+3y-2?,
p+
orp = |,
the ^
Sq
0,
-2q=l,
will vary as
\J{c^JiJb).
4-,
systems,
of similar
rf^^~^2'
*
^_
d?x'
/i'
/,
\
^2'
J.
B. Fourier (1708-
48
DYNAMICS
[n
which are supposed to relate to two particles falling independently into two distinct centres of force varying inversely as the square
Mass
19]
EXAMPLES
(of course) there is a suitable correspondence
49
between
and provided
The
t:t'^^j:-j,
(3)
where t, t' are any two con-esponding intervals of time, and x, x any two corresponding distances from the centres of force. As a particular case, if t^, ti be the times of falling into the centres
from rest at distances
c,
c,
respectively,
we have
(4)
t,:t,'
= ^^,:~
opposite page gives a list of the more kinds of magnitude which occur in Dynamics, with the important dimensions which they have on any absolute system. An ab-
The
table on the
breviated
mode
and
names
The
C.G.S.
units
are distinguished
by
italics.
EXAMPLES.
II.
;
1. A balloon whose virtual mass is is felling with acceleration f what amount of ballast must be thrown out of the car in order that it may have an upward acceleration/? (Neglect the frictional resistance of the air.)
[2Mf/{f+g).]
2.
hoi-izontal
it
m resting on
it will
fi.
a fixed horizontal
rest,
board gives
a velocity Uq
find the
time in which
be brought to
board
it
(of
mass M)
be set
rests
is
free to
move,
prove that
will not
in
is less
coefficient of friction
between
M+m
3.
'
^'
rifle
whose barrel
ft.
is
2^
ft.
1 oz.
weight
Also calculate (in hoi'se-power) the rate at which the gases are doing work on the bullet just before the latter leaves the muzzle, on the assumjition that
the pressure on the bullet
L. D.
is
[97G'G
710.]
50
DYNAMICS
[ll
tons, and R 4. If r be the tractive force in tons on a train weighing be the resistance, prove that the least time of travelling a distance s from
rest to rest is
\^\g- R{P-R)]'
and that the niaxiniuni velocity
is
R{P-R)\
y{^^
Work =1 mile.
5.
WF P = 21
tons,
1^=800
tons, fi
;
= 14 tons,
[4 min.
30 mile/hr.]
down a
track of inclina-
tion
a.
What
be
its
acceleration
down a track
of inclination
^(>a), on
the assumption that the frictional resistance bears the same ratio to the a) Fsin normal pressure in each case ?
L
6.
cos/3
^'
from a station a carriage is slipped from an express prove that if the carriage come to rest at the station the rest of the train will then be at a distance Mlj{Mm) beyond the station, and ra being the masses of the whole train and the carriage. (Assume that the pull of the engine is constant, and that the resistance on any j^ortion is
At
a distance
its
weight.)
moving
under a constant
is
where
Ui
?<2
and
final velocities.
the interval, but less than the kinetic energy of the particle
when half-way
between
8.
its initial
and
final positions.
mass of 1 lb. is struck by a hammer which gives it a velocity of Find the greatest pressure exerted during the impact, on the supposition that the pressure increases at a constant rate from zero to a maximum, and then falls at a constant rate from this maximum to zero, the
1 ft. /sec.
sec.
[62| lbs.]
If a curve be constructed with the kinetic energy of a particle as 9. ordinate and the space described as abscissa, the force is represented by the gradient of the curve.
10.
If
work be done on a
particle at a
x from
EXAMPLES
51
Two trains of equal mass are being drawn along smooth level lines 11. by engines, one of which exerts a constant pull, while the other works at Prove that if they have equal velocities at two different a constant rate.
second train will describe the greater space in the interval between these instants, and that they are working at equal rates at the
instants, the
EXAMPLES.
1.
III.
&c.)
>^;
horizontal shelf
sec.
is
motion, of period ^
What
;_,-,\
m
j.
"^"^
may
[2"4 in.]
^P
.^^
A
I,
which is initially at rest, for a time ti, the amplitude of the subsequent oscillation is
length
then ceases.
vv*'-'
Prove that
'^'*
"~
2/
.,
sni
n^
nti
effect of
7i
= J(g/l).
it under gravity alone would be about 208 miles
'^
'
Prove that
if
and that
its
maximum
velocity
per hour.
4.
i^-^
mass of 5
1 inch.
lbs.
hangs from a
sees.
helical spring,
and
if
is
observed to
make
Find
an additional mass of
[56-03
;
-047 sec]
is
mass Jf hangs by a
helical spring
and when
If
be made to
oscillation
M.
What
and a period of h sec, find the amplitude of the forced is the relation between the phases of If and ?
;
6. A hydrometer floats upright in liquid its displacement is 30 cm.^, and the diameter of its stem is '8 cm. Prove that the time of a small vertical
Prove that in simple-harmonic motion if the and the initial velocity Uq, the amplitude will be
initial disjjlacement
be
and the
initial
phase
-tan-
42
52
8.
DYNAMICS
[ll
Prove that, in siniple-harmoiiic motion, if the velocity be instantaneously altered from v tov + 8v the changes of amplitude (a) and phase (cf)) are given
8a=
9.
sni
d),
0(b=
na
cos m.
mean
kinetic
velocity of the
11.
Prove that in a half-swing of a pendulum from rest to rest the mean bob is -637 of the maximum velocity.
A
;
surface
oscillate 12.
pendulum is taken to an altitude of one mile above the earth's by what fraction must its length be diminished in order that it may in the same period as before 1 [sooo-l
from a fixed point by a string 100
Also,
ft.
A weight hangs
long.
If
it
be
2-^ ft./sec,
how
ft.
;
far will it
will it
take to describe
1-71 sec]
2|
ft.?
[4-42
A simple pendulum hangs from the roof of a railway carriage and 13. remains vertical while the train is running smoothly at 30 miles an hour. When the brakes are put on, the pendulum swings through an angle of 3.
Prove that the train will come to rest in about 385 yards, the resistance
being assumed constant.
14.
I,
A mass
i/,
and
sectional area w,
makes
vertical oscillations
whose period
is
is T.
Prove
47rW
3a)K27'2'
where k is the radius of gyration of the cross-section about a horizontal line through its centre.
in absolute measure,
15.
A
I,
mass 1/
is
length
M he
suspended from the middle point of a horizontal bar of If the period of the vertical oscillations of
neglecting
its
inertia.
16. string whose ends are fixed is stretched with a tension P. Prove that the work required to produce a small lateral deflection x at a given point by a force applied there is
2ab
^^
'
where
a, b
is equal to the work required to produce the actual increase of length of the string against the tension P.
EXAMPLES
53
A particle m is attached to a light wire which is stretched tightly 17. between two fixed points with a tension P. If , h be the distances of the particle from the two ends, prove that the period of a small transverse
oscillation of in is
Prove that for a wire of given length the period middle point.
is
longest
when the
particle is disturbed
the motion.
given by
x= e
n
where Mj amount.
is
sm;,
EXAMPLES.
1.
I
IV.
A
if
particle
is
velocity
which would,
to a height h.
Prove
is
that
j
by h^l(a-k), where a
the
[earth's radius.
2.
A particle
is
is
y{j)-{H
fwhere a
3.
is
If
>f 1
mile per sec, find roughly the difterence between the heights
will
[attain, (1)
(2)
igravity varies inversely as the square of the distance from the earth's centre.
[r72
miles.]
54
4.
DYNAMICS
If a jiarticle fall to the earth
first
[n
of traversing the
nearly.
from rest at a great distance the times and second halves of this distance are as 9 to 2 very
If a particle moves in a straight line under a central attraction 5. varying inversely as the cube of the distance, prove that the space-time
curve
is
a conic.
is it
an
ellipse, parabola, or
is
hyperbola, respectively
repulsive.
A particle moves from rest at a distance a towards a centre of force 6. whose accelerative effect is /x/(dist.)3 prove that the time of falling in is
;
7.
Prove that the time of falling from rest at a distance a into a centre
of attractive force
whose accelerative
effect is
/x
x (dist.)" varies as
CHAPTER HI
TWO-DIMENSIONAL KINEMATICS
20.
The
Velocity.
total displacement
which a moving point undergoes in is of the nature of a vector, and is line drawn from the initial to the
line
obviously
drawn in the same sense. Successive displacements are compounded by the law of addition of vectors [S. 2].
is said to be constant, and may be by the vector which gives the displacement per unit
time.
To obtain a
respectively,
definition of
'
velocity
'
t-^ St,
St is
not as
Prothat
(1)
small.
U such
PU
PP'
St
The vector PU* then represents what we may call the 'mean
velocity
terval
'
St.
That
is
to say, a point
Fi-'. 14.
moving with a constant velocity equal to this would undergo the same displacement PP' in the same
*
interval
St.
If this interval
tlie
Roman
;
type
is
is
indicated by
1].
terminal letters of
a line
5()
DYNAMICS
[ill
be varied, the vector will assume different values, and if we imainne 8t to be diminished without limit, it will in all cases which it is necessary to consider tend to a definite limiting value
This limiting vector is adopted as the definition of the Briefly, the velocity of the moving point at the instant t.
PV.
is
the
mean
t.
velocity in an infinitely
Its direction
if s
is
that of
moreover,
some
fixed point on
it,
FP'
will
is
therefore given as to
-I
For purposes of
Cartesian coordinates of P, and x
^^)
may
be specified by means of their components referred to some system Thus if, in two dimensions, x, y denote the of coordinates.
hx,
hy those of
P',
the
projections of the vector PP' on the coordinate axes are hx, hy,
hj
u'
Hence the
jections of
'
if
'
component
velocities
at the instant
t,
i.e.
the pro-
PV
dx
di'
dy
^'^^
dt
These expressions shew that the component velocity parallel to either coordinate axis
is
The component
fluxional
velocities
denoted in the
X, y,
notation
s.
by
It
yjr
the
20]
TWO-DIMENSIONAL KINEMATICS
ot"
r)7
ot"
x,
the
component
velocities will
da;
be
yfr, '^
'
ds
c?i
ds
y ^
= dy ~ ds
>/r
ds
dt
= s sin 1^,
i'^)
whence
s-
= x- + y-,
tan
?//i;
(5)
FiK. 16.
Fig. 17.
The
the
in
5] of
moving point
relative to
0,
we may
write
(6)
OP =
and therefore
PP'
r,
0P'
=r+
8r,
= PO + OP' =
Sr
OF - OP = Sr.
is
The mean
therefore denoted
by
ar
and the velocity at the instant
t
is
expressed by
{-')
dr
Hence velocity may be defined as rate of change provided we understand the word 'change' to refer
increment.
li X, y denote the projections of
0,
of position,
to vectonal
OP
we have
r
= x\-\-y},
where
i,
Hence
(9)
V = r = ii + yj,
which shews (again) that the projections of v arc
x, y.
58
DYNAMICS
[III
Hodograph.
'
Acceleration.
as rate of change of as rate of change of
Just as velocity
position, so
velocity.
acceleration
Like velocity
it
is
magnitude.
If from a fixed point
vectors
OV
moving point
and
it is
evident from
the above analogy that this curve will play the same part in the
'
of velocity.
It is therefore con'/enient to
V in
hodograph
'
has been proposed for this purpose*, and has come into general use,
although
it
Fig. 18.
If
OV,
OV represent
If this change
is
V V,
is
which
is
specified
and this by the vector which gives the change of See Fig. 26, p. 75, where, on the right
hand,
*
OD
By
W.
Dublin 1827-05,
inventor of
tLie
Calculus of Quaternions.
21]
TWO-DIMENSIONAL KINEMATICS
In the general
case, if
59
veltjcities at
OV,
OV represent
VV'
"8t
the
the
instants
t,
t i- 8t,
the vector
gives
Bt
;
what may be
called the
'
mean
acceleration
'
in the interval
would
VV
in the
same
interval.
mean
t.'
acceleration tends
is
which
adopted as the
Its direction is
its
magnitude is For instance, in the case of a constant acceleration, the hodograph is a straight
that of the tangent to the hodogi'aph at V, and
If
we
the projections of
those of
OV
on the axes
8i', St/.
will
be denoted by
x, y,
and
VV accordingly by
The
projections of the
mean
Sx
It'
Sy
'Si'
i.e.
accelerations,'
t,
will
be
x,
or
,.
^
d^
dry
dt''
df
in the
They
OV = V,
and therefore
V = V + Sv,
V V = Sv.
The mean acceleration in the interval St is accordingly denoted by Sv/St, and the acceleration at the instant t by
dv
/o\
"^di^^
<-^
GO
Again, since
DYNAMICS
[ill
v = .H +
by Art. 20
(9),
y/j,
(3)
we have
a=
a;i
+ j/j
(4)
= V = a^ + b,
(5) (6)
= ^ af- + b^ + c,
b,
is
c are arbitrary.
a parabola.
way
restricted
The
forniulse
easily generalized
The
Let a point
P describe
we have
(7) (8)
.r^acos^,
where
y=asin^,
d^7it + f d;=
is
Hence
nasm6, y nacoaO,
at right angles to OP, and equal to na.
(9)
x=-n^a(ioii6= -n\x,
-nh/
is
(10)
-y
Let
represented
way
we have
cf),
= nt + (
Hence
i=-wasin0, y = H/jcos0
is
The
resultant velocity
s
therefore
(f)
(14)
be the semi-diameter conjugate to OP. The velocity is therefore represented by the vector n OD and the hodograph is (on a certain scale) coincident with the locus of B, i.e. with the ellipse itself.
if
;
OD
21-22]
Again
TWO-DIMENSIONAL KINEMATICS
.v= n-a
v(i(f)==
61
(1."))
n-.v,
i/
= irh ^in
harmonic'
cf)
= - n-j/
PO.
The
by the vector
n^.
called 'elliptic
It pi-osonts itself
from
22.
The
Relative Motion.
vector
PQ
P is of course the difference of the positionvectors of Q and P relative to any origin 0. Hence if P, Q be regarded as points in motion, the displacement of Q relative to P
relative to a point
in
displacements of
a fixed point
any interval of time will be the geometric difference of the Q and P. This follows at once from the theory of addition of vectors, but may be illustrated by a figure. If from
C we draw
lines
CM
PQ
in its
Fig. 19.
path of
relative
Hence
to
if
P,
Q and
positions of the
and equal
moving points, and if we draw CR, CR' parallel PQ, PQ' respectively, RR' will represent the relative displacement in the interval. But if we complete the parallelogram PP'SQ determined by PP' and PQ, the triangles CRR' and PSQ' will be congruent. Hence
QS = QQ' - PF,
it
appears
relative to
is
Q and
P.
And
we
62
In vector notation,
DYNAMICS
if r^,
r.^
[ill
by
B{r,-r,)
the relative velocity
is
= Br,-Br,;
(1)
^(r,-r,) = r.-f.;
and the
relative acceleration
is
(2)
it(''-''^='--''
placement are
(3>
dis-
Sx.-Sx,,
those of relative velocity are
% - %i
.V2- vi;
(4)
4-^1,
and those of
^2-^1,
(5)
As
point
in Art.
2,
it
which
is itself
in motion with
constant velocity
23.
Epicyclic Motion.
important illustration of relative motion
If a point
is
An
furnished by
describes a circle
path of
P is
called
an epicyclic'
'
The
will
coordinates of
through
=a
cos (nt
e),
= a sin
{nt
+ e),
(1)
where n
of this
is
circle.
Again,
if
X=
where a
+ e),
= a'
(2)
OQ' =
QP._
and
n' is
QP
or
OQ.
22-23]
Since
the coordinates of
TWO-DIMENSIONAL KINEMATICS
63
.
OP = OQ + QP = OQ + OQ',
.(3)
will
be
{nt
x = a cos
+ e) + a' cos {n't + e'),] y = a sin {nt + e) + a' sin {n't + e')./
.(4)
Fig. 20.
of a point
path of P may also be regarded as that which describes a circle relatively to Q', whilst Q'
and equal
to n, n, respectively.
sign,
is
i.e.
if
the
same
sense,
said
to
be
Fig. 21.
'
direct
'
it
is
said to be
if
'
retrograde.'
n,
It
will
two integers, but not otherwise. The annexed Fig. 21 shews two cases, corresponding to n = ^n' and n = Svi',
respectively.
64
DYNAMICS
[ill
two points which are describing concentric Thus, circles with constant angular velocities is also an epicyclic. in Fig. 20, the vector QQ' is the geometric difference of OQ' and
The
relative orbit of
OQ, and
its
or (what
tt.
comes to the
by
For example, if we neglect the eccentricities of the planetary orbits, and their inclinations to the plane of the ecliptic, the path The of any planet relative to the earth will be an epicyclic.
relative orbits
have
loops,
resembling the
first
that the motion of a planet as se-^n from the earth, and projected
on the sky, will appear to be arrested and reversed at regular This is the explanation of the stationary points and intervals.
'
'
'retrograde
motions' which
are
so
marked a
feature
of the
24.
The
the
same straight
to
evident
or
from the
n are equal, and have the same two component vibrations have the same period. The angle QOQ' in Fig. 20 is constant the path of P is circular and the resultant vibration is simple-harmonic of the same period.
If the angular velocities n,
sense, the
; ;
But if n, '// are unequal, the angle QOQ' will assume all values, and the length of OP will oscillate between the limits a a. In Lord Kelvin's 'tidal clock,' the parallelogram OQPQ' consists of
jointed rods, and the
'
hands
'
Their lengths being proportional to the amplitudes of the lunar and solar semidiurnal tides, the projection of on a straight line through will
made
of epicyclics, by
Ptolemy
of Alexandria
(d. A.D.
'
23-24]
TWO-DIMENSIONAL KINEMATICS
n, n'
65
the angle
lution of
QOQ'
and the resultant vibration may be described, a simple-harmonic vibration whose amplitude somewhat fluctuates between the limits a a'. The period of this fluctuation is the interval in which one arm gains or loses four right angles, relatively to the other, and is therefore 27r/(n n'). In other
or OQ',
loosely, as
OQ
difference
As an
and
'
illustration
'
we may
'
spring
which occur when the phases of the lunar and solar semi-diurnal components are respectively coincident or opposed. In Acoustics we have the phenomenon of beats between two simple tones of nearly the same pitch. neap
tides,
' '
The annexed
a = 2a',
9?i
lOn.
Fig. 22.
The
tudes
a,
a of the primary vibrations are equal. and 2a. the resultant then varies between
Analytically,
The amplitude
of
we have
xa
cos ^ + a'cos
(,
6',
(1)
f'.
where
6 = nt +
d'
= n't +
(2)
Hence
o:
If
we put
r sin
this
(f)
,..
may
L.
be written
(5)
60
the values of
/
DYNAMICS
iiiul
[ill
being given by
r-
= a- + 2aa'i:0ii{d-d') + a"-,
(6)
tan<i = ^^'tan^(^-^')
(7)
If 11 and n' are nearly equal, the formula (5) may be regarded as representing a simple-harmonic vibration whose amplitude r varies slowly between a + a' and a a', whilst there is also a slow variation of phase. The
EXAMPLES.
1.
V.
a speed
ship is approaching a port at speed % and another is leaving it at the courses being straight and making an angle a with one another. Prove that when the distance between them is least their distances from the
One
v,
port are as
y + i/jcosa
2.
:
?(+vcosa.
is 8 knots be steered N.N.E. direction, there being be the time required ? [9 8' E. of N. 85| min.]
;
3.
^Vhen a steamer
is
find the
if
the vane
is
to point E.
steamer
;
is
points N.N.E.
N.N.W.
from what
;
[N.W.
10 knots.]
direction
Q be two points on the spokes of a carriage wheel, find the and magnitude of the velocity of Q relative to P, having given the radius a of the wheel and the speed ?i of the carriage.
If I\
6.
descrii)tion,
po.sition of
Having given the hodograph of a moving point, and the law of its shew how to find the path. What is the effect of a change in the
the pole
?
If the
hodograph
l)e
is
a trochoidal curve.
boat is impelled across a stream with a constant velocity relatively 7. to the water, this velocity being equal to that of the stream. Prove that if it be steered towards a fixed point on the bank, its path will be a parabola having
this point as focus,
will
parabola.
..
EXAMPLES
8.
G7
path
is
_a(sin^^)-i
Examine the
9.
cases of
<!
and n>l,
respectively.
23, the velocity at
any point of an
epicylic is
10.
Prove
an
when
,,
7
is
na'^+H'a"-
{n
+ n')aa'
fz
a, a'.
is
of the
if
an epicyclic
r
})ass
through the
equation
= a cos md,
is
where
point subject to an acceleration which is constant in magnitude and direction passes through three points Pj, P^, Pz at the instants <i, t^i t.^, respectively. Prove that the acceleration is represented as to direction and
m^ A 12.
direct or retrograde.
2(P2P3.^1+P3Pl.^2+PlP2.g
{h-h){h-h){h-h)
13.
point has
-am
acceleration which
is
direction.
Prove that
its
is
x=v
cos
\|/',
^ = V sin
\|/'
is
made up
of a
com-
ponent dvjdt along the tangent and a component vdi^ldt towards the centre of
curvature.
15.
that in polar coordinates the component velocities along and at right singles to
the radius vector are
r,
r0,
in the
same
directions are
68
16.
DYNAMICS
Prove that
line,
[III
the same
if two .simplo-harnionic vibrations of the same period, in whose amplitudes are a, b, and whose phase differs by t, be
is
V(aH2a6cose + 62).
17.
Prove that an
is
ci)icyclic in
and
opposite
18.
an
ellipse.
The ends
P,
move on two
straight lines
OA, and
OB
If the velocity of
is
be constant,
at right angles to
OA
from OA.
velocity
19.
reel,
string
is
w from a
fixed
the free portion being kept taut in a plane perpendicular to the axis.
to
Prove that the acceleration of the end P of the string is along PR and equal o)^ PR, where R is on the radius vector through the jjoint of contact, at
.
CHAPTER
IV
Dynamical Principle.
momentum
'
of a particle
is
the product
is
of"
the mass,
therefore to be
and
to
direction.
The hodogi-aph
on the
of the particle
scale,
may
in fact
be used
the
represent,
appropriate
the variations in
momentum.
The change of momentum in any interval of time is that momentum which must be compounded by geometrical addition with the initial momentum in order to produce the final momen' '
tum.
initial
In other words
it is
momenta.
'
The
vector.
impulse
'
of a force in
;
any
The
'
total,'
or
'
integral,'
impulse in any
finite interval is
the geometric
Zt of
sum
the same
It asserts that
change of
momentum
is
system of force-measurement be adopted. This is, as before, a physical postulate which can only be justified by a comparison of theoretical results with experience.
the impulse
the
absolute
It is a
70
DYNAMICS
[IV
whether the interval of time considered be finite or infinitesimal the statement in either form involves the other as a consequence.
It
is,
when two
or
more
forces act
simultani'ously, the
interval 8t
changes of
due
to the several
and the results combined by geometrical addition to obtain the Since the changes of momentum actual change of momentum. due to the several forces are in the directions of these forces, and proportional to them, it follows that the actual change of momentum is the same as would be produced by a single force which is
the geometric
sum
which
If
is
known
in Statics as the
'
polygon of
forces.'
m be the
mass of the
particle,
it,
its velocity,
the geometric
sum
we
(mv)
= F8t,
(1)
or
m--^ = P
we have
"Pdt,
viv.,-viVi=j
where the
definite integral is to
(2)
sum
The form
(2)
Law of Motion*.
we have
(3) (4)
v = r,
and therefore
mr = P
two arbitrary
The
vectors,
initial conditions as to
vi
motrici
impressae,
et
fieri
proportional to the impressed force [impulse], the straight line in which that force is impressed.
25-26]
71
26.
For purposes of calculation some system of coordinates Considering (for simplicity) the case of motion two dimensions, and using Cartesian coordinates (rectangular oblique), let us denote by u, v the components of the velocity The components the instant t, and by X, Y those of the force. momentum will therefore be 7nu, mv, and those of the change
necessary.
is
in
or
at
of
of
momentum
The compo-
we must have
B{mv)=Y8t,
(1)
B{mu)^XSt,
"'dt=^'
^"^^^
the equations
o(i^
^'
'''di=^dy
(2>
,-,
rf^'
^'=i'
('^^
may be
written
The
given
will
may be
adjusted to satisfy
the values of
The extension
to three dimensions,
a,
Ex. A particle slides up a line of greatest under gravity and the reaction of the plane.
If the axis of
sloix;
on a plane of inclination
axis of y
and the
X=-mgHma F, T=
where
Since,
niff
COS a + R,
(.'))
E and R are the tangential and normal components of the by hypothesis, y = 0, we have
R = mg cos a,
reaction.
(6)
and
If the plane be
-j\
= -mgama-F.
F=0, and
the retardation
is
(7)
smooth, we have
sin
a.
If the
72
plane be rough,
retardation
is
DYNAMICS
we have F^fiR, on the usual law
,
[IV
of friction,
and the
5f(sina+/iC0,sa)=^
f
sin(a + X)
^^^Y^
W
,Qv
27.
Motion
of a Projectile.
is
to
the
y be drawn
not,
whether the
axis of
X be horizontal or
we have
(1)
and therefore
Integrating,
X-0, Y^-mg, ^ = 0, y = g
find
(2)
we
A,
-gt-\-B,
(3)
(4)
where A, B,
C,
= 0.
We
have then
A=Uo,
whence
x=
Eliminating
t
B=Vo,
x=
Uq,
C=0,
Vo
D = 0,
(5) (6)
y=
gt,
Uot,
y = Vot-^gf
of the path, viz.
(7)
is vertical.
moment we
horizontal,
we have
y
v^
= 0,
and therefore
(9)
= Uot,
y
= -yt',
x-
whence
-f
(10)
26-27]
73
the (constant)
t,
The latus-rectum
is
horizontal velocity.
q-
Also
if
= A- + y- =
+ ft- =
Uo-
2gu
(U
.(12)
If
we put
2/=2^-.'y.
we have
(13)
2gy'
is
Hence the
by a
directrix.
velocity at
falling
any point
vertically
particle
We
(7),
is
any point
o
Fig. 28.
of y
is
we put y =
0,
,^2.
9
_^_2^
9
This gives the range on an inclined plane, and the corresponding time of flight, if the axis of x be taken along the plane. If a be
the inclination of the plane to the horizontal the initial velocity
(^0,
say)
is
given by
q^-
fio"
+ 2iiVo sin
vj"
(15)
(16)
we
i.e.
see that if
g-o
be
fixed,
when
u^,
Vo,
when the
74
line of slope of the plane
DYNAMICS
and the
vertical.
[IV
and
(16),
q^'
(7(1
.(17)
sino()"
If
we
denote- this
by
r,
and write
^
= ^7r-a,
I
= <h'lg,
(18)
.(19)
is
we have
This
is
cos
at the
the vertical
as initial
line.
It
limits
origin,
q^jg it touches at the vertex the See Fig. 25. directrix of the various parabolic paths.
the semi-latus-rectum
common
These results also follow very simply from a geometrical construction. from a given point P be given, the common Hence if PA be drawn perpendirectrix of all the parabolic paths is fixed. dicular to this directrix, the foci will lie on the circle described with P as
If the velocity of i)rojection
centre and
is
PA
as radius.
If the path
and
QB
must
also lie
on the
having
Q as
S,
If the
two
tersections
S'
are
the
possible
There are in this case two possible ]jaths from P to Q, and the corresponding directions of
positions of the focus.
projection
from
bisect
the angles
Fig. 24.
APS, APS',
respectivel}'.
If the circles
is
two paths
is
is
then just within range from P it is in fact a point on the envelope of the various parabolas through P having the given directrix. If \vc produce PA to X, making AX=PA, and also
at the point of contact S.
The
point
l)roduce
QB
to
line
through
X in i/,
wc have
(20)
PQ = PS+SQ = PA + QB=QM,
and the
enveloi)e
is
P as
focus and
as vertex, as
27]
DYNAMICS
IN
TWO DIMENSIONS
75
Since the change of velocity per unit time is in the dirrction of the downward vertical, and of constant amount, the hodograph
Fig. 25.
(Art.
21)
is
a vertical
straight
line
described
26,
with constant
velocities
velocity (g).
This
is
illustrated
by Fig.
where the
are
shewn
Fig. 26.
r=g,
.(21)
7U
DYNAMICS
is
[IV
where g
time.
Hence
v=
r
= g^ +
b,
(22) (23)
= ^gt' + ht + c,
;
initial velocity
they denote in fact the where the vectors b, c are arbitrary and the initial position relative to the origin of r. The equation (22) shews the rectilinear character of the hodograph.
28.
Elliptic-Harmonic Motion.
particle
is
as the
distance.
The
/m
.
acceleration
in
is
any
the
will
PO, where
/x
Hence,
x,
motion, the
be
fxx, fxy,
where
y are
Hence
^=-^^'
J = -^^
Putting
<1^
(2)
we have
x= where the
If
.(3)
we choose the
at
we have
(4)
A=a,
If,
G=
(say),
further,
the axis
this
motion at
the direction of
for
t
= 0,
whence
B = 0,
x
jiD=Vo
(5)
= acosnt,
b
= b sin nt,
(6) (7)
where
= Vo/n
27-28]
Eliminating
t
77
we obtain
-T.
a-
yT,
i,
.(8)
0-
which
is
diameters.
may be
regarded
as the starting point, the tbrmula (7) shews that the velocity at
any point
is
{OD, say)
conjugate to
OP (cf Art.
we
X,
Fipr. 27.
eccentric angle
'
of
is
that this
swept over by corresponding radii of an ellipse and its auxiliary circle are in a constant ratio, the above statement is equivalent
to this, that the radius vector
OP
in
equal times.
is
The
peiiod
of a complete revolution of
is
^^27r^27r
.(9)
and
is
78
DYNAMICS
[IV
The
solution in vectors
is
very compact.
r
We
have
(10)
(11)
= -?i^-r,
nt
and therefore
where the vectors
ellipse
;
r
a,
= a cos
+ h sin nt,
This
is
b
r
are arbitrary.
^
the equation of an
a,
= 0, we have v = nf = ?ib
and
(7).
(12)
These
Ex.
To
paths described by
diflFerent particles
P in
;
same
velocity.
OF
is
detei-minatc in length
is give^i, the semidiameter {OD) conjugate and the sum of the squares of the principal
Fig. 28.
OP^ + OB'^,
is
therefore the
same
have the same director-circle (locus of intersection of j)erpendicular tangents). If the tangent at P to any one of the orbits meets this circle at T, the perpendicular TQT' to PT at T will also touch this orbit. If Q be the point of contact, OT will bisect PQ (in V, say), and will therefore be parallel to PQ, where P' is the point on the orbit opposite
orbits
to P.
Hence
PQ + P'Q = 2TV+20V=20T=AA'.
Moreover, since
described on
PQ
and
PQ
TT.
are parallel to
respectively, they
The
the ellipse
is
AA'
This ellipse
therefore
28-29]
DYNAMICS
IN
TWO DIMENSIONS
Blackburn's Pendulum.
'
79
29.
Spherical Pendulum.
of the bob of a
The motion
spherical pendulum,'
i.e.
of a
is
the n^ass of
is
The
is
therefore
The preceding
is
investigation therefore
applies, with
ellipse,
= gjl.
The path
approximately a horizontal
=^V:\
The above problem
oscillations
is
^''
a smooth spherical bowl, in the neighbourhood of the lowest point, the normal reaction of the bowl playing the same part as the tension of the string.
of
particle
GP
from
If
AGB whose
ends A,
are fixed.
we
will
plane with A, B,
make
plane through
AB,
oscillates at
EP, where
which
is
is
the point of
AB
vertically
librium position of P.
in the aforesaid planes,
and
f = glGP, t = glEP,
*
at
Glasgow 1849-79.
80
DYNAMICS
[IV
d-y
.o\
Again,
it is
will
y,
may
be taken to hold when displacements of both types are superposed. Hence we have, for the most general small motion of the bob,
x=
A-i
cos pt
+ A sin pt,
.(4)
name
of Lissajous*,
who
studied
them
in great detail
2'rr/q
are com-
mensurable, the values of x and y in (4) will both recur whenever t increases by the least common multiple of these periods, and the
curves are accordingly re-entrant.
optical
The equations
If
we
consider the
it is
known from
Geometry that the curvature at this point is a maximum and a minimum, respectively, for two definite sections
Solid
at right angles to one another. If the particle oscillates in one of these planes, the period will be that of a simple pendulum of length equal to the corresponding
radius of curvature.
If
it
oscillate
in
we put
(5)
f=g/R,,
where R^, R. are the two
t = glR,,
* J. A. Lissajous, Etude optique des moxivevients vibratoires, 1873. t The locus of the point F in Blackburn's pendulum is an 'anchor ring' generated by the revolution of a circle with centre C and radius CP about the
line
AB.
29-30]
81
30.
Equation of Energy.
of Art. 26,
viz.
tZy
du
hold, as has
S = ^'
to
'"s =
^'
*^>
we assume
the axes
be rectangular.
If
add,
we multiply we obtain
u, v, respectively,
and
du
dv\
(3)
j^.i,u(a-
= u^4-v%
is
(4)
(ii-
-\-
v")
Again, the work done by the force (X, Y) during a small displace-
ment
{8w,
8y)
is
X8x+
t.
member
of (3)
work
is
The equation
kinetic energy
is
is
is
particle.
o
1
(o)
where, of course, X,
If,
Y are
t.
however,
we have a constant
is
i.e.
the
force acting
on the particle
so that
X,
independent of
t,
the
definite integral
may be
replaced by
/
it
L. D.
{Xdx+
Ydy),
is
(6)
to hv calcii-
82
DYNAMICS
and the
[IV
results
added.
An
equivalent form
is
/:(4>^i)''^
where
s denotes the arc of the curve,
it.
(^>
point on
Since ( X,
the
field,
Y)
is
the expression
- [(Xdx+Ydy),
(8)
would have
the second.
taken between the proper limits, gives the amount of work which to be performed by an external agency in order to
bring the particle with infinite slowness from the
first
position to
depend on the nature of the path [*S'. 49], and not merely on the initial and final positions. If, however, it depends on the terminal points alone, the field is said to be
amount
will in general
'conservative.'
It is
with conservative
fields
that
we
are chiefly
In a conservative
slowness) from
is
'
field,
(with infinite
P
A
It is called the
potential energy,'
The
do in from
from
is
accordingly
V.
forces
is
there-
Fi
V.2,
first
P, to
to
P.,.
field,
we have
(9)
or
i.e.,
(10)
is
words, the
sum
of the kinetic
constant.
30j
DYNAMICS
If there are extraneous
IN
TWO DIMENSIONS
83
torce.s,
in
must be
added
to the right-hand
member
we
sum
increased
an amount
Cf
Art. 18.
need
hardly
be
said
that
these
conclusions
are
not
two dimensions.
The
vector
is
as in Art. 25 (4),
mf = -p,
whence
j?trr
(11)
= Pr,
'
(12)
scalar
'
[S. 63].
Hence
imr-=
or, if
Ipi-dt,
(13)
is
a function of r only,
^mr^=
I
P(/r
is
(14)
member
PSr
is [S.
Ex.
1.
if
y denote
altitude above
some
fixed level
we may
write
y='>ngy
(15)
Hence
in the free
motion of a
projectile
we have
(16)
The same formula applies to motion on a smooth in agreement with Art. 27. curve under gravity, since the normal reaction of the curve does no work.
Ex.
2.
If a particle
is
by a force
(f)
{>)
which
is
we have
(17)
V=j^^<t>{r)dr,
Thus
if
= Kr,
(18)
(19)
we may put
V=\Kr^,
62
84
omitting an arbitrary constant.
\vc
DYNAMICS
Hence
in
[IV
a free orbit inider this force
(20)
is
have
^iiuj-
+ hKr- = const
is
We
q = nr',
(21)
where r' is the semidiameter conjugate to the radius vector r, and n = 'sl{Kjm). The formula (10) is thus verified, since the sum r'^ + r'^ is constant in the
ellipse.
Ex.
3.
may be
pendulum (Art. 11) the potential energy work done by the horizontal force 7ngxjl necessary This makes
V=hmgx'^jl
(22)
On
Since
(24)
x'^=y{2l-y)
these foi-mulse agree, to the order of apjjroximation required.
31.
The
particle
on a particle in a conservative
field
can be naturally
If
we
displace the
direction,
PP' (=
hs) in
any given
Art., is
Fhs,
where
direction PP'.
Hence
W=-Fhs,
(1)
^=-JsThe symbol
directions
is
<^>
is
of partial differentiation
space-gradient of
V
if
in
one
(3ut
of an infinite
number
of possible
taken.
In particular,
to the
two (rectangular)
- = -|f.
for the
--%^
(-3^
components of
'
30-32]
85
A
line*.
line
is
constant
is
called an 'cquipotential
If in (1)
we have
dV/ds = 0:
therefore normal to
Also
if
we draw the
(4)
V=C
for a series of equal infinitesimal
increments
given by
SC
of the constant C,
and
if
R.8n =
The
by
system of equipotential
force.
-8r=-SC
drawn
(5)
The
line of force.'
The
wherever
and
vertical respectively.
32.
Stability.
in
The coordinates
= 0, F = 0,
or
(1)
f=0, 3/=0 ox oy
The equilibrium
tesimal
positions
are
therefore
is
characterised
all
by the
infini-
stationary for
also
This
follows
immediately
from
Art. 31 (1).
To
is
When the In three dimensions we have of course equipotential ^uvfaci'A. due to a distribution of gravitating matter thoy are also called level
'
surfaces.'
86
DYNAMICS
of
[IV
The value
V
T^,
at points in the
y,
thus
4-
F=
+ dx + ^y +
i (a^-
+ 2hxy
hy^)
(2)
Since the equations (1) must be satisfied for x coefficients a, /3 must vanish, so that
= 0,
0,
the
hy')
(3)
tjiird
we
may
hood of the origin are the system of concentric and similar conies
aa:-
Ihxy +
hy"^
const
(4).
axes of these conies the formula (3) takes the simpler shape
(5)
The equations
of
x, y, to
d'x
dV
dx
-^y '^lr^^--dy =
Hence
motion
if
dHj
dV
(6)
the coefficients
will consist of
27rV(WX
27rV(W^),
0)
pendulum, which
is
indeed merely a particular case of the present investigation. It follows that if the initial displacements and velocities be sufficiently
small, the particle will
oscillate
which
is
If on the other hand either a or h is negative, the solution of the corresponding differential equation will involve real exponentials, as in Art. 15, and a disturbance, however small, will
is
no longer
valid.
The equilibrium
position
is
then reckoned as
'
unstable.'
32]
87
only
and b will both be positive if, and any position sufficiently near to the equilibrium position is gi'eater than at this position itself. In other words, the potential energy is an absolute minimum at a
the value of
in
This
is
increases in
we can
it
about
positive value, E.
E,
its
For
if it
its
+ E,
and
its
total
+ E,
contrary to
the hypothesis f.
No
is
available
to
prove
that
the
minimum condition is a necessary one in order may remain in the neighbourhood of the origin.
into play
particle;);,
Hence
if
the particle start from rest in any position where the potential
energy
the
is less
than
unless
V^^,
position,
This means that come to rest in some new equilibrium must deviate more and more from the position 0.
Ex.
1.
particle
is
by
forces A'lr],
respecti\'ely.
Koi'-y,...
/2,...
We may
It is
put
[S. 74]
is
r=|(/vi/'i-+
that there
is
A'2/-2-
+ ...)
(6')
(8)
known
this expression
stationary in value,
the mass-centr'e
of a system of
Cases where
tlie coefficients a, h, h
in the
development
(3) all
here considered.
t
is
is
left
out of account.
Its effect is to
render positions of
88
particles of
tively,
DYNAMICS
masses proportional to A'l, I''is then a minimum.
K-,,...,
[IV
and situate at
Oj,
0.^,...;
respec-
and that
is
a force
(A')
r towards
G,
Hence the
period
particle,
where r denotes tlie distance of the particle from G. however started, will describe an ellipse about G, in the
Ex.
2.
and constrained
to lie
on a smooth
lies
surface of any form, will be in equilibrium at a point where the tangent plane
is
horizontal.
immediate neighbourhood,
stable
;
altogether
is
if
unstable.
stable for
some displacements
and imstable
for others,
we may put
(9)
lie
V=W
If the origin be at the point in question,
in the
ciu'vature,
and x, y we have
horizontal coordinates
2,=^ + ^+...,
Pi
(10)
P2
where pi, p^ are positive or negative according as the priuci^jal sections to which they relate are concave or con\'ex vipwards. Cf. Art. 29 (5).
33.
It has
Rotating Axes.
been remarked (Art. 22) that the equations of motion
same form
if
velocity of translation.
The
case
is
altered
if
motion of rotation.
To
illustrate
this
relative
to
(rectangular)
axes which
rotating
angular velocity w.
the instant
t,
Let Ox, Oy be the positions of the axes at and Ox, Oy' their positions at the instant t + ht, the angle xOx' being therefore equal to coU. The position P of a moving point at time t is specified by its coordinates {x, y)
relative
to
Ox,
32-33]
89
0.'/,
time
+ Bt by
its
coordinates
(cc
8jb,
y + By)
relative to
will
Oy'
be
{y
Fig. 30.
by ordinary formulae
'
Neglecting
may be
(oxBt,
written
X + Bx
coyBt,
By
Oy
are
(1)
BxwyBt,
ultimately.
By
coxBt,
The component
dx
velocities of
parallel to Ox,
Oy
are
therefore
u=^-coy,
respectively.
= -, + at
dy
&>-',
(2)
If
t
OV,
t
OV
and
of
W OV
Bt,
VV on
Ox,
Oy
will
be
covBt,
Bv
+ (onBt,
.....(3)
The component
du
7
(^V,
/3
dt
= g^ + a,.
{*)
90
If the angular velocity
DYNAMICS
co
[IV
relative
to
the
\dt
fdru
-.
dt
J
,
.(6)
dx
,^
where X,
we
.(7)
an interpretation presents
The
particle
is
apparently acted
on by certain forces in addition to the true force {X, Y). We have in the first place the components marx, mary, which are
those of an apparent
'
centrifugal force
'
In addition
we have an apparent
^may
where
yfr
2ma)s sin
yjr,
2m(ox
2mQ}s cos
yjr,
is
(i.e.
the path
The magnitude
in the
of this force
is
27n(os,
s
and
its
direction
is
If we multiply the equations (7) by x, y, respectively and add, we have m (xx + yy) = Xx + Yy + ?Heo- (xx + yy), (8)
t,
^m (i;2 + y-)=
*
jiXx
Yy) dt
C.
..
.(9)
dis-
tinguish
from the
'
'
mo}^i:
33]
If the force {X,
ijl
we may
i(^Xdx
If
Ydy).
V denote
is
we have
(10)
if)
= const
which
the form
now taken by
The expression
mco-
(^-
r')>
(il)
may
same part as
field.
If
a point be at
rest, its
will
given by
.i
Hence
the solution of which
is
(12)
(13)
.r
= ccos {att + e)
(14)
The former
y = ~ i'= -csin
Hence
(&)<-!- e)
(15)
x^+f = c\
-= -t-Auiat + f)
circle described
is
(16)
in
The
otherwise obvious.
to rotate with angular velocity
2.
If Blackburn's
pendulum be made
and perpendicular
through
A B,
be of the forms
i/
+ 2a)i-o)2y= -q%
p^=g/CP,
by
q^=gjEP
//=>5sin (ni + f),
(18)
x=AcoH{nt + e),
provided
{n^
(19)
2?lQ)yl
'
92
Eliminating the ratio
DYNAMICS
AjB
(7i2
[IV
\vc
have
(21)
or
(22)
The square
(;;H?H 20,^)2-4
and since
is is
we
will le positive,
p^ and q^. Since the suni of the roots lie between p^ and q^ both values of n^ and we shall have two independent solutions of the types
<ifi
A^
and
y = BiSiin{nit-\-i),
3/
(24)
(25)
where the ratios BijAi and B2IA2 are determined by either of the equations Since the equations are (20), with the aj)propriate value of n^ inserted. linear, these solutions may be superposed, and we thus obtain a solution which is complete, since it involves four arbitrary constants Ai, A2, ei, f2In the excepted case one value of n^ (say
solution (24)
is still valid.
and the
The remaining
the student.
We
(27r//),
pendulum
is
no rotation.
This conclusion
(See
is
however
liable to
Art. 96.)
EXA.MPLES.
(Projectiles.)
1.
VI.
'
dimensions
'
having a gi\en
l)rojection.
2.
initial
elevation varies as
v'^/g,
where v
is
the velocity of
The
mum
What would
?
Also,
18',
42'.]
particle is projected at
an
ele\-ation 0,
tan 6 = ^ cot
o.
EXAMPLES
4.
98
a vertical piano, with velocity
from a
])oint 0, in
Ji^cf/c)
\n-ove that the locus of the vertices of their paths is the ellipse
If at any point P on the path of a projectile the direction of motion 5. be slightly changed, without change of velocity, the new path will intersect the old one at the other extremity of the focal chord through P.
6.
Particles
are
projected
simultaneously from
T''
;
a point, in different
lie
directions,
on
radius
downward
7.
acceleration g.
If
OR
any position
P of
be the horizontal range of a projectile, and the line joining to the particle meets the vertical through R in Q, the 2)oint Q
initial
descends with a constant velocity numerically equal to the component of the velocity of the particle.
8.
is
vertical
at
U(y is
Prove the following construction for iinding the horizontal range and
v,
in
any
direction,
OA
is
as
Through
draw a chord
is
OP
and
the
draw
PN perpendicular to the
Then OJV
ivange,
^PJV.
to find the range on
10.
an inclined plane
through 0.
11.
Two
directions,
particles are projected with the siime velocity in different but so as to have the same horizontal range. Prove that the
geometric
mean
and that
the arithmetic
mean
of the
same
maximum
path
propei-ties of the
of a projectile
(1)
The
vertical
all
chords
T of the
in
pijints Q^ Q'
in P,
then
Q V=
?fo
T'',
and
TP=PV;
(3)
The subnormal
;
is
to'/5'>
where
the
horizontal velocity
(4)
The
04
13.
If
DYNAMICS
[IV
from from
to
Ali be a focal chord of the paraboHc path of a })rqjectile, the time \^ equal to the time a particle would take in falling vertically
.space
rest
through a
equal to AB.
14.
Prove that
if
Tl\
TQ
velocities at
P and Q
OA,
TP
t(j
TQ.
15.
If
OB
P,
be vectors representing the velocities at any two points and C be the middle point of AB, prove that
velocity between
OC
represents the
mean
P and
Q.
Prove that
l)etween
16.
if
PQ
sum
P and
Q.
from the same point at the same instant Prove that the time that ela2)ses a, a. between their transits through the point where the paths intersect is
particles are projected
at elevations
2v
sin 5 (a a)
'
cos^(Q + a')*
A i)article is projected so as to have a range R on a horizontal plane 17. through the point of projection, and the greatest height attained by it is h. Prove that the maximum horizontal range with the same velocity of projection
is
18.
A fort
is
on the edge of a
cliff
of height h.
gun
+ A)},
- A)},
if ^f
from a point at
ranges up
maximum
a^{k{h + k
sec^ a)]
- 2k sec^ a.
is
how
Find the limiting forms of the result when the ratio hjk it might have been foreseen.
20.
small,
and shew
is
on a
is
plane of inclination
when the
bounded by an
21.
If at
with
as focus.
is
any stage in the flight of a projectile the velocity shew by a sketch how the path is altered.
eflfect
reduced by
II
EXAMPLES
95
EXAMPLES.
(Elliptic
1.
VII.
&c.)
Harmonic Motion,
moving point are
If the coordinates of a
.V = a
cos {nt
+ a),
>/
= b cos (nt +
(i),
is
r cos (a -
/3)
+ f, = sin-' {a-^).
i)oiut, in
2.
particle is projected
from a given
with a given velocity, under a central attractive force varying as the distance
give a geometrical construction for finding the principal axes of the orbit.
3.
Prove that
in elliptic
point
centre C.
is describing an ellipse under an acceleration Prove that the rate at which the direction of motion
^//Lt
\j,
CP
to the
is
is
changing
ah
where
a, b
CD
is
The ends of a rod which rotates with constant angular velocity move 5. on two intersecting straight lines at right angles prove that any other point on the rod executes an elliiitic harmonic motion.
;
6. A lamina rotates with constant angular velocit}- in its own plane, and two given points on it are constrained to move on two fixed straight lines. Prove that any other point on the lamina executes an elliptic (or rectilinear) harmonic motion. 7.
Prove that
is
in elliptic
energy
harmonic motion the time-average of the kinetic mean of the greatest and least values of the
kinetic energy.
8.
Two
the same jjlane) about the same centre, with the same period.
their relative motion
9.
is ellijjtic
Prove that
harmonic.
i^article
;
moves
if
the hyperbola
is
= tanh
-Int.
9G
11.
DYNAMICS
[IV
particle is acted
on by several centres of force, attractive or find the nature of the orbit, and the
;
is closed).
In what case
12.
If
is
i-eceive at
a particle describing an ellipse under an acceleration to the centre in the direction towards or from the centre, it
will
proceed to describe a
13.
new
ellipse of
o, /3
where
14.
I is
If in Blackburn's
and forwards.
Also find the equation of that form of path which has two axes of symmetrj^
15.
relative
motion
in Art.
its
33 to shew that
if
will
angular velocity
2(i).
EXAMPLES.
1.
VIII.
is
A particle moves in a
is
always
line
a curve of sines.
direction
;
prove that
if
the
field
to this direction.
If the axis of
>/
force,
of the
form
"'t-***
where
3.
(p [ij) is
the acceleration.
If (j){b)
(f)'
= 0,
according as
energy.
4.
If,
{b) is
prove that the rectilinear path y = & is stable or unstable negative or positive. Express this criterion in terms of
in Question 2,
cf}
(y)
= ja/^^,
is
a conic.
EXAMPLES
5.
97
wliicli
[)arallel to
an asymptote under
a rect-
number n (>2)
2)otential
the force at unit distance being ^ for each. Prove that the energy of a particle in the plane of the circle at a small distance r
is
given by
approximately.
If the particle be
circle at
a small distance
fi-om
+ 2a3
foi'ce
if in a constant plane field (tf force the components A', J' of any point be given as functions of the coordinates .r, y, the work done on a particle which describes the contour of a rectangular element hxby in
7.
Prove that
at
is
CHAPTER V
TANGENTIAL AND NORMAL ACCELERATIONS. CONSTRAINED MOTION
34.
Tangential and Normal Accelerations.
and normal, which are
coordinates.
This
ht,
angle
hy\r.
in G,
making an
and P' be denoted by v and If s be the arc of the curve, measured as usual from some fixed point on it, we have by Art. 20 (2)
V
+ 8v.
^v + Sv
=*
dt'
St
(1)
In the interval
parallel
to
the velocity
the
tangent at
P
S-\jr,
Fig. 31.
changes from
v to (v
8v) cos
is
therefore
(v
Bv) cos
Byjr
V,
or
Bv,
to the first order of small quantities, since cos 8-^ differs from
unity by a small
ultimately
quantity of
The mean
Bv/Bt,
is
therefore
or
<^)
34]
CONSTRAINED MOTION
99
Again, the velocity parallel to the normal at changes from + Sv) sin S-v/r, or ySi/r, to the first order. The mean acceleration in the direction of the normal at is therefore vSyfr/Bt,
to (v
or ultimately
d-dr
"di
Some
Thus
other expressions
for
(3)
we have
dv
drs
dt~di''
from
(1).
W
^^^
s.
Again
dv _ dv ds dv di^d^dt^^ds'
if V
be
now regarded
as a function of
''llt-''ltsdt-~p' P
if
<^)
p (=
ds/d-yfr)
hodograph.
Fig. 18, p.
58,
OV
8v, respectively,
VO V
OV,
equal to
S-v/r.
The
velocity
VV
may be
i.e.
resolved into two components along and perpendicular to along the tangent and normal to the path at P. The
is
former component
ultimately equal to
limit,
8v,
and the
latter to vByfr.
the formulas
it is
(2), (3).
easily extended
to
the case of motion in three dimensions, where the path and the
at
is
hodograph are both tortuous curves. The tangents P and P' do not in general meet, but the plane
parallel
to
to the
path
VOV which
parallel
to
them has a definite limiting position, viz. it is what is called the osculating plane of the path
'
'
at P.
plane,
The
and
resultant acceleration
its
is
components along the tangent and the principal normal,' i.e. the normal to the curve in this plane, are still given by the formulae (2) and (3), provided Byjr be used to denote the
72
100
DYNAMICS
[V
The expression inclination of consecutive tangents to the path. dyjr/ds then coincides with what is called in Solid Geometry the
'principal curvature' at P,
1/p.
The
form (6)
for the
normal acceleration
if t,
In vector notation,
is ^ sfiven
n denote two unit vectors in the and normal respectively, the velocity v w=
vt (7)
by
the acceleration
We
have then
for
V = i)t + ?;t
(8)
S-v/r,
Now
+ 8t
is
length
is
more-
over
Syfr.
V = vt+ v-^n
The
acceleration
is
(9)
sum
of a
component
vyjr.
1.
we may
write
s=a-i\f,
whence
v
= a~ = aa>,
(10)
if a>
{=d^ldt) be the angular velocity of the radius through the moving point.
tangential acceleration
is
The
therefore
dv
d-ylr
d<o
dr''w^=''di'
and the normal acceleration
is
(11)
%^='-'
Kv.
2.
(1^)
of a path
The formula (6) may be used conversely to find the curvature when the velocity and acceleration are known.
motion (Art.
23),
Thus
being
to Q,
when the
tracing point
in Fig. 20
made up
is
Q and
is
the acceleration of
relative
n^a + n'^a', by
The
velocity
in a similar
manner seen
to be
na + n'a'.
The curvature
therefore
1_
p
n^a + n'W
{na + n'ay
^^'^^
34-35]
The curvature when
the case of
a'
CONSTRAINED MOTION
the tracing i)oint
is
101
i.s
found, in
> a,
by changing the
1
sign of a, \iz.
n"^a'
n^a
(14) ^
'
if
inl'^a'
< ii^a.
roughly.
It appears that p is positive
To apply
may put
is in fact
?i
= 13?',
= 400a,
But
if
?i',
a' to refer to
we have
w-a n^an-a^
since n-a^ = H'%'^,
{y\^^
(^Vrt.
<'^)
80).
Since
a'
> a^
this ex-
pression
loops,
p. 63.
is
negative
of the
two types of
is
epi cyclic
if
The
included
shewn we imagine
in Fig. 21,
to refer
to the planet
and Q
to the sun.
35.
Dynamical Equations.
and normal respectively, then denoting the two components by '^ and ^, we have
mv~j-=VL,
= Ji
we have
(1)
The former
energy
;
,viv^
-imVo'= r'^ds
J
So
(2)
The
total
work done on
the particle
for
infinitesimal displacement
ponent vanishes.
In three dimensions a third equation of motion
vanishes.
If
'2^
is
required,
The equation
= 0,
i.e.
if
of the normal,
we have
= 0,
is
constant.
102
This
is
DYNAMICS
[V
no
force except
the case of a particle moving on a smooth curve under The second of the the reaction of the curve.
equations (1) then shews that the reaction varies as the curvature 1/p.
Ex.
1.
To
by a string of length
may
the requisite
is
no
vertical
T the
by hypo-
Tco^e = mg
Also, resolving along the radius of the circle,
(3)
m<i^-lsi\i\6=T&\n6,
or
marl=T.
(4)
Hence
<a'-
(o)
cos 6
of a revolution
is
therefore the
I
of
cos
If 6
be small this
practically.
The
will
Ex.
To
any
place,
due to the
earth's i-otation.
When
the plumb-line
is in
apparent
(i.e.
of the tension
and of the true gravity of the susj^ended mass m must be a force wimV towards the earth's axis, where w is the earth's angular velocity, and r is the radius of the diurnal circle described by m. We denote the true acceleration of gravity by g\ and the apparent acceleration by g, so that T=mg.
of the string
8
/./o
In the annexed
tension mg,
figure,
AB
if
represents the
BC
mg\ and
AC
i.e.
Hence
X be the latitude
the j)lumb-line
makes with
/
C
/ \^
we have
g
^^'
sin(X-^)
AB
The numerical data shew that the very small. Hence 6 is always a small
.
hand
is
always
and
,
sni 6
= wV sin X
9
35-36]
approximately.
CONSTRAINED MOTION
103
i.s
We may
error.
also write r
=a
cos X, where a
the
e<irtli'.s
i-adiiis,
without serious
Thus
sin
e--
<in
X cos
X.
(7)
Again, we liavc
-fr^
(li-a
COS- X,
g
.(8)
cosU
5^=981,
approximation.
= 86164,
whence
a
a = 638xlO^
-^ = 00346=-!^.
289
of 6
is
is
about
6'.
were the same over the earth's surface, would give the variation of apparent gravity with latitude.
the earth's surface, and the strata of equal
Actually g"
itself variable,
it,
density inside
The
attraction therefore
of a symmetrical spherical
body.
36.
'^
= mg sin
yjr,
^=
ing cos
yfr
-\-
R,
(1)
where
B. is
y^r
and
positive
curvature.
when it acts towards the centre of The equations of motion are therefore
ing
mv
dv
-J
sm yfr,
mv-
nig cos
y+
,
Tj ti.
{z) hori-
/n\
If
we take axes
and
vertical,
of
zontal
respectively,
positive
we have
,
= -p
dx
sm
y=
dy
'
.(3)
(Is
The
104
DYNAMICS
dv mv -j- = (hi
,..
[V
and therefore
ing j-
{V
(5)
Hence
as
^mv- -\-mgy
= const,
This formula
v'^=C-2gi/
(G)
When
from
(2)
mv
Hence
= tyig cos ^
(7)
if
j^^v^iil-jP)
^g^
P But, from
(6),
v"-
= C'-2g)j,
P
(9)
and therefore
i.e.
jt
= ^^^S~JD
(10)
This result can easily be extended to the case of a particle moving, under the action of any given forces whatever, on a smooth curve whose shape is
such that
forces, if
the particle
Ex.
2.
circular cylinder
If
string
when
vertical,
when the
string
is
deflected through
an angle d
is
V=mg
if
[a ain
(11)
be sujjposed to correspond
= 0.
The equation
of
energy
therefore
^mv' + mg
[a sin 6
- (l+aO) cos
0]
+ mffl = hni;Q\
(12)
36-37]
if
y^
CONSTRAINED MOTION
its
105
lowest
position.
this reduces to
(13)
= V-5'(^^' + :5n
To
we put v=0. Assuming the extreme inwe write for the sake of comparison with
i\,= nla,
the circular
pendulum
iC-=g\l^
(14)
Fig. 34.
Thus
for a first
approximation we
= n-^+^^|a^
o7")
(16)
whence
^=(l +
(1'^)
The
0=-l"f
37.
Let
I
(18)
The
Circular Pendulum.
be the length of the pen(hihini, 6 the inclination at any The tangential acceleration being Id-djdt-, instant to the vertical.
by Art.
34,
we have
;^ = _^sin(9,
(1)
106
<V-6
DYNAMICS
[V
or
if
-TT,
+ n'^\nd=^
n'^^gll
(2)
(3)
we may
the
replace sin
by
d,
solution
of
where a and
is
are arbitrary.
of a complete oscillation
therefore
r=2-" = 2,r,A,
n
(5)
as in Art. 11.
Fiff. 35.
We
have, however,
finite
now
a
to
consider the
case
of oscillation
vertical.
through a
angle
The
;(|)'=2,co.s<^+a
as appears also from (1) if
.()
we multiply by
ddjdt,
and integrate
with respect to
If
t.
we assume
'dd
-77
j
that dOldt
for
a,
we have C = 2g cos a,
and
-
= 2;i- (cos ^
cosa)
= 47i-(sinH sin-^^).
...{7)
37]
CONSTRAINED MOTION
vertical,
in
107
thr
positive direction of
cie
2 V(sin-
\0L
sin-
-^6>)
'
The integration in finite form involves the use of elliptic functions. To effect it in the standard form of such functions we introduce a new variable <^ such that
sin-|^
= sin|asin^
to ^tt.
(9)
We
"^^
dd
and, from differentiation of
tZ^
(9),
^,
2sin|acos<^'
(10)
^ ^
2 sin^acos(^
.,,.
d<^
-jj
cos^^
1
ndt_ndtdd _
"^^
t
_
is
^-.c)^
^
dfd0d^~cos^d~^{l-sm^ashi'4>)
of swinging through an arc 6
^^
The time
therefore given
by
(13)
nt=r
,^, Jo V(l
.t, ,, sm^i^'sin^^)
.-,,
(9).
In the notation of
elliptic integrals
[S.
127]
(14)
<})
nt
= F(smla,4y)
4.
To
find the
= ^ir,
The
period
is
therefore
(15)
where F^ denotes the complete elliptic integral of the first kind to the modulus sin |a. The ratio which this bears to the period in
an infinitely small arc
is
-i^i(sin^a)
TT
(10)
108
This
is
DYNAMICS
[V
tabulated below for a series of values of a, by means of the The result is exhibited graphically in tables of elliptic integi-als.
Ficr. 36.
-Fx
(sinia)
0
1
r
3
4 5
10
37]
If a
CONSTRAINED MOTION
be small the
is
10!)
approximation
Hi-st
^ = 27r^/^.(l+ismH)
The
correction
sin^
(18)
amounts
when
about.
1 a = -004, or sin
= -0632,
or a
= 3" 3G',
viz.
There
in a finite
is
when
= tt,
i.e.
We
have then
dt_
'^'dd
2cos^6''
^^
(20)
Avhence
no additive constant
= 0.
accelera-
The
bob
tion.
is
tension {S, say) of the string (or light rod) supporting the
We
have
ml
(^\ = S-mgcoHe
we
find
(21)
On
If the
pendulum comes
,S
(22)
have
C= 2g cos a,
(23)
liave,
and
= w^(3cos^-2cosa)
If
0)
by
(6),
= 2g + C,
cos ^)
(24)
so that
( 77/
= '^^ ~ -'*' (1 -
(2'))
revohitions, thin
mut be
positive
when ^ = tt,
(26)
/.,-\
> iiA
Hence, putting
k = 2nlo>,
''^^'^^^
<odi
-dd=j(T:nc^;^ey
<-t
^''^
= 2J''
Jo
(28)
110
DYNAMICS
ijosition u}) to
[V
Tr.
The
therefore
-i^iP-)
The
tension
is
(29)
given by
S=:im(^
In order that this
eofi
- 2mg + mcoH
d
(30)
may he
positive
when
rv
we must have
(31)
co2
> bgjl
An
is
presented by the case of a particle moving on a smooth circle in a plane making any given angle ^ with the horizontal. The gravity
of the particle may then be resolved into a component mgsin^ along a line of greatest slope on the plane, and a component mg cos /3 normal to the plane. The latter component affects only
The motion
we
replace
g by g sin /S.
In particular,
oscillation will
be
27r./~4^,
the same as for a
(33)
pendulum
of length
= -^ sm ^
(34)
By making
can be
'
/3 very small, the length of the equivalent pendulum made very great. This is the theory of the so-called horizontal pendulum as used in instruments for recording earth'
by a rod or
'
boom,' which
(yS)
is free
to rotate
about an axis
Cf
38.
The
Cycloidal Pendulum.
In any case of motion on a smooth curve in a vertical plane, under gravity, we have, resolving along the tangent,
-
= -gsmy{r,
dt
(1)
37-38]
CONSTRAINED MOTION
-v/r
where
s is the arc,
which we
will
yfr
assume
to
of equilibrium, where
= 0. = s/po,
is
'/r
(2)
where
p is
upwards.
Hence
in
we have
^=-^
the same equation as for a
If in (1) sin
yjr
()
pendulum
of length
p^.
s,
so that
(4)
= k sin
-v/r,
say,
we should have
I'he variations of s would therefore follow exactly the simpleharmonic law, and the period, viz.
^vl
would be the same
for all
^'>
The
oscilla-
isochronous.'
is
To
we take axes
of
vertical, respectively,
Then
dw
dy^r
dx ds
ds
-Td-yjr
^_.
^^^^
^ = U- (1 + cos
,
2^/r),
-j-r =
d-yfr
dy
dy ds
ds
0)
,
dyjr
-TT = k sni
-v|r
cos
ylr
= -hk sm ^
i
o zyfr.
yjr,
(2x/r
+ sin 2i/r),
y = ^^(1 - cos
2>/r)
(8)
112
DYNAMICS
for
a/t
[V
make a:=0, y =
x
= 0.
= a(0 + iiine),
y = a{l-cos6),
(9)
where a is the radius of the rolling circle, and 6 is the angle through which it has turned from the central position.
It is knoAVTit that the e volute of a cycloid is an equal cycloid whose cusps correspond to the vertices of the original curve, and Hence the bob of a pendulum will move accurately in vice versa.
Fig. 37.
a cycloid
figure.
if it
For
oscillations
not extend to more than a short distance from the cusp on each
side.
amplitude of
Subsequent designers have gone on a and have directed their efforts to secure constancy of amplitude by careful regulation of the driving force, whose oflSce it is to make good the losses of energy by frictional and other
different plan
;
resistances.
* hif. Gale, Art. 136. The isochronous property of the cycloid was discovered by Christian Huygens (1629-95), the inventor of the pendulum clock. His chief dynamical work is the Horologium Oscillatoriuvi, Paris, 1673.
II
38-39]
CONSTRAINED MOTION
Oscillations
113
;
39.
plitude.
on a Smooth Curve
Finite
Am-
We
For
amplitudes the approximation in (2) of that Art. can be continued. As the question furnishes a good illustration of
in
Dynamics, a
little
space
may be
The height
position
may
in the
form
(!)
the
first
dy/ds
two terms of the expansion being absent since y = 0, The meanings of the coefficients can be for s=0.
found by differentiation.
Thus
sin'\/r
= cs + JcV + ^c'V+
...,
(2) (3)
cosi/r
-^ = c + c's + ^c"s" +
...,
cos>|.-^-sin>/.(^j =
C+C.+...,
c"
(4)
cost^-3sint^ ^-cos^(^2J=
Putting
-^/r
+.... (5)
= 0, s =
,
in these formulae
we
d\p-^
.,
The equation
now
^ = -^(cs +
which
is
ic'V+...),
to
Neglecting
we have the
s
solution
(8) 8
L. D.
114
provided
this
is
DYNAMICS
n'
[V
(9)
= gc;
_+
7^2^
__
^gc's-
-igc'/3^1
+ cos2(i->t+e)],
(10)
the error involved in substituting the approximate value of s in The the small term of the second order being of the order s"'.
solution of (10) which
s
is
first
approximation
is
= /3 cos (nt + )-
+ ^'cos
2 (nt
+ e),
(11)
Although the motion is verified immediately on differentiation. no longer accurately simple-harmonic, the interval 2'7r/n between two successive passages through the same position in the same
as
is
direction
is,
The extreme
respectively,
by putting
nt
+=
and
tt,
-'^-^^ '^-11^
the arithmetic
<'^)
mean
of
which
,
is
= _.'?^ = _<^=
bit-
be
(13)
we
c
is
l/l,
c'
=-
a/l^,
easily proved.
The formute
(12)
can
then be shewn to
When we proceed to a third approximation a new point arises. This will be sufficiently illustrated, and the calculations somewhat
shortened,
if
0.
The equation
to be
solved
is
then
^+
n"-s
= -^g&'6-
(14)
89]
CONSTRAINED MOTION
in
115
Substituting
we
have
_+
d-s
n's
= - i^oc"l3'
{3 cos {nt
e)
cos 3 (nt
e)}.
.(15)
If
we proceed
to integrate this
- -^^r
makes
sni int
e)
its appearance in the result, as in Art. 13 (11). It appears then that owing to the continual increase of the factor t, the solution thus obtained will sooner or later become inconsistent
with the fundamental assumption as to the smallness of s. This was indeed to be expected from the particular case of the circular
pendulum. We have seen that such a pendulum would get more and more out of step with a pendulum of the same length vibrating in an infinitely small arc, owing to the increase of period
with amplitude.
This remark indicates that we should take as our
first
approxi-
mation
s
= ^co&{vt + ),
(16)
where v
then to
The symbol
from n, to an extent to be determined. where it occurs on the right-hwad side of (15), is be replaced by v. If we now assume
differs slightly
n,
^cos(vt
+G
cosS(vt
+ e),
(17)
modifietl, will
we
be
find,
satisfied
{n^
i.e.
-v')^^- ^gc"^\
v-
{n^
. .
.(18)
provided
= n'-\-yc"^\
(19)
and
approximately.
C'=f^',
The former
of these
(20)
may be
written
^'-''(i+'D
(^'>
82
116
DYNAMICS
is
[V
therefore
approximately*.
In the case of the circular pendulum we find
c=--l/l,
c"
= -lll\
/-.
(23)
^=^VH'"w) 9
:
'i
yS^
(2*)
In
the cycloidal
pendulum
c" = 0, and
EXAMPLES.
1.
IX.
j^er
ship
is
hour.
Prove that
l)y
the vahie of gravity on board will be apparently increased or diminished 12 cm./sec.'^, according as she is going W. or E. respectively.
What
assuming
2.
efiFect will
,9
this
= 978 ?
is
'094 mm.]
If one string
weight
same
ratio
3.
level,
2cos2a.
vertical are
first is
hangs in equilibrium l)y two strings whose inclinations to the Prove that if the second string be cut the tension of the instantaneously diminished in the ratio
a, ^.
A weight
sin sin (a
4.
^
the ground
+ 3) cos a'
;
wheel of radius a
is
rolling along
angular
ai'e
a
respectively,
5.
(1
- cos
is
6) -,-
at
+ aco- sui 6,
asmd-j- + acoat
cos
6,
where
ellipse.
These investigations are taken with shght alteration from Lord Eayleigh's Theory of Soiind, Cambridge, 1899, Art. 67.
39]
6.
EXAMPLES
A
v.
point
P describes
velocity
If the
constant
in niagnitiuic
and
P is
'^'
where p is the radius of curvature on the lamina, and 6 the directions of u and i\
7.
is
A simple pendulum
If
taj,
6)2
is
started so as to
make complete
revolutions in a
velocities,
vertical plane.
prove
that the angular velocity when the i)endulum makes an angle 6 with the
vertical is
T^icos^^+r^sin^i^,
where T^
8.
,
is
vertical,
coming
Find the
i)ressure of
lowest position.
[2w^.]
freely
A mass of 10 lbs. is attached to one end of a light rod which can turn about the other end as a fixed point. The mass is just started ft'om its
;
find at
what
Also find
it is
(in
(i)
when
lbs.]
horizontal,
is
jiassing
through
its
lowest position.
;
[48
10.
20
lbs.
50
A particle is constrained to
is
whose axis
curve
is
vertical
move, under gravity, on a smooth parabola and vertex upwards. Prove that the pressure on the
miuo^-'-lgrjIp,
where
^0Q is
of curvature.
11.
Prove that
if
jjarticle
of given forces, a chain having the form of this curve can be in equilibrium
under the same forces (per unit mass) reversed, provided the line-density of the chain vary inversely as the velocity of the i)article.
Illustrate this
12.
by the case of a
if
projectile.
Prove that
'
.so
2>ath
uniform strength
(in\'erted).
118
13.
DYNAMICS
[V w about a
vertical axis.
di.sk is
uiaintained in
.stcjidy
rotation
From
a point on the lower surface of the disk at a distance a{<l) from the axis is suspended a simple pendulum of length I. If sin3/3 = a/^, prove that the
inclination
of the
pendulum
to
is
given by
cos B + sin''' ^ cot d^gjafll.
gjl sec^ ^, this equation has three solutions between Prove that if m^ of which two are negative, one being numerically greater, and the other numerically less than /3.
.
>
\tt,
Illustrate
by a
figure.
A mass m is attached to a fixed point by a string of length I, 14. and a mass m' is attached to m by a string of length I'. Prove that if the strings lie always in a vertical plane which revolves with constant angular
velocity m,
following conditions
6, 6'
:
where
15.
fi
= m'jm.
= 9 9
2/
(
Li)
sec
6-
u,
cosec 6 tan
6',
sni 6 H
sin 6
= tan b
^,
&
two
are
;1+m)^Q+]7)co2+(1+^)-^ = 0.
EXAMPLES.
1.
X.
(Pendulum; Cycloid.)
If the Earth's rotation
were arrested, would a seconds pendulum at What would be the gain or loss ?
day
2.
arc. 5
How many
3.
pendulum beats seconds when vibrating through an infinitely small beats will it lose per day if it oscillates through an angle of
[41 '3.]
A pendulum of length I is making complete revolutions in a vertical and its least velocity is large compared with ^ (^gl). Prove that the time of describing an angle 6 from the lowest position is gi\cn by
plane,
wt
aiJ})roximately,
= 6
-.,.
sin 6,
where
co
is
when the
string
is
horizontal.
EXAMPLES
4.
llfj
im.stalilc pu-sitioii,
If a .simple
0,
the angle
relations
t^in
pendulum just reaches the and the time t, from the lowest
cos |^ = sech nt,
prove that
by the
i^ = sin]i
ii
nt,
sin
|^ = tanli
7it,
where
= J(g/l).
If a i)endulum whose period of small oscillation is 2 sec. just makes a 5. complete revolution, find the time of moving through 90" from the lowest
l^osition. 6.
[-28
sec]
simple pendulum oscillates through an angle a on each side of the find the polar equation of the hodograi)h, and sketch the forms of the curve in the cases a<^7r, a=^ir, 7r>a>.57r.
vertical
;
7.
particle oscillates
on a smooth cycloid, from rest at a cusp, the axis Prove the following properties
The angular
another
(3)
resultant acceleration
is
(/,
and
is in
the
is
2mff cos
>//,
where
yj/
is
the inclination
is
the
maximum
velocity
Jiffl),
where
9.
I is
inverted cycloid.
Prove that
if
particle is
moving on a smooth
cycloid.
and
its velocity
varies as the distance (measured along the arc) from the highest point.
Prove
must be a
particle describes a
gravity, in
t
a vertical
nt, find
plane.
be asinli
the
particle
makes small
oscillations of
amplitude
/3
on a smooth curve,
approximately, where p
is
120
13.
DYNAMICS
[V
= a tail
>//,
^.
approximately.
14.
jjoint of
The period
j3
the parabola
is
vertical, is
approximately.
CHAPTER
VI
Momentum.
of"
isohited
particles it
particles only.
We
straight
in
the sauu-
If
we assume,
in acc(jrdance
Fifr. 3R.
Law, that the mutual actions between the particles are equal and opposite, the equations of motion will be of the forms
mi~' = Z, + P, at
m.^^X.-P, at
'
-....(I)
where X^, X^ are the forces acting on the two particles, respectively, from without the system, and the forces + P represent the mutual action. By addition we have
d
-T (m^ii^
+ m.,v) = Xi +
ni^Uy
is
X..,
(2)
total
momentum
+ m.M.,
increases at a rate
122
DYNAMICS
This result can be expressed
in ancjther ilmn.
[VI
If
x.,
.x'l,
be
tlie
we have
d
.
dxo
= -T
where the symbols x and w refer
of the centre of mass
is
[;S^.
(Wi
(3)
to the position
total
66].
The
same as if the total mass were collected centre of mass, and endowed with the velocity of this point.
therefore the
The equation
(2)
may
{m,
accordingly be written
rn,)j-^
= X, + X,
(4)
This expresses that the mass-centre moves exactly as if the whole mass were concentrated there and acted on by the total external force. In particular, if there are no external forces, the mass-centre has a constant velocity. If at rest initially it wdll remain at rest, whatever the nature of the mutual action between the particles.
Thus
for
two dimensions we
du.
f/u,
}
I
(5)
where
(Xi,
(Wj,
Wj),
(u.^,
Vo)
F]),
( F,
Q),
From
these equations
we deduce,
in the
same manner
as before,
if (u, v)
be the velocity
(jf
the mass-centre.
total
if
The interpretation is, moves as if it were a material mass and acted on by all the
external forces.
For instance,
40-41]
mass-centre
I'l-i
straight
line
with
constant
velocity.
Again,
if
two
particles connected
41.
Instantaneous Impulses.
Impact.
For purposes of mathematical treatment a force which produces a finite change of momentum in a time too short to be appreciated is regarded as infinitely great, and the time of action
as infinitely short.
is
The
;
time
it is
therefore neglected
velocit}^
though
changes, remains
also ignored.
finite,
The
total effect is
summed up
instantaneous
We may apply these principles to the direct impact of spheres. Let us suppose that two spheres of masses m^, m.,, moving in the same straight line, impinge, with the result that the velocities are suddenly changed from Wi, U2 to u^, u.^', respectively. Since the total impulses on the two bodies must be equal and opposite, there
is
(1
Some
there
is
additional assumption
we assume
that
no
we
have, in addition,
(2)
111^11.2'
= in^ii^- -f vhoi.?
written
The equations
(1)
and
(2)
may be
whence, by division,
or
Mo'
is,
"1'
= - (''2 -
I'l)
0'>
the velocity of either sphere relative to the other is This appears reversed in direction, but unaltered in magnitude.
That
to
balls.
124
DYNAMICS
In general, however, there
is
[VI
some appreciable loss of energy*. is assumed for dealing with The relative velocity is reversed and at the such questions is that the same time diminished in a ratio e which is constant for two given
usual empirical principle! which
bodies.
is
'
coefficient of
restitution.'
The equation
W2'
by
(4)
t/j',
= e (2 - Wi)
(1),
determines
u^ when
Mj,
iio,
In the case of oblique impact of spheres we resolve parallel and perpendicular to the line joining the centres at the instant of
impact.
If the spheres are smooth, the
is
unaffected,
Vi=Vi,
V2=v^^
The
The
u.,
may
be deduced by
supposing
be
infinite.
The equation
(1)
then makes uj
=
(6)
if
= 0,
Ki:
and
/= eui
1.
If in (1)
and
(4)
we put
2'
?2
= we
find
= ^'--(H-e)M,
(?n.2)
(7)
velocity
is
(wij)
impinges on another
which
is
at
re.st,
the
Wi
to 7W2, but
less
Sui)pose that
we have a very
moving
in
all
whose edges
coordinate axes
are;i,
on the
will
walls.
We
assume the
coefficient of restitution
(e)
to be unity.
We
suppose
is
one another.
The component n
moving with velocity (m, v, w). unaltered by impact on the faces which are parallel to x,
* That is, of energy of vhihlc motion. The energy apparently lost is spent in producing vibrations, or permanent deformation, in the colliding bodies, and takes ultimately the form of heat.
t
Given by Newton
in the
Scholium
to his
Laws
of Motion.
41]
but
is
125
whicli
we
therefore succeeil
in a
e-aeli
we
will
Hence the totiil impulse on an end suppose to cover a large number of impacts, will be
ut -
time
t,
whidi
2a
X 2wiM =
will
muH
a
;
and the
total
be
'
muH
abc
If
we have a
but in
large
all
number n
of such particles,
moving with
tlic
same
velocity' q^
ifi
will
be
Jf/-,
(8) is re})laced
by
(-^^
3W
1 nm.q'-t
If
we have
n^ particles of
g'2)
velocity q^i
i)cr
'>H
"f niass
?>
moving with
velocity
f^"d
'^)
Mq^
where
i/=;iiW?iH-2>2+---i
(11)
and
i.e. il/ is
n^iyi^+2^2?2^i-.
the total mass of the
}jarticles,
(12)
and
to
g- is
the
mean square
of their
velocities.
If the particles are so numerous as medium, we have M=pabc, where p is the due to the medium is
density,
P = lp^
This result
is
tiie
changes of velocity are assumed to be instantaneous; for an encounter docs not affect the average kinetic energy, which is involved in (13), and tliere is no
loss (or gain) of time.
The above is the explanation of the pressure of a gas, and of Boyle's law, on the Kinetic Theory*. The comparison with the gaseous laws \_S. n.'>] shows
that q- nuist be supposed to be proportional to the altsolute temperatui-e.
For
})utting
tind,
p = 76x 130x981,
= -00129,
^=y('^) = 'l6ui./see.
*
The
calculation
is
due in principle
to Joule (1851).
126
DYNAMICS
[VI
42.
Kinetic Energy.
first
Taking
ni()ti(jn, let
us write
(1)
x,=x+^,,
so that
fi,
0:,
= ^+^,,
66]
^o are
the inass-centre.
We
have then
m,^,
[*S^.
+ m,^, =
(2)
Differentiating (1)
we have
and therefore
=
since
Jj
(i,
m.^ u-
I vh^f
+ ^ m^^.r,
(4)
w (nh^i + nh^^)
= ^m (^^1^1 + '"-^-') = 0,
is
by
(2).
The
sum
of two parts,
^ (nil
of the whole mass supposed
centre,
+ W2) w-
(5)
and
h wii^i"'
^ m,^^-,
(6)
which
may
between the
particles.
The kinetic energy of the relative motion may be expressed in terms of the velocity of the two particles relative to one another.
We
'
m-^
-t-
m^
to
= U2
'in-{iix
4- niM^i
7/ti
+ mo
0)
.
nil
1112
'
whence
h'^n^^i'
+ ^"i"^-'' = h "
^-
mi
^ (ih
^
u.,)-
'
trio
(8) ' ^
42-43]
It follows
127
l(..ss
in
tln'
direct
nf
kinetic energy
vurru
,,
The extension
tir
three-dimensioned motion
easy.
Thus
in
The
If a
(e)
mass
zero,
nii
strike a
mass nu at
rest,
and
is,
if
the coefficient of
(9),
restitution
be
by
mim-i
r"'
)
2 nii
+ m..
energy
i/HiWi'- is
The
ratio
therefore
mi-|-r/?2*
as when a pile is driven into the ground ti'i by a heavy weight faUing upon it, or when a nail is driven into wood )jy a hammer, this I'atio is small, and almost the whole of the original energy is utilized (in overcoming the subsequent resistance). But if wij be small compared with m2, the ratio is nearly equal to unity, and the energy is almost wholly si)ent in deformation of the surface of one or other of the bodies.
If
m.^,
Ex. 2. In the case of two particles moving in a plane and connected by an inextensible string of length a, the relative velocity is <aa, where w is the
angular
velocity' of
the string.
The
-
expression (10)
(o-a^
is
therefore equal to
(11)
is
2
If tliere are
m^
+ m.)
tlicrefore
constant.
43.
Conservation of Energy.
any interval of time will of course be equal to Avork done on the particles by all the forces which ari'
In calculating this work, forces such as the reactions
surfaces, or the tensions of inextensible
the total
operative.
of
strings or rods,
may
be
left
128
DYNAMICS
[VI
we denote
attraction,
this action,
by
<j)
(r),
Sr, is
4>(r) Sr
and the
V=
J a
<t>{r)dr
(1)
This quantity
'
is,
internal
of the S3^stem.
motion
is
we may
sum
+ ^ uiovi 4-
V,
(2)
(where
is
v-^,
v^
now denote
In particular,
if
there are no
sum
(2) is constant.
some
due
to a conservative
force,
the
30).
Ex.
we have
<^W= ^2-'
wliere y
is
-
Hence, from
(1),
(3)
F=_'y^2 + eonst
Since the part of the kinetic energy which
centre
is is
(4)
constant,
we have
^
,
V--'
-=const.,
(.5)
^:*'
43-44]
where
v
129
Hence
(6)
two
;
]>articles.
y2=_Zl_LZL_^^ + e,)n.st.
cf.
Art. 81.
44.
The following problems relate to the small oscillations df system of two particles about a state of equilibrium.
The
first is
known
as that of the
'
double
pendulum.'
1.
mass
a string of length
fi-om
is
by a string of length
The motion
Let
of m,
X,
,
m'
values
for
the reason
Fig. 39.
of motion are
^ = - {m + m) gj+
-mg-^.
,
m'g y
^
(1)
m-^^ =
To
solve these,
dry
./;
of vibration is possible in
whether a mode which each particle executes a simpleharmonic vibration of the same period, and with coincidence of
inquire, in the first place,
we
phase.
We
assume, therefore,
J'
ihv tiial,
i/
= B coh (nt + e)
(2)
Substituting in (1) we find that the cosines divide out, and that the equations are accordingly satisfied provided
()
where
fj,
7n'/m.
L. D.
130
Eliminating the ratio
r*^-(l
DYNAMICS
[VI
AjB we
obtain
(l
+ /^)^(^+^)^ +
n-.
,
/.)|;
= 0,
(4)
which
is
is
a quadratic in
?i-
positive Avhen
= qc
negative Avhen n-
= gjl
when n^ = 0,
the roots are real and positive, and are moreover one
greater than the greater, and the other less than the lesser of the
two quantities
respectively.
gjl
and
gjV.
We
n{-,
n.f,
We
the ratio
have thus obtained two distinct solutions of the type (2), A/B being determined in each case by one of the
(3), Avith
equations
may
be
we have
i)
x = Ai cos (nit +
y
cos (nJ
(5)
e.),
?}
-^
ej,
^- =
_9__
(6)
The
e^
may
x, y.
The
solution
is
The types
Their periods
of motion represented
'
by the two
normal modes
of vibration.
by the constitution of the 27r/-)ii, system, whilst the amplitudes and phases depend on the initial conditions. In each mode the two particles keep step with one another, but it is to be noticed that in one mode x and y have the same sign, whilst in the other the signs are opposite this
are fixed
;
Some
fi
If the ratio
(= m'/m)- is small, the roots of (4) are g/l and g/i, approximately. In the normal mode corresponding to the former of these the upper mass m oscillates almost like the bob of a simple pendulum
of length
I,
14]
1;U
a pendulum of length
/'
much like the bob ot" whose point of suspension has a forced
We
have, in
fact,
from
(())
x-rrr
(for
;
^'>
which is seen to agree with Art. 13. In the second normal mode which n- = gjU, approximately) the ratio xjy is small and the
upper mass
is
particle oscillates
much
like
length
v.
If on the other hand the mass of the upper particle is small compared with that of the lower one, so that is large, we have from (4)
yu,
nj-
/I,-
= ix(j
(-^
+ j/j
n^ii^
(8)
approximately.
The
f^9(}
nearly.
l)
and
(9)
The
formei' root
makes
I
y^_
x~
approximately.
fi{i-\-i'y
is
*^^^^
nearly at
rest,
/'
which
is
stretched
3.
between fixed points with a tension m'g In the second mode Ave have
!=^'.
(")
shewing that the two masses are always nearly in a straight line with the point of suspension, m' now oscillating like the bob of a
pendulum
of length
+ V.
We
of
(4),
(,,'
- nff =
(-
02
1:^2
DYNAMICS
see that they will be very nearly equal if
ratio
fi,
[VI
I
we
is
nearly equal to
I',
and the
of each particle,
same time small. The motion being made up of two superposed simple-harmonic
or
is
m jm,
at the
vibrations of nearly equal period, is practically equivalent, as explained in Art. 24, to a vibration of nearly constant period but Moreover if the initial circumstances be fluctuating amplitude.
such that the amplitudes A^, A^ and consequently also B^, B^ are equal (in absolute magnitude), we have intervals of approximate
rest.
The energy
much
the
The experiment
is
easily
made, and
is
very striking.
Two
equal particles
m are
6).
two
particles,
^
"26
Fig. 40.
"
dt-
2b
.(13)
dt'
'lb
where
is
the tension.
trial solution
e),
i/
Assuming a we
find
x = AcoH{nt+
..
= B cos(nt + )
(14)
F
m
+ 2b\
lab
J
P
Imb
r.
2mb
P ^
r
'
(15)
(n._P '^'^^^]b-0 ~
V
m'
2ab
A/B we
.
have
(16)
?i2
,_,
44]
or,
133
= P a+b
w./
'
'"
ah
nui
(5).
(17)
The complete
solution
is
In the normal mode corresponding to the first of the roots (17) B, from (15); tlie configuration at the end of a we have
A=
Fio-. 4J.
swing
is
we have
A = B,
Fig. 42.
to the
of vibration just
The preceding
which may be here stated, although the complete proof is beyond our limits*. In any conservative djmamical system whatever, which
is
motion
may be
'
of independent
If
modes
is
simple-harmonic, and
The number
of such
modes
is
equal to the
number
of
.solely
on
its constitution.
the other hand, are arbitrary, and depend on the nature of the
initial
*
disturbance.
of freedom is
general
however discussed
in a
13-i
DYNAMICS
[VI
EXAMPLES.
1.
XI.
impinges directly on a mass of 10 lbs. which is at rest, with a velocity of 12 ft./sec, and is observed to recoil with a velocity [4-57.] Find (in ft.-lbs.) the energy lost in the impact. of 1 ft./sec.
mass of 5
llts.
'^ A weight of 3 tons falling through 6 feet drives a pile weighing 2. 10 cwt. one inch into the ground. Find the resistance of the ground and [185 tons '01 sec] the time occupied by the movement of the pile.
; ;
-*
3.
gun of mass
M
is
discharges a shot of
mass
on horizontally,
and the
/;.
such as would be sufficient to project the shot Find the velocity with which the gun will begin to
which
it
by a steady
L
^
\M {M+m)
^^^7
'
M{M+m)
'*'''
'
A light string comiecting two particles of mass m rests suppoi'ted by 4. two smooth pegs at a distance 2a apart in a hoiizontal line. A particle m' is attached to the string half-way between the pegs. Find how far the mass ni' will descend before coming to rest.
r Amm'a
,
~]
Two
particles
iiii
m^
ai'e
pulley, as in
Atwood's machine.
connected by a string passing over a smooth Prove that if the inertia of the pulley be
downward
acceleration
mi + m^J
hangs l)y a very long string, and from it is susi^ended mass a simple pendulum of length Z and mass m. Prove that the period of oscillation of m relative to is greater than if J/ had been fixed, in the ratio
6.
7.
I,
If in the double
6.,
pendulum
6'
V to the vertical be
-f-
C.
double pendulum
(m -h m!) gx^
I
*'2
m'g (y - xf V
EXAMPLES
"^
185
tlic
9.
Prove that
if
in
ratio
^i
Ix?
Hi}-;"^' -Hi^-A)'
approximately, unless
I
and
I'
10.
If,
tlie
approximately.
~^ 11.
Two
(27r/?i)
by the equation
,,_|i:(i+i)+i:(i+i)\,,+J!_('^+-L+_L)=o,
[mi \ai a^)
m-i
\2
:j/J
}iWi2 \<^2%
3^i
"ifl-i'
where Tis
12.
the tension,
in
and
! = Jfj,
ai = l\P.i^ a^^PoB.
Prove that
^
Prove that the total energy of a
26
vil tration is
^\^^
where ^i, Ao have the same meanings as
13.
^)
;'
in Art. 44 (14).
Three particles each of mass m are attached to a tense string of Prove that there are three a, 2a, Sa from one end.
;
2-\'2
+ ^2.
Draw
14.
figures
shewing
tlic
mass
hangs from a
m by
when
a second spring, such that the period of a small vertical vibration of wi', is held fixed, is 27r/jo', prove that when both masses are free the periods 2iTln of the normal modes of vertical vibration of the system arc
'-{^ + {^+'^I^j'^+i^P-^-
186
15.
DYNAMICS
Two
masses of 3 and 5
fixed,
f.
[a^I
lbs.
is
are coiiuected
l)y
the latter
;
with a velocity of 10
s.
mass be now
is
what
?
is
-976
ll)s.]
16.
Two
is
particles m,
are connected
by a
string of length a.
The
former
free to
straight groove,
and the
latter is
will oscillate
m'\
nearlv.
17.
Two
771.7
Find their
velocities
when
Mi^
+ Wo
\5'
5/
"
mi + 7n.2
CHAPTER
VII
Momentum.
have to deal with a system of isolated particles we may begin as in Art. 40 by forming the equations of motion of each particle separately, taking account, of course, of the mutual actions, as well as of the forces acting on the system from without.
In these equations each component of internal force will appear twice over, with opposite signs, viz. in the equations of motion of
the two particles between which the force in question acts.
If the system
relation
is
is
When we
the particles
is
restricted to lie
on a smooth
we have the
expected,
The complete
usually
difficult.
is,
as
may be
For instance, the fundamental problem of Physical Astronomy, viz, the problem of three bodies,' which is to determine the motions of three mutually gravitating particles (e.g. the sun, the earth, and the moon), can only be solved by elaborate methods
'
of approximation.
however, two general results which hold whate\er the nature of the mutual actions in the system. Before proceeding to these it is convenient to premise one or two kinematical theorems
There
are,
which
of the several particles of the system evidently constitute a series of localized vectors [*S'. 18] which, tor the purposes of resolving and taking moments, may be treated by
The momenta
'
138
DYNAMICS
[VII
may be
the
replaced by a
linear
momentum
momenta
of
momentum which
'
is
sum
of the
moments
of the
These con-espond
[(S.
to the
21].
the geometric
is
sum
of the
therefore independent of
components of linear
S(mi;),
momentum
1(7112),
are
(1)
X(my),
all
momentum
is
mass were concentrated at the mass-centre the same of the system and endowed with the velocity of that point. For if in the time St the particle nii is displaced from Pj to P/, the particle wi^ from P2 to P2', and so on, we have [S. 64]
as if the total
2(m.PP') = S(7H).GG',
where GG'
is
(2)
the displacement
of
the
mass-centre.
Heiice,
8t,
^(-4')=^-'f
In the limit the vector
(^)
m
.
PP'/Si
is
is
the
S (m)
GG'/8t
the
momentum momentum of
of a particle
a mass
2 (m)
we have
and similarly
for
r be the
m
^
relative to
any
origin,
and p
its
= r + p,
(5)
45-46]
139
where r
wv
S (mp) =
and
'^{mr)
0,
= S(m).f
t,
(7)
we have
(8)
is
v (= dr/dt)
the velocity
of the mass-centre.
Some
momentum
aiv
46.
Kinetic Energy.
we draw a
series of vectors
nii, m.,,...
OV,, OVg,...
on any given
and
if
we
OK = %OI.) 1 (7H)
it will
(1)
This
is
of course
evident
[>S.
64] that
m-^,
K will
a system of particles
in the auxiliary
By
Lagrange's
'
First
Thoorcm
74]
we have
ht{in.OV') = \^im).OK' + \'S{m.KV')]
(2)
i.e.
is
and moving with the velocity of this point, together with the The latter constituent kinetic energy of the motion relative to G.
may be
called the
'
'
of the system.
A particular case of this theorem has been given in Art. 42, and the analytical proof there given is easily generalized. Thus using rectangular coordinates, and writing
a;
= .7;+^,
ij
!)
7),
^,
('})
140
where
x, y, z refer to
DYNAMICS
the mass-centre,
[VII
we
ha^e
-^-l(ir-(iy-(i)l+ \Sm{t^r^'^)since
-(4)
and
so on.
There
is
also
an interesting analogue
viz.
to LagTange's
'Second
Theorem'
[>S'.
74],
\^{m.KV-)=
Avhere in the
is
--
'
Z {vi)
--,
(6)
summation
in
and
For the
special case of
two particles a
we
write
(7)
v
i.e.
=^
V have
since
is
m relative
.
to the mass-centre,
we
1 2 {mv-)
=i
Til
(v
-h
)-
= i S (m)
v-
+ 1 2 {mv%
(8)
(9)
Since the scalar square of a vector is equal to the square of the absolute magnitude of the vector, the formula (8) is
equivalent to
(2).
it(,.^)^ i^^'"^^-^^
in
(10)
agreement with
*
(6).
des
aiul the
method
46-48]
DYNAMICS
(3F
A SYSTEM OF PARTICLES
141
47.
Principle of Linear
proce^ed
to
Momentum.
of"
We
The
tum.'
linear
the
proof
the
two
(lynaiiiical
fhrorems
of these
is
known
as the
'
Principle of Linear
Momentotal
If there are
no external
i.e.
forces
momentum,
the vector
snm
momenta
of the
is constant in every respect. For consider any two particles F, Q, and let F be the mutual action between them, reckoned positive when attractive. In the infinitesimal time 8t an impulse FBt will be given to F in the direction FQ, whilst an equal and opposite impulse is given to Q in the direction QF. These impulses produce equal and opposite momenta in the directions FQ, QF, respectively, and therefore leave the geometric sum of the momenta of the system unaltered. Similarly for any
several particles,
we have
it
momentum
is
the same as
that of the whole mass supposed moving with the velocity of the
mass-centre,
line
solar
For instance, the mass-centre of the way, so far as the system is free from
momentum
of the
is
sum
The mass-
move
Thus
in the case of a
system of particles subject t(j ordinary gravity, and to any mutual actions whatever, the mass-centre will describe a pai-abola.
48.
Principle of Angular
is
Momentum.
'
called the
Principle of Angular
momentum,
the
sum
of the
moments*
of the
momenta
of the sevei-al
* The moment of a localized vector about an axis normal to any plane in which the vector lies has been already defined [S. 20]. To find the moment about any axis whatever, we resolve the vector into two ortliogonal components, of whicli
142
particles,
DYNAMICS
with respect to any fixed
axis, is constant.
[VII
For
in tlie
any two
particles P,
prowill
duces equal and opposite momenta in the line PQ, and these have equal and opposite moments about the axis in question.
If external forces are oj^erative, the total angular
momentum
about the fixed axis is increased by the sum of the moments of the external forces about this axis.
Some
Chap.
IX.,
further developments
Arts. 61, 62.
of
this
Ex. In the case of a particle subject only to a force whose direction passes always through a fixed point 0, the angular momentum about this point (i.e. about an axis through this point normal to the plane of the motion)
will
be constant.
If
perpendiciUar from
is
be the mass of the particle, v its velocity, and p the on the tangent to its path, this angular momentum
mvp.
This
Hence
was found
of motion.
49.
Motion of a Chain.
Though hardly important
excellent
illustrations
such
problems
furnish
of
dynamical
principles.
Take
first
/x
the line-density
when
T be
we
H''j^=9f^'--^>
)
(1)
one
it.
is
The moment
is
of the latter
and the other is in a plane perpendicular to component is the moment required. Some conven-
tion as to sign
It
of course necessary.
sum
of the
vectors about
any axis
is
equal to the
localized
48-49]
143
By
addition
we
find
dii
qx
^-'^
dt-T
Since u
= dxjdt,
this
makes
W-''''"
w
is
where
n-
= gjl and
;
X = Ae"^
+ Be-''\
on the
initial conditions.
(5)
B depend
The formula
is
(3)
principle
its
of energy.
and since
mass-centre
\x below
is less
at this level
by
Hence
^gfix-
const.,
(6)
hanging.
x we
find
^
du
qx
>,
''S =
in
^'>
agreement with
(3).
Let us now vary the question by supposing that the portion is on the table forms a loose heap close to the edge. In a short time ht an additional mass fiuht is set in motion with
generated,
velocity
w.
Hence, considering
the
momentum
(8) (9)
we have
fiuh.u
= TU,
or
T=/i=
(2).
Substituting in
(1),
and
we have
-r-
xu
u-
= gx
(10)
144
This
DYNAMICS
[VII
may be put
in
the form
2ay^u'^
+ 2a;u' =
;
2ga:^
(11)
which
is
immediately integrable
xht-
thus
(12)
= ^gx^ + const
This cannot as a rule be integrated further without using But if the chain be just started from rest at elliptic functions.
the edge of the table, so that u
is
infinitesimal
for
= 0,
the
constant vanishes,
and we have
i^'
= tg^>
(13)
shewing that the acceleration is constant and equal to ^g. It is to be noticed that the equation of energy, if applied to this form of the problem, leads to an erroneous result unless we
take account of the energy continually lost in the succession of infinitesimal impacts which take place at the edge, as one element
It was found in is set in motion. 42 that when the coefficient (e) of restitution vanishes, as it is Art. assumed to do in the present case, the energy lost in an impact between two masses m, m' is
s im 1
if
,^t^
(14)
in
is
In the present
of energy in
loss of potential
lost,
case
we have
m = fxx,
m'
= fiaSt,
time
St is hfj.iV'St,
ultimately.
we have
Tjgfix'
^fxxu-
!i/jL
j-u^dt
\fxxu- + ^/u.
If
li-dx
(15)
we
differentiate
this
the
equation (10).
50.
If
any point of an inextensible chain on the two ends of a linear hs contribute a force hT along the tangent, and a force element TSsjp, where p is the radius of curvature, along the normal [S. 80].
at
moving
49-50]
145
is
which
subject to
and
is
can run with constant velocity v in the form of ani/ given curve,
^7"i^vr.
.
8T =
i.e.
0,
/^i^-'='^^-^'
(1)
P
(2
oi'
provided
T = imv-
The formula
tension
'
(2)
gives
what
is
known
as
the
'
centrifugal
now
is
no restriction
to the circular
As
long,
a particular case,
to
In
be infinitely
and
be straight except
If
pcjrtion,
which has
v
in
we now superpose a
velocity
is
the
i-unning in the
is
otherwise at
rest.
This
is
wave of
transvei*se displacement
T is
t.
(3)
If external
forces
hs,
act,
resolved,
as
regards an element
into
The equations
of motion of a mass-
= hT + ^Zs,
fxhs-=~+B^s
p
-
(4)
or If
in
i^-m=-r+^^
we put
r
= -+i^
(o)
we get the
siitisfiiMJ
may be
(1%0-
1901).
3*
M
1
T't
y'e
^;l^
^^^^^
7*
r^
7
o-ifi^ ^W=
^T^"-*^^
'
146
^^^^^^^ p
[VII
undtT the same system of external foi'ces. Hence if the curve has a form which is one of possible equilibrium under the given forces, the equations (5) are satisfied by
V
= const.,
(6)
(7)
provided
T=T' + ixv\
where T' is the statical tension. For instance, a chain hanging in the form of a catenary between smooth pulleys can retain the same form when running with velocity v, provided the terminal
tensions be increased by
fjiV'.
Ill the case of a chain constrained to move along a given smooth curve, the normal force ^\bs will include a term {Rbs) contributed by the pressure of the curve. If the chain be subject to gravity, we have, then,
X=
where
y^
-fi5'sin-\/^,
3i= fig
ooH-<^
+ R,
Also,
(8)
if
the
drawn vertically upwards, that of x being horizontal, we have ii\i\i^ = dylds, and the former of equations (5) takes the form
axis of
dT dy / dv ^driTs-^^ds
Hence, integrating over a
finite
^^)
length
of the chain,
^jj:^=T.,-T,-iig{^.,-y,\
where the
7^1
(10)
= 72 0,
will
two ends. If both ends are free we have depend only on the difference of level of
the ends.
may be
is
treated
The
any instant
\\dv^^r
figyds,
(11)
In the time
limit, whilst
The
therefore
M^^'^ + M5'(y2-yi)''
This must
Ije
<^^
(1
is
two ends,
Equating
viz.
T.,v-Tiv
(12)
and
(13),
and dividing by
v,
we
(10).
'
ii''^
di
M.
TS-'^
iyA.-^
^^*^
*--yU*.v
*^
/W?.*-*^** ^JT,
-*
50-51]
DVXAMICS OF
SVSTKM OK PAKTK'IJIS
,..,
147
-
51.
..,_^(
it
is
We now
denote by
i.e.
duration of the
force.
Let
m, v
be the velocities of
innnediately
respectiveh'.
^/mBs.u
= =
B2\
fx.Bs.V=TBylr,
?
^'*
''"
TS'
""=^7?
,
If P,
Q
{u
Q
.
relative to
P
+
will
Bii)
be made up of a component
cos
Bylr
Ba
t'Si/r, ^^J, \
^'''
t****^
component
uB^jf
"^
+ Sti)
sin B-^
(V
+ Sy) cos
B^^
v=
Bv,
the element
velocity-
PQ
is
component of relative^
"
$^-.^ = as as
The
mediately after the impulse the element
its velocity
^.
(2)
PQ
has, in addition to
dv
ds
,^y
ds
Eliminating
u,
between
(1)
and
(2)
we have
,4)
dndT
ds
if
\fjL
Tfdj.y^Z'
J
fi
ds
\ds
fip-
'^^
^'
^ *
102
148
DYNAMICS
If the chain be of uniform line-density, this reduces to
[VII
-r^ as-
=p-
(5)
two arbitrary constants, which are to be determined from the data relating to the two ends. 1 he values of u, v are then given by (1).
solution of (4) or (5) involves
Ex.
})utting s
The
If the chain
form a circular
arc,
we have
'
= ,
the
I'adius.
Hence,
= a6,
J=^'
the sohition of which
is
c^)
r=Jcosh<9+i?yinh^
be the imixilsive tension appHed at one end (^ = 0), and , {6 = a) be free, we have ^
If
7',
(7)
if tlie
other end
uni.o-^^
(8)
-r ijP
wh;nce^
^^^^sinMo-^)
smh
.i^
a
^'^
I
^^
'
"T
Hence
^^
^-^^i^izD,
,=
inh^)_
.
^
,/.
'"
^c.^
^V
^.0. 1^"
"
"I
1.
EXAMPLES.
m
is
XII.
"^^
5' ^^
and is attached to a string which passes through a small hole in the table and carries a mass hanging
on a smooth
table,
mass
If
be projected at right angles to the string with velocity v, at a distance a from the hole, prove that when m is next moving at right angles
vertically.
is
^Mg
2.
m from
Mga^
a
a+b^
respectively.
3.
+ 6'
The former
P,
describes a circle of radius a about a fixed point 0, and the latter describes a circle of radius h relative to P. If 6 be the angle which OP makes with
a fixed direction, and x the angle which kinetic energy of the system is
PQ
where
A = Ma^ + m{a^-\-2ahcoiix+h-\
IT =mb {a cos x
+ f>\
B=mW.
momentum Ae + Hx.
about
is
51]
4.
EXAMPLES
141>
in cqiiiUbriuni over
its
a sniootli
leaving
i>og.
If it be just started
from
rest,
prove that
velocity
uv^A<.=
when
it is
thi-
pegisV(^a).
^
r^-r-^i f^-'^'f^>
T^'^-'^>^
^o-A^i- -J^^^j,^^
together.
imiform chain hangs vertically from its two ends, which are close If one end be released, the tension at the bight after a time t, on the stationary side, is ^fig-^t', where fi is the mass [)cr unit length.
5.
Examine the
6.
loss of
mechanical energy.
chain hangs vertically from
the pressure on the
its
A piece of uniform
ju.st clear
lower end
of a horizontal table.
fall
If the ui)per
tal)le is
is
horizontal,
its
Prove that
if it
be slightly
disturbed
slipjied
/r^{^^ + 2(l-cos^)}],
if
sw_w.,.
A uniform
;
axis is vertical
prove that
if
concentrated there.
9.
If one of the strings be suddenly jerked, prove that the tensions of any three successive strings arc
connected by the
i-elation
where
10.
T.2
is
If a chain is set in
at the
motion by instantaneous tangential impulses two ends, prove that the kinetic energy generated is
where
11.
iii,
?.>
uniform chain
angle a
is set in
impulsive tension
given
Ijy
the equation
where
tii,
(?i
If the chain extend to infinity in
l)
= tan-a.
the
initial
motion of each
i)oint
one direction prove that the diixx^tion of makes the same angle with the curve.
OHAPTEE
VIII
Introduction.
pass from the consideration of a system of discrete that
of continuous
or
When we
to
apparently continuous
or
solid,
dis-
tributions
of matter, whether
fluid
we
require
some
by mathematical
points.
As
shall
be introduced there
which this new physical assumption some liberty of choice. One plan is to
assume that any portion whatever of matter may be treated as if it were constituted of mathematical points, separated by finite
intervals,
endowed with
inertia-coefficients,
another with forces in the lines joining them, subject to the law
of equality of action and reaction*.
these
forces
are
sensibly constant.
On
this basis
generally necessary
Dynamics
of Rigid Bodies.
53.
D'Alembert's Principle.
a
* This is often referred to as Boscovich's hypothesis,' after R. G. Boscovich, author of a treatise on Natural Philosophy (Venice, 1758) in which this doctrine
was taught.
t J. le R. d'Alembert (1717-1783). dynamique, Paris, 1743.
The
52-53]
ROTATION
its
1.")|
The product
particle.'
of a particle into
acceleration
force
is
By
the
on the
in
be
('<(ual
vi.
In
maybe
viz.
we have
the
internal
forces
'
or
reactions
due
to
we may
the
effective
forces
forces combined.
The aissumption made by d'Alembei't is that the internal It follows forces form by themselves a system in equilibrium.
that the system of effective forces
of the effective forces on
direction,
is
must be equal
of the components of the and the sum of the moments about any axis must be equal to the sum
to the
;
sum
moments
To express
denote the
and
m are
mx,
my,
m'z,
we
S(mz) = l(Z),
and taking moments about Oz,
(1)
S
[S. 60].
(x
all
This
is (virtually)
152
DYNAMICS
These equations may bo written
-5^S(mi)
[VIII
= S(Z),
(3)
and
^^{.x.my-y.mx) = ^{xY-yX)
(4)
and (4) express that the rate of increase of the total momentum in any given direction is equal to the total external force in that
direction,
and that the rate of increase of the angulai- momentum about any given axis is equal to the total moment of all the external forces about that axis.
It appears, then, that
we adopt we
angular
I'estriction to
and
momentum
be observed that no
The
that
number
to the degrees
and that they are accordingly generally sufficient for the discussion of dynamical problems in which only such bodies are involved. In other cases, as e.g. in Hydrodynamics and in the theory of Elastic Vibrations, auxiliary physical assumptions (^f a more special kind
have to be introduced. In the form most usually given to d'Alembert's principle it is is in equilibrium with
This
is
obviously equivalent
conveniently, but
A
'
the
m
is
describing a circle of
radius r with
fictitious
'
is
simply the
centrifugal force
marr which
on the
particle.
it must be recognized The assumption explained
As regards the
postulates themselves,
53]
in Art. 52
ROTATION
loS
makes dynainical investigations depend on a paitictdar view as to the ultimate structure of matter. On the other han<l, it has been objected to d'Alembert's principle that it expresse-s a
law of motion in terms of the rules of Statics, whereas on a more
rational procedure the
Dynamics*.
it
is
and angular momentum as such, regarding them as natural extensions of the Newtonian Laws of Motion, suggested, although not proved, by considerations such as those of Chap. vii. Since some assumption has in any case to be made, it seems best to make it directly in the form which is most convenient for further developments, and is at the same time independent of doubtful
hypotheses.
Ex.
friction
1.
self-propelled vehicle
i.s
it
is
maximum
Mu^
Fig. 43.
aJxve tlio
a the radius of the hind wheels, Ci, C) the distances of the vertical throiigli be the coujile which the G from the front and rear axles, respectively. If engine exerts on the rear axle, and the forward pull of the road on the hind wheels, preventing these from slipping backwards, we liave, taking moments about the axle,
Fa^.y,
* Historically, d'Alembert's principle
^),'
dealt
less plausible,
154
DYNAMICS
.
[VIII
If
u be the
velocity of the
equivalent to a linear
momentum
moving parts
^tr"'
and
where ^i ^2
,
()
Ri + R.2 = Mrj
f^i'^
(7)
moments about
G,
(8)
R,Co^-RiCi=Fh
Hence
R^
= =
''
C1
+ C2
;
Cj+Co
^^2
Mgci C1+C2
is
Fh
1
;
.(9)
C1
C2
The
effect of
the hind wheels, and to diminish that on the front wheels, by Fhj{ci-\-c.^.
may
not
slij)
we must have
(10)
F^fiRo,
which gives
/^>_^^i
acceleration
is
(11)
and the
maximum
therefore
.(12)
C1+C2 fih
If the vehicle
result
would
have been
+ C2 +
(13)
fi/i
If we reverse the sign of h, the formula (12) gives the maxinuun retardation when a lirake is applied to the hind wheels, and (13) the maximum retardation when it is applied to the front wheels.
As a numerical example
is
^-^ff,
of (12), let
Ci
= 8,
C2
= 4, A = 3, = ^. The
fi
result
or about 5^
ft./sec.^.
Fx. 2. Let us suppose that the vehicle is propelled by a tractive force acting in a horizontal line at a height h' above the ground. If we neglect
friction at the axles,
now no
(14)
The equation
replaced
l)y
R2C,~R^Ci = F(h-h')
Combined with
(7),
this gives
(15)
53-54]
Hence
if
ROTATION
155
CT^'
or the vahie of ^j required to satisfy (15) would
l)c
(^)
negative;
i.e.
the front
of the
wheels would
vehicle
is
jump
ott"
the ground.
Similarly,
c^)
<
in
//,
must be interchanged in these statements, and the denominators replaced by h' h. An absolutely sudden shock, which means an infinite
would cause a jump
bar
uppei*
acceleration,
/i
and
h'
wei'(!
onual.
Ex.
velocity
3.
A
its
OA
through
end
which
is
fixed
to
find
a>.
This question
is
l)y
means
fiSx
if
.
the
will
be
a'^
x nin a, and
its
moment
about
will
be
/idx
Hence,
a be the length
of the bar,
its
w-sinacosal
J
fjLX-dx=
0,
Mgh
s.\\\
(18)
Hence
if
Z;
=
'j
cos a
(ly)
where
I is
54. The
a fixed axis
specified
body Avhich is ti'oo only to turn about by the angle 6 which some plane through the body, makes with a standard position of this
maybe
called the
'mean angular
limit,
velocity' of the
body
in
the interval.
Proceeding to the
and
wi-lting
de ""^dt'
6) is
(1)
called the
'
t.
156
DYNAMICS
Similarly, the differential coefficient
doi
[VIII
d"0
'
/^v
di
H'
'
<^>
may be
called the
'
angular acceleration
of the body.
If
(o
be
regarded as a function of 6
da>
we have
^^
.(>\
which
is
In the time
the fixed axis
a particle
r,
and
its
velocity
is
is
The momentum
to the axis,
??zr-&).
of this particle
its
mwr,
and
and
is
therefore mwr.r, or
The
total
angular
therefore
S (mr^co) = S (mr-)
where the summation includes
all
eo,
The sum 2
axis
is
(m?-")
of
the masses
the
various
particles
known
as the
70].
'
moment
72]
;
of inertia
'
of the
to the axis
[>S'.
by integration
[S. 71,
in other cases
has to be ascertained,
Art. 57).
when
If
required,
A,-
by dynamical experiment
'
be the
mean square
[>S^.
'
70],
1^=^"^. Z {m)
the linear magnitude k
is
(5)
called the
'
radius of gyration
'
of the
to the axis.
If
/ be the moment
of inertia,
and
Mk'\
Hence
angular
all
we have by the
momentum
^-
(^>
54]
ROTATION
157
may hv compared
viz.
with the
of a body,
|(^)='Y
It appears that the constant
w
th(^'
/ measures
inei-tia
<it'
the
iiL;i<l
body as regards rotation about the given axis, just as its inertia as regards a motion of translation.
M uitasures
and
The
is ^iii {(or)'-,
therefore
= ^2
(mr-)
co-
= ^ Mk'(o' = J
/w-
The
latter
form
may be compared
(7)
-.^
J jl/a-
by w we have
^^dd
T /a,^=.y=iv-^-^.
(m
,,.
|(i/.=)
Since
= .vf
,11)
fcjrces
Nhd
denotes
[>S'.
at
which work
we
of time
that interval.
no external forces other than tlie constraining if these have zero moment almut tlie axis, as case of a peifectly smooth spindle, we ha^'o from (7)
Ex.
1.
If there are
forces
in the
-T-
= 0,
&)
= const
(12)
For instance, the angular velocity of the earth about its axis is constant, so far as the earth can be regarded as rigid, and its axis (tf rotation invai-iablc.
Ex.
2.
A fly-wheel,
the
mass
h.
/ be
moment
its
angular
velocity,
u the downward
axis,
and
neglecting friction,
we have
's=
('')
158
where
DYNAMICS
[VIII
T is
m we have
.(14)
m^^ = mg-T.
Also, since
(nht
du
y
\
^>,^^
a lengtli htaU
string,
u^hdi
Eliminating w we tind
(15)
C&)
^
J
Jr
6'
Fig. 44.
.(18)
I
^b-
\ du
;77='"5'; dt
2+"M J
(16)
,i,
is thei'efore
du
dt
_ ~ T+mb-^
mlr'
.(17)
The
tension
/
is
2 I+rab-
'"^9-
55.
which
is
This term
free to
axis,
being neglected.
Let 6 be the angle which a plane through the axis and the
mass-centre
If
vertical.
M be
axis,
the distance of
from the
to
axis,
the
moment
the
is
about
of
6,
tending
increase
if
Mgli sin 6.
Hence
moment
of inertia
I^ = -Mghsmd
This
vided
l
(1)
is exactly the same as for a simple pendulum of length I (Art. 37), pro-
FiR- 45.
= IIMh
(2)
/=
Mk",
we
have
l
k-'lh
(3)*
54-55]
ROTATION
t<>
150
plane
The plane
.supposed
be a voitieal
through G, perpendicular to the axis and meeting it in O. It' we produce OG to P, making OP=l, the point P is called the centre of oscillation.' The bob of a simple pendulum of length /,
'
axis,
it,
will
P
/c
if
started with
pai-allel
= K- + h-,
and therefore
or
l = h + K-jh,
(5) (6)
if
GP.GO = Kthis
The symmetry of
relation
This is become the new centre of oscillation. by saying that the centres of suspension and
convertible *.
For
'^{GO + GP). Since the product of and GO is fixed by (6), their sum is least when they are equal. Hence, considering any system of parallel axes, the period is least when h = K, and therefore I = 2k.
GP
If the axis of a
compound pendulum be
tilted so as to
make
an angle
/3
making an angle /3 with the horizontal. The gi-avity Mg of the pendulum may be resolved into two components, viz. Mg sin ^ in
this plane, parallel to a line of gi-eatest slope,
to the plane.
moment about
The length
equal to
the motion
is
same
is
therefore
'
now
k'-/{h
If
/3
be
horizontal
pendulums used
long.
in seismogi-aphs, this
When
The same conclusion follows also from consideration of energy. the pendulum turns thi'ough an angle 6 from its equilil)iium
OG
is
on a
to
is
//
cos
6,
The
proposition
due
Huygens,
c.
unte
p.
112.
160
DYNAMICS
[VlII
is therefore h cos 6 and the depth of G below the level of The potential energy is therefore increased by
sin
/3.
Mgh
Ex.
point
(1
cos
6) sin
/3.
When
of
it is less
line of hinges is
a horizontal trap-door is released, the acceleration of a or gi-eater than g, according as the distance of Q from the Hence a weight originally resting on less or greater than I.
I
will
immediately begin to
fall freely.
56.
Determination of
for
^.
Methods
9=
of Art.
11.
-j^
there
I
(1)
The
ideal
simple pendulum
contemplated
the length of
is
equivalent
'
to
pendulum which
is
actually employed.
The period
The
measurement
In the form
tion,
is
of
g two
distinct
first
method a pendulum
for
which the value of I can be found by calculausing the formula (5) of Art. 55 and the values of h and k
adopted
Thus in the case of a homogeneous sphere uf radius a suspended by a fine wire of length \, we have K- = *a'- \_S. 72], and therefore
proper to the particular form.
'
= ^ + + 5xf7.'
If the
is
^2)
if
(supposed to be uniform)
notation of Art. 55,
(M + m)
k-
(3)
(4)
{M->rm)h =i(X +
+fmX,
55-56]
ROTATION
Uil
where
is
[<S.
73].
Hence
.
M (\ + af + iMa" + ^mX'
M{\ + a)+hn\
h~
Cassini*.
^''
The
is
homogeneous.
Any
eliminated by varying the point of the sphere at which Some care has also to be taken as to the the wire is attached.
may be
mode
of suspension.
upper end,
is
its
stiffness
comes into
'
and
it
is
the
precise
point
'
of suspension.
was attached
to a miniature
a knife-edge resting
The
is
in-
then
point of suspension.
referred to
is
and
is
oscillation.
A
is
pendulum,
whose
form
unimportant,
constructed with
two knife-edges facing one another, as nearly as same plane with the mass-centre G, and at distinctly unequal distances from this point.
possible in the If it could be contrived that the period of a small
oscillation should
,^;
+ /, = ^ + /, = ;
(6)
we have
*
L. D.
(-^-i\{h^-h.^ =
Base
dti
(7)
11
162
DYNAMICS
//j
[VIII
= h.
l
= hji,,
= h,+Iu
pendulum has a
exact,
With a view
the knife-edges
sliding
may be
provided.
required.
be the lengths of the but not quite, equal, and if ^i, simple pendulums, we have corresponding
li
=Y +
k,
'^1'
^2
=f
+'^2'
(9)
whence, eliminating
h,k-h.k =
This
h,^-lu-
(10)
may be
written
1 Z,-L^ Ik+J^ 2Ai + A ^2h,-/u k^gT,^I^TT\ k = gTo'/4>7r-,
Since
this gives
(12)
g
If
/!,
K+K
K-h
Ag are distinctly
h^, lu
known very
is
accurately.
unequal, the last term is relatively small, which occur in it need not therefore be The denominator h^ A- h^ of the first term
As a numerical example,
^1
let
T'g
Jiy
= 1 -8478
sec,
hi = 55 cm.
We
find
= 9
5'
-040239 -F -000020,
cm./sec^.
whence
= 980-6
An
carried,
warrant.
* This method had been suggested apparently by Bohnenberger, but was employed by Captain Kater [Phil. Trans., 1818).
first
56-57]
DYNAMICS OF HKilD
I50DIE.S.
ROTATION
UJS
57.
Torsional Oscillations.
vertical wire
is suspended by a upper end of which is clamped, anrl makes We will assume torsional oscillations about the axis of the wire. that this axis is a principal axis of inertia of the body at its
When
the body
is
6,
where I is the total length. The restoring couple called into play by the elasticity of the wiiv is modulus of therefore KOjl, where is a constant, called the
unit length of the wire
djl,
'
(/a)
of the material
[S.
we have
151]
(1)
K=
^'rrfia'
1^ = -^^where I
is
(2)
the
axis of rotation*.
moment of inertia of the suspended body about the The motion is therefore simple-harmonic, with
the period
^=2V
This gives an experimental method of determining K,
if
<3>
7 be
known, thus
K=*^'
The
value of
/z
(4)
(1).
If
/ be
may be made
in
which
we have
^5,
^^i^ (l+Ql
* It is here
assumed that
A',
and therefore
fj.,
is
112
164
DYNAMICS
[VIII
where / is the moment of inertia of the attached body as found by weighing and calculation. Combined with (4), this gives
^
We
rp/n
/TT2
.(6)
/ thus
;
/o~r r^"
58.
Bifilar Suspension.
is
0)
A bar
its
Let
K
its
M be
radius
about a
dis-
vertical axis
through G, 2b the
the
strings
tance
between
I
when
vertical,
their length.
When
the bar
is
turned through
a small angle 6 about the vertical through G, the lower end of each
string describes a small arc
which
may be taken
zontal
inclination
vertical
and equal
of
and the
to
each
b6/l,
string
the
Fig. 47.
becomes
approximately.
The
vertical displacement of
6,
G being
is
approxi-
mately constant and equal to ^Mg. The horizontal component Since these comof each tension is therefore ^Mgbdjl, nearly.
ponents
are
sensibly
perpendicular
to
the
bar,
they
give
Hence, in a
free oscillation,
Mk-
dt^
= -Mgj0,
(1)
or
l^!l-o
.(2)
57-59]
ROTATION'
166
The
period
therefore
.(3)
59.
Let us
first
body, other than the constraining forces at the axis, which are of
We
frictional forces
velocity
then constant.
momentum
it is
somewhat simpler
Since
to
is
constant,
the
reversed
on a particle
'
be the centrifugal force iiiarr, outwards. If we take rectangular axes of coordinates, such that Oz coincides with the axis of
rotation, the three
components of
mco^x,
mtcry,
(1)
this force
where x, y, z are the coordinates of m. The moments of about the coordinate axes will therefore be
ma>-yz,
respectively.
marxz,
in
0,
(2)
The
reactions
question
must
0,
therefore
have
components
03.
{)nx),
or
2 {my),
0,
or
(oKMx,
(o-.My,
(3)
where
M denotes
to the mass-centre.
the total mass, and the coordinates x, y refer Again, the moments of the reactions about
Ox, Oy, Oz
must be
0).
(7/13/2),
a>-
."^{inxz),
(4)
i)()dy,
If
we imagine
the
coefficients of
co-
depending
166
It appears, then, that a
DYNAMICS
[VIII
pomt
will
0,
when
body which is free to turn about a fixed any given axis (Oz) through 0,
not continue so to rotate unless the expressions (4) vanish. Constraining forces would be required whose moments are equal and opposite to these. Hence in order that Oz may be a possible
axis of free
permanent
rotation,
we must have
S
The
axis in question
'
(mt/0)
is
= 0,
S (mocz) =
'
.(5)
spontaneous
It
rotation,' or a
was was
originated*.
When
fulfilled,
are given
'
by
Since the products of inertia 2 {myx), S {mxz) measure the tendency of the axis of rotation to deviate from its original dii^ection, they are sometimes called deviation moments.'
'
let
us
smooth bearings, and consists accordingly of two forces (Pj, Q-^, 0), {Pi, ^2) 0), respectively. Let us further suppose that the axis of a;
is
If the distances
^P"
are
a-y,
a^,
on opposite
sides,
we have
(6)
. .
P,
Qittj
+ Q22 =
ft)'^
.(7)
From
these
formulae Pj, P,
forces
Q^,
directions
of these
revolve
J.
By
A. Segner (1755).
59-60]
ROTATION
If the pt-riod
167
27r, o)
of the
supports, violent
oscillations
importance in connection with the 'balancing' of modern highspeed machinery. It is important, not only that the mass-centre
should
lie in
be a principal
Under
these conditions
we have
Ex.
ACBC
A By
The
posite,
reactions
(P)
exerted
by these
and
equimomental [^S. 78] with of mass ^M at the middle points of the sides and a particle IM at the middle point (0) of AB, deplate is
The
noting
the
total
mass.
Hence,
if
taking
moments about
we
have,
be the
orthogonal projection of
.
.
on AB,
Fig. 49.
0N= AC^-CBT2AB
BC=b, we
find
2
cy= AB
ab(a^-b-^)
AC.CB
'
.(8)
{a^
+ b-')l
This vanishes, as
it
ought,
if
a = b.
60.
The methods
axis.
For simplicity we will take the case of the compound pendulum, and assume that the axis of susfx-nsion is a principal axis of inertia at the point 0, which was defined in Art. 55 as the intei-sectioii of the axis with a plane normal to it through the mtiss-centre. The
168
DYNAMICS
if
[VIII
this plane
is
a plane of
The
results.
principle of linear
momentum
will
The reaction of the axis on the pendulum now reduce to a single force through 0.
is
This
in the direction
is
the same as
if all
by
all
directions,
we
and at right
angles to GO,
Mhd = B- Mg^\n6,
Hence
...(1)
Fig. 50.
(2)
we have
= -'^sm
Again, the equation of energy
^Mk'^e"
is
.(3)
(4)
Hence
.(5)
r-
= ^(cosd + C),
where
is
some constant.
(2),
we
find
.(6)
rC
8=MgllJ(\,m
\
MgK"
k'
sm
(7)
k^J^
by
Art. 55 (4).
The value
of
will
depend on the
initial conditions.
If the
60]
EXAMPLES
to rest at an inclination
a,
li!t
we have (7=
t-osa,
mg
cos p
+ -r
I
(cos V
COS a)
(8 ^
wri'-'j)-"'
where
Ex.
I
<"^
is
revohitinns
we have
= n, l = ^/i,
whence
^=
The component
i(3 + 5cos^),
^=
6=
isin^
(10)
i, or d \2T, ahout.
EXAMPLES.
1.
XIII.
ft.
in
diameter weighs 10
lbs.
find (in
ft.
-lbs.)
solid sphere of
iron,
and that
[O'oT.]
^ = 980
3.
cm./sec.-.
A gyroscope
axle,
is
set spinning
is
by means of a
string 2
ft.
long,
wrapped
is
round the
which
Find, in revolutions
equi-
per second, the angular velocity generated, a.ssuraing that the gyroscope
valent to a circular disk 4
4.
in. in
'.i
lbs.
1 kg.,
[28"").]
can turn
freely
about
per minute
tangentially
is
which is horizontal. When started at 100 revolutions reduced to rest in 1 niin., by a frictional force applied
rim.
to
the
Assuming
this
force
to
be
constant,
find
its
magnitude
5.
in
gms.
liy cot)ling,
['^^l
tin-
radius
day
by the 2/%th
part.
The mass of a fly-wheel is 20 lbs., and a mass of 1 lb. hangs by a string 6. wrapped round the axle, which is horizontal. This mass is ob-servcd to d&scend
Find the radius of gyration of ft. from rest in 8 sec. having given that the radius of the axle is 2 in.
through 5
t
lie
fly-wheel,
[6-4 in.]
170
7.
DYNAMICS
[VIII
1 has an axle of radius a, and up on the axle Find resting on the floor below. a light string which is attached to a mass the ratios in which the angular velocity of the wheel, and the kinetic energy of the system, are instantaneously reduced when the string becomes tight.
riy-wlieel
whose mouient of
inertia is
is
As
it
rotates it winds
8.
A weight
6,
and
is
maintained in equi-
librium by a force
P applied tangentially
Shew
that
if
wheel of radius
will
a.
a force P'
substituted for
P the
weight
- P) ah I+Pahig
'
inertia of the
wheel and
axle.
9. Two masses Mi, M-i are connected by a string passing over a pulley of moment of inertia / and radius a, as in Atwood's machine. Prove that when
the system
is
its
bearings
is less
than
if
the mass
sides, liy
the amount
J/i 10.
ir,
+ i/o + y/a'^'
P balances a weight
These weights are replaced by P\ and Tr', which in the subsequent motion move vertically. Prove that the masscentre of P' and TF' will descend with acceleration
both hanging by vertical cords.
_ p' Tf )2 (P {F^w'^p'W^){P'-^
11.
wy^is
pole
is
supported at
its
carried round in
o).
a
it
Prove that
_ ga
cos a
'
where k
is
the radius of gyration with respect to the lower end, and a the
EXAMPLES. XIV.
(Compound Pendulum,
I
etc.)
1. A uniform sphere whose diameter is 10 cm. hangs by a fine string metre long. Find the length of the equivalent simple pendulum.
[105-095 cm.]
2.
its
knife edge,
oscillation
whose distance from the centre is 3 ft. 2 in. The period of a small about the knife edge is found to be 2-65 sec. Find the radius of gyration of the wheel about the centre. (Assume ^=32-2.) [2 ft. 10-2 in.]
EXAMPLES
3.
171
of masses J/,
M'
cjin
horizontal axis.
A, A';
if
pendulums are
I, I'.
dulum
Wd + Arii'V
^Mh + M'h'
4.
in a vertical
plane about
pendulum
5.
is
Prove that the length of the o([nivalont simi>lc equal to the diameter of the circle.
middle point.
is
one metre
is
When
is
3"17 sees.
its
and when
is
it
makes
centre (which
also the
1"85 sec.
Find
its
6.
Prove that
in the
compound pendulum
be supposed concentrated in two particles situate at the period about any axis parallel to the actual axis.
these particles
?
7.
compound pendulum
is
effect of
placing a small weight on the shelf will be to lengthen or shorten the period
Two
particles
Hi,
I,
and
Form
if
make
h,
])rovided
n^
mni'l-
[m+my
,,.,
9.
circular
hoop
I,
is
strings of length
suspended from fixed points by three equal vertical Pn)vc that the jtcriod of
is
172
DYNAMICS
[VIII
10. A horizontal bar is suspended by two equal vertical strings of length I, which are attached to it at unequal distances a, h from the centre of mass Prove that the bar can perform small oscillations about a vertical axis {G).
is
kH
ah'
wlioii
K
is
11.
uniform bar 3
ft.
its ujjper
end, which
is fixed.
What
12.
velocity
must be given
end
?
bar
may just
[24 ft./sec]
in
uniform bar just makes a complete revolution about one end a vertical plane; find the pressures on the hinge (1) in the lowest position,
the horizontal position.
[(1)
(2) in
Amg;
Jm^
vertical.]
13.
gravity at the
joressure
14.
compound pendulum is released from rest with the centre of same level as the axis. At what inclination is the horizontal
[45.]
A mass m
If
rests
line of hinges.
the mass
m on
x
the door
changed to
Mmg
})ro\'ided
{Jc"
- hx)
< k^Jh.
uniform
elliptic plate
15.
about a fixed axis which coincides with a diameter. on this axis ace equivalent to a couple
where 6
16.
is
axis of x.
door
.3
feet wide, of
and
uniform thickness, when opened through 90 prove that the line of hinges makes an angle
;
CHAPTER
IX
MOTION
with respect to two parallel axes, one of which passes through the
mass-centre (G) of the system,
metical theorem
are led to the folloAving kine-
The angular momentum about any axis is equal to the angular momentum, about that axis, of the whole mass supposed collected
at
this point,
together with
the angular
G, of the
momentum, with
respect to a parallel
axis through
motion relative to G.
For, AAT-iting as usual
a)
= x + ^,
y=y
ri,
= 2 + ^,
is,
(1)
momentum
^)
by
Art. 53,
[J-
+ ^) -
(.y -f
v)
{ + i)|
(2)
2
V
= (ji) =
(m^)
0, 0,
= S (mri) =
S
(mr))
0, 0,
The
first
momentum
term in the last member (jf (2) is the angular about Oz of a mass S (m) moving with G, and the
174
second term
is
DYNAMICS
the angular
[IX
momentum, about a line through G motion relative to 0. Since any line whatever may be taken as the axis of z, the theorem follows.
parallel to Oz, of the
The proof
position of
in vector notation
particle
is
instructive.
If
be the
any
m
iiw
momentum (mv)
of
may
formula
= mv +
mv,
(3)
where v
to G.
is
relative
The components
masses
to
mv
and
are a series of
respective
m,
are
therefore
equivalent
.
single
localized
vector
S (m) V through G. The moment of momentum about any axis is therefore equal to the moment of this vector, together wnth the sum of the moments of the vectors mv supposed
in lines passing
localized
And
since
2 (mv) =
about
the
sum
moments
all parallel
axes
the same.
As a
(4)
Hence
in calculating the
momentum
it
of a system difference
makes no
whether we employ the actual momenta of the various particles, or whether we ignore the motion of G itself, and take account
only of the
momenta
relative to G.
follows at
compound pendulum
(Art.
55)
the angular
momentum,
of the whole
j^arallel to
if/c^w.
is
obviously
The moment
.
momentum
would be M/ia
h.
The
total angular
momentum about
is
therefore
iWi2a,
AS already found.
61-62]
175
62.
If
to t
Rate of Change
of
Angular Momentum.
we differentiate we have
(^2/
-'"
jt
y^)
= s ("0
(^.
'^-y'^ + ^
omitted*.
^^'^
(^v
- vh
(1)
two
is
terms which
cancel
being
An
interpretatitjn
it
may
easily
be framed
with the particular case where the axis Oz passes through the On this hypothesis the formula instantaneous position of G.
reduces to
j^tm{xy-yx) =
j^%,n{^7)-r)^),
(2)
momentum
may
Hence, in calculating the rate of increase of the angular of the system about a fixed axis through which the
mass-centre
is
we
we
but for simplicity motion in two dimensions, where Let G, G' denote a plane curve.
t,
t-\- tt,
re-
and let v, v + 8v be the corresponding velocities of this point. Let v be the angular momentum about G at time t, v\-Zv that about G' at time t + U. We have seen (Art. (il) that
*
This formula,
and
(2)
of Art.
(il, is
following theorem
If
[x, y, z, X, y, z, x,
\j,
z)
be any homogeneous function of the second degree in the variables indicated, and
if
we make the
2m(/)
(ar, ;/,
.t,
y, z, f,
ri,
of a material system,
z,
then
z, x,
i,
jr,
y, z)
/_ _ _ ^ = ^{m).<t>(x,y,z,
, ,
dz dy _, -,-,-, d^x
d.T
d'^y
d^X -^j
').
J".
+ 2;/0(t,
Cf. Statics, Art. 74.
V,
s,
SI
V,
s')
176
in calculating v ov v
DYNAMICS
[IX
+ Bv
it is
immaterial whether
actual
momenta
+ 5p
Fig. 52.
to
the mass-centre.
Now
the angular
momentum about G at time t + 8t is by the theorem of Art. 61 equal to r + 8v, together with the moment about G of the linear momentum 2(m).(v + 6v) in a line through G' tangential to the
path of the mass-centre.
Since the distance of
is
of the second order of small quantities, this latter moment is ultimately negligible, and the increment in time St of the angular
momentum
Some
is
simply
Bv.
We
line
from external
only
is
the
a straight
We
now
not
constant, but
to the
mass-
this point
and
moves with
it
also constant.
members
For instance, the masses and relative velocities of the various of the solar system determine the angular momentum of the system with respect to any axis through the mass-centre, and this angular momentum is constant, whether the system as a whole
is
in
motion or
if
not.
Again,
/ be the moment
and
to its
02-63]
177
sudden or gradual, the moment of inertia and the angular vdocitA' were altered to /' and &>', respectively, we should have
/V = /a)
(3)
Thus a uniform contraction by cooling would involve a diminution of / and a consequent increase of a>, i.e. the length (jf the day
would be diminished.
Ex.
in
Two
particles ?i,
m^ connected by a
string of length
<t
arc in nintinu
one plane.
If
(0
al)iiut
G
w,
is
+ mor./)
(4)
where rj, ro are the distances of the two particles fnjui G. Hence if there are no external forces, or if the external forces (as in the ease of ordinary gravity) have zero moment about G, the angular velocity a> is constant (cf. Art. 42).
Again,
if
all
the
IJarticles (as in
the case of gnivity), they will not affect the relative motion.
Hence,
if
T be
T=m,u)h\ =
rtii
+ vu
a-a
(.^)
'
63.
We now
i.e.
motion
is
is
in
two dimensions,
will
It will
not in general
move permanently
in this
line
a principal
rigid
body movable
It
is
in
degre(.'s of
its
Cartesian coordinates
{x,
through which the body has been turned from s(jme standard
position.
L. D.
12
178
If
DYNAMICS
[IX
linear-
momentum will be Mx, My, by Art. 45, and the angular momentum about G will be Id, where / is the moment of
inertia about
The
latter
an axis through G normal to the plane of motion. expression follows from Art. 54, since in calculating the
about
angular
momentum
if
G we
forces
relative motion.
Hence
the external
methods of have
Statics, to a force
|i = x. |My = y
1^^ = ^rotation are independent of one another;
(1)
<''^
laid
We
Ex.
its
1.
are
now
number
of interesting
problems.
In the small oscillations of a ship about a longitudinal axis through
mass-centre,
we have
JV=-Mgcd,
where
c is the
(3)
metacentric height
[^S".
102].
Hence, putting
I=Mk\ we
of length
have
(4)
^2Q^_g^Q
The
period of rolling
2.
is
pendulum
k^Ic.
Ex.
down a
jilane of inclination a,
with
its
axis horizontal.
It is
no
frictional couple.
body which
I'oUs in
contact with
Let u be
is
the velocity of the mass-centre {G) parallel to the plane, the positive direction
a>
we have
(5)
n = u>a
Resolving parallel and perpendicular to the plane,
we have
(6)
M ~=MyA\\\a-F,
Q=^Mgm^a-R;
63]
17i)
whore R, F are the normal and tangential components of plane on the body. Ako, taking moments about G\
reartion of
tlio
3fK--r = jf'(i.
at
(7)
Eliminating /"and
&>
we
tind
du
dt
K-i
"'^
The
acceleration of
+ a^ G is
-^^rsma.
.(H)
in the
the
ratio a?l{Kp'
((c2
+ a^).
this
=
;
2(),2)
4;
for a
uniform
= ^rt'.^)
it
for a circular
Fig. 53.
shell {k'^^ci^) it is ^.
Again, from
(6)
and
(8),
F=
If
Mq sin n,
/.'
= yfq cos
(9)
we assume
fi
where
is
cannot e.\ceed /xA', the usual law of sliding friction, viz. that the coefficient of friction, the condition that there should l)c no
slipping is
tiiua1(>{\+~}\fi
Ex.
(10)
3.
fixed
hollow cylinder,
the
parallel
and
horizont<il.
Fig. 54.
The figure represents a section by a plane perpendicular to The point represents the axis of the fixed cylinder, and OA
the lengths.
is
a vertical
122
180
radius, wliil.st
DYNAMICS
[IX
OQ
is
of the
moving
cyhnder.
We
If ^
write
OA = OQ = b, GQ=a,
AOQ,
so that
is
the velocity of
b-a
angular velocity of rotation of the moving body, the same velocity by ma, since Q is the instantaneous centre. Hence
expressed
ma = {b-a)e
If
(li)
in the figure,
we
have,
M{b-a)d=-Mffsin6+F.
Also, taking
(12)
moments about
G,
M^^'^^^ =
-Fa
(13)
Eliminating
F and w,
we
find
(l+^)(6-a)^=-5'sin^
The motion
of length of
^^^^
is
;=fl + l'\(6_a)
Ex.
plane.
4.
(15)
etc.
whose plane
is \'ertical) is
projected
so as to roll
and
slide along
a horizontal
Let the
Mo,
initial velocity of
the centre be
and the
too-
initial
centre
If
o = ^'^0)
where
a
is
is
the
the
radius, the
instantaneous centre
at
have a motion of
first
jHire rolling,
without
fulfilled,
pj,r_ ,55^
slii)ping.
If this condition
be not
there will at
frictional force
there, if
/x
be slipping, or 'skidding,' at the point of contact, and a \xMg will be called into play, opposing the relative motion denote the coefficient of friction.
> ^^o-
The equations
of motion are, at
first,
Hence
These fomudte
will
Mu=-iiMg, 3fK-w = fiiga = 21,-,- ^gt, (OQ+fxgatlK'^ hold until = ao), i.e. until
11
(16) (17)
oi
it.
when
?/.=
Vr-^ +
tt'^
^^
K'^
(19) ' ^
63-64]
DYNAMICS
OB^
181
this.
Tin-
energy
(Wu^
^31
It will
(20)
The
in the
/n
above formulae.
64.
It
Equation of Energy.
in
was shewn
is
Art. 46
that
the
kinetic
energy of any
material system
supposed concentrated at the mass-centre and moving with this point, together with the kinetic energy of the motion relative to
the mass-centre.
two dimensions,
if (m, v)
Hence, in the case of a rigid body moving in be the velocity of the mass-centre, and o>
is
^M{u'+v') +
^Ia)-,
(1)
its
moment
of inertia
to the plane
of motion.
at
Y
(2)
dt
have
(8)
|Uif(^...^) + U.^l =
The expression
xJ+Ff + i.f
(4)
Xhx+Yhy+Nhd
denotes the work done by the external forces in an infinitesimal displacement of the body {S. 62]. The equation (4) therefore expresses that the kinetic energy is at each instant increasing at a
rate equal to that at which
work
is
The
total
interval of
182
time
is
DYNAMICS
therefore equal to the
[IX
forces
in that intei'\'al.
may
the
forces,
the
[S.
tensions
52].
of
which do no work
Moreover,
if
the body
is
brought back to
ments, we
Art. 30.
its original
position after
any
series of displace-
may
An
moving
in
two
down
rotating about
some point
If
/ be
the
moment
is
the
jlco-.
Since the
instantaneous centre
of /, as
Ex.
1.
Avell
as of
&>,
may change
and the
jiotential
In the compound pendukmi (Art. 55) the kinetic energy energy is - ^l/^A cos ^ + const. Hence
\MlcW,
^jyX'#
Ex.
2.
(5)
In the case of a sohd of revolution rolling on an inclined plane, since the moment of inertia about the point of contact is 1/(k2 + a^), the kinetic
energ;y is
if
distance travelled
we have
<oa)
= J/g'.rsin a + const.,
= M/a,
or,
putting
..
^^
iga^xsixia
2 K^
2 + a^
+ const
(7) ' ^
The
is
therefore
du cfi u ''dx==lJ^^3^'''a,
as already found
(8)
Ex.
3.
rod
Since there
is
A B slides with its lower end on a smooth horizontal plane. no horizontal force on the rod, the mass-centre G has no
Its horizontal velocity is therefore constant,
horizontal acceleration.
and
mav
be ignored.
64-65]
Let J/
Ite
l.s:{
end
.1, <
the radius
jdane,
of gyration about G.
he the altitude
and 6 the
ii/'i2+|.irK-'(9H%2=-- const
(9)
Shice
this gives
= acos^,
= <j\^n^\
(10)
\ {K.'^-\-a^Hm^d)6^+gacose
initial
(H)
thus
if
the rod
is
just sUirted
+ a-Hm^d)&-=ffa{l-cose).
(12)
in
any
subsequent position.
To
erted
ex-
by the
jjlane
6^,
we
Hind
have,
taking
moments about
MK-d = Ea
(13)
t,
Now,
P,
we
obtiiin
(14)
By
can be
found.
For instance,
we
^
K'
+ d^
R=
&=,
K^
+ d-
,^^f<]
(l->)
65.
of Freedom.
Many
common,
that the rigid body considered has in each case only one degi-ec of freedom, i.e. the various positions which it can assume can all Inspecified
to a single
variable
element, or 'coordinate,' as
sense.
is
may
be called in a generalized
a])plies,
sufficient for
if
are given.
system which
This method can obviously be extended to any conservative is subject to constraints such that there lemains
184
just
DYNAMICS
one degi-ee of freedom.
It
is
[IX
In consequence of the constraints, any particle m of the system can only move backwards or forwards along a definite path. If 6 be the variable which specifies the configuration of the system,
and
if 8s
on a variation
= a8e,
is
(1)
where a
is
dividing by
8t,
the velocity of
v
is
= s = oid = i^^-'
(2)
iS(ww-)
where
the summation embracing
(3) (4)
^ = 2 (^na^),
all
The
system
of
6,
;
coefficient
it is
is
called the
coefficient of inertia
'
of the
essentially positive.
It is in
general a function
For instance,
dimensions,
if
the
case
of a rigid
body moving
it
in
two
has turned
from some standard position, the coefficient a in (1) will be the distance of the particle ?7i from the instantaneous axis of rotation,
and
is
moment
of inertia
about this
As a
furthei- illustration
and flywheel of a steam-engine. Let / be the moment of inertia of the flywheel, the mass of
the piston
rod.
for simplicity
we
piston
OR.
6 [S. 15];
is
accordingly
The
inertia-coefficient
is
therefore
I + M. OR-.
To an observer
65]
IS;-)
making
the flywheel
it
would
;ippe;ir
to
li.ive
a variable
moment
Viii.
57.
b)'
The configuration of the system may however also be specified means of the distance OP. Denoting this by a; we have
x = -OR.e,
for
is
now
<5>
is
i(^+ofe)*From
this
this
point
of view the
inertia-coefiicient
M+I/OR-:
by the
apparent
represents
the inertia of
the
piston
as
modified
tt,
flywheel.
At
is
^=0
or
this
inertia*
infinite.
ai'e
Some
Ex.
of
1.
further illustrations
appended.
mass J/ having n equal wheels,
Ciich
of a
waggon
of
mass m.
Let the radius of each wheel
centre
k.
When
the waggon
is
})e a, and the radius of gyration about the moving with velocity u, the angular velocity
of a wheel will
l)e zi;((,
will therefore be
u- ^
The
total kinetic
energy
is
accordingly
1
M + nm
M+mn
(
+
+
-,
u-
.(6)
The expression
''.,
inertia.'
186
Ex.
2.
DYNAMICS
The
inertia of a helical spring sa})porting a weight
[IX
which
oscillates
may
We assume
is z
through a space
(zjl)
x,
where x
the
and I the total length of the spring. mass of an element 8z of the length
accordingly
1
downwards downward displacement of the weight, If m be the total mass of the spring, the
will
be m8z/l, and
its
kinetic energy
m8z (z
.\2
'
2~r
The
total kinetic energy is therefore
Xl"")
^Mx^ + ^j^
'YiXOC
^
I
z^dz=^{3/+lm)x%
(7)
where is the suspended mass. The inertia of the spring is thus allowed by adding one-third of its mass to that of the suspended body.
for
66.
and
if
Stability.
V denote
we
have,
when
there are no
extraneous forces,
1^^-+ F=const
Differentiating this with respect to
t,
(1)
6,
we
have
^^4^^^
This
is
<^)
all
reactions
To
^
system we put
= 0,
= 0,
and obtain
^^displacements.
(3)
In words, the possible configurations of equilibrium correspond to values of 6 such that the potential energy is stationary for small
to
of the equilibrium we will suppose the be so modified (by the addition of a constant), that
fulfilled practically if
the spring
weight.
65-66]
it
-ST
The vahie
form
of
tor
small values of 6
in the
V=
the
Vo
+ ^ae'+...,
in
(4)
term of the
first
degi-ee
hypothesis, (3)
is satisfied for
= 0.
Ae = -a9,
(5)
approximately, the second term in (2) being omitted as of the second order of small quantities. The coefficient A, moreover,
be constant and equal to its equilibrium value, since this involves an error of the second order only in the
to
may be taken
equation*.
If a be positive the solution of this
is
6'=C'cos(/?^
+ e),
(6)
where
and the constants C, e are to and fro along its path, notation of Art. 65, by
s
**~a/t'
arbitrary.
^^^
Each
particle
oscillates
(8)
a coefficient which varies from particle to particle. The period 27r//i is fixed by the constitution of the system, and depends on the ratio which the coefficient of stability a bears to
where a
is
'
'
is
= C'e' + C'e-"^
n = sJ{-a/A)
adjusted so as to
(9)
where
Unless the
(10)
make
valid.
oscillatinf,' iu
moments about
w<Tf fixed
in the body
and
iu space.
'
188
DYNAMICS
[IX
The equilibrium
according as a
is
is
positive or negative
i.e.
librium value of
Y is
minimum
or
a maximum.
The equation
by
d
dt
{\A&'+v) =
m
d,
(11)
we have
.(12)
dA
^,
dV ^
'
The quantity
coordinate
6.
is
called
Its
If d be a line,
be of the dimensions of a
;
word
if
^ be an angle,
will
whose mass-centre
is
at a distance
is
replaced by a
which
rolls
on horizontal sup-
ports* (Fig.
58).
Let
C the
line of contact,
6 be the inclination of
thi-ough
OG
an axis
the
axis
moment
((7) is
kinetic energy is
Fig. 58.
therefore
(13)
The equation
of energy
is
accordingly
(14)
have seen, in the general theory, that in the case of small oscillations we may put 6 = in the value of the inertia-coefficient, and that the value of
*
66]
l.SU
.15)
Differentiating
we
find
{K^
(16)
The length
therefure
K'^
+ (A_a)2
1
'^'^
any case of a solid of revolution rolling a vertical plane of symmetry, at right angles to the axis. In the case of a uniform solid hemisphere of radius a we have
results evidently apply to
parallel to
The
K^^ia^-i^a^,
whence
Ex.
2.
^
h = la,
(18)
Tia.
cylinder, of
oscillations
making small
In the equilibrium position the centre of gravity G is in the same vertical When let its height above this line be denoted by h.
;
the cylinder has rolled through a small angle Q from this position the \ertical
Fig. 59.
through the new line of contact, in the plane of the cross-section through 6', will meet that line through G which was originally vertical in some point C; and it is known, as a matter of Infinitesimal (iconictry, that the two intersecting normals will differ in length by a small quantity of the third order. Denoting the lengths by R, the increment of the potential energy is, it) tlie
second order,
Mg{R-h){\-<^oAd) = hMg{R-h)ff\
(19)
where R may now be identified with the radius of curvature of the cros.sThe equilibrium position is section at the original point of contact*.
* It differs
from
it
first
order.
190
therefore stable
ai)i)r(>xiniation,
if
li
DYNAMICS
[IX
is,
<R
[<S'.
59].
with sufficient
(20)
\M{K'' + ]i')ff',
where
is
pendulum
1
is
= c2 + A2
R-h
.(21)
It
if
the
the value
changed from
K^
+ h
-,
Jf-
k2
to
+ A2
, ;
h-\-a
if
ratio 1
a/A,
approximately.
This
from the edge i.e. it is diminished in the may be allowed for in formulae for the
determination of g by altering the observed values of T^ (the square of the The correction may easily come within the period) in the ratio l+a/h.
errors of observation.
Ex'. 3.
The more
figure
The
section
represents
vertical
by a plane perpendicular
through
the
centre
j^oint
to of
the
lengths,
gravity G.
on
the point of
jjosition,
contact
in
the
equilibrium
angle
yjr
(say)
Let
the
Q be
when
upper cylinder has been turned through an angle (f>, and P that point of the upper curve which was originally coinLet the normals to cident with P'.
the two curves at
P
Q
common normal
and
at
0', respectively,
and
us write
OP=OQ = R,
PG = h,
(22)
Fig. GO.
the error committed in treating the intersecting normals as equal being of the
third order.
Further, let
0,
6, 6'
subtend at
0\
respectively.
Since the normals PO, P'O' were originally in the same line
^-f^'
we have
.(23)
= 0,
66]
])YKAMICS OF
tlic
lUCilJ)
BODIES (CONTINUED)
hu.s
1!)|
upper cyhiider
heon turned.
Hi-iicc, since
(:i4)
R6=R'6\
with sufficient
a[)proxini;iti()n, ^
we have
R'(b
,,
R<i>
A'
+ A'"
M+B
<^
^'-'>
Since
of
PG
from the
above the
O'O cos
+ 6') - OP C08 + ^) + PG cos <^ = (/i + A") {(1 - W') cos y^-6' sin - A {(1 + /i(l-i(^-')
(yj/-
>/.}
^(/)-j
,/,}
(26)
oi'
(2.')).
The terms
of the
first
order in
6',
(ji
cancel in virtue
The increment
found to be
is tlius
,,,
/iR'i:OHyl,-h{R+R')
^.,
two
The
exj^ression (27)
is
positive,
is
therefore
stable, if
cosyj,
~/r>R^ijwhich
is
^^^)
The
kinetic energy
ultimately
^M{K^+h-')4>'\
(29)
where
k is
The
therefore
cosV^-A(^^^+^,j
If as in Fig. 61
we
c,
such that
c
i.e.
= R^R-
/-m ^''^
its curvature is twice the sum of the curvatures of the given curve.s, to touch the lower curve at the original jjoint of contact, and if PG in its original It appe;ii-s then from position meet this circle in 11, we have PH=ccos'i\r. IhjIow or (28) that the equilibrium is stable or unstable, according as G is
above H.
tlexion.s,'
In the theory of Roulettes this circle is called the 'circle of inthe paths of points carried by the rolling curve being convex or concave to P according as thev lie inside or outside this circle, whilst point.s
192
on the
DYNAMICS
circle itself arc at points of inflexions
[IX
i)aths.
on their respective
Again,
wo have from
.
(30)
<^^)
'=^/
shewn
in the figures.
if
The symbols
Other
the proper
The whole investigation is applicaljle to any case of a rigid body having one degree of freedom of motion, parallel to a vertical plane, provided gravity be the only force which does
work.
Fig. 61.
loci of
space) which l\v a theorem of kinematics roll in contact with one another
in
any motion
of the
body
67.
graphs.
Forced Oscillations
forced oscillations of a
of a
Pendulum.
Seismo-
The
compound pendulum
(Fig. 45),
may be
The
oscillations
of the reaction at
is
Hence pendulum be X, we
have, taking
moments about
Mic^^_
G,
=-Mghe-Xh,
.(1)
If ^ be the hori-
will
be ^ + hd.
Hence
*- - " ii3^(r+M)=x
'^+.^ = -i. dt~
.(2)
Eliminating X, we find
.(3)
where
h,
K-jh.
If
we put
.(4)
66-67]
SO that
11)3
oscillation, the
dt'^
as in the case of a simple
If
l^'
of length
l.
^^^
(Art. 13 (13).)
pendulum
n'
we put
= ^/l,
(6)
so that 27r/?i
is
due
to a simple-harmonic vibration
^^Cconpt
of the point of support
is
(7)
= 7^^^,,,
P
1
(8)
or
X=
p jn2
2
'
(9)
The
horizontal
pendulum
is
'
of Art. 55 provided
we
replace
g hy g
sin
/3,
where
yS
the in-
write
n'
= (gsm^)/l
(10)
in place of (6). It appears from (9) that if p is large compared with n, x will be small compared with ^. Hence, in the case of imposed vibrations which are rapid compared Avith the natural vibrations of the
oscillation
will
(so
far
rest.
as
the
foi'ced
remain sensibly at
These remarks have a bearing on the theory of seismographs, is an instrument whose object is to record, as accurately as may be, some one component of the motion of the
seismogi'aph
earth's surface
this
due
to
To
effect
would be necessary to have a.s a basis of reference some body which did not itself pai-ticipate in the motion, so far as the component in question is concei-ned, and
with perfect accuracy
Thi.s
but
L. D.
194
be
slight,
DYNAMICS
[IX
and the period of free oscillation consequently long, the be only slightly affected by vibrations which are comA simple pendulum of sufficient length, whose paratively rapid. motion is restricted to one vertical plane, would fulfil this condition, so far as regards either horizontal component of the displacement
body
will
'
but for greater convenience some form of horizontal pendulum is employed, whose axis of suspension makes a very small angle with the vertical. In this way we may obtain within a moderate compass the equivalent of a simple pendulum some 300 or 400 feet
'
long.
consist, for
'boom' AB, ending at A in a conical point which bears against which is attached by a a fixed surface, and carrying a weight
Fig. 62.
same
is
vertical
with A.
observed
The
is
axis of rotation
then AG.
What
actually
some point P of the framework of the apparatus. This is magnified by optical or mechanical means, and recorded on a uniformly running band of paper, so that a space-time curve is
of course the displacement of
'boom'
relatively to the
described.
P being
.(11)
=1
n^/p^
if
r be the distance of
first
P from
is
A.
For
the
factor in (11)
and the
scale
67]
195
accordingly constant, but for smaller values of the ratio pjn the
record
is
Conversely,
ascertain
the
true
P
I
n-\
The method
is
however
is
often
the
case
near the
'
maximum
phase
'
of an earthquake.
more or
the above type, one for the N.-S. and the other for
is
necessary.
represented
AOB
W,
on the arm
C.
OB
is
connected by a helical
of gravity about
is
sjjritig to
a fixed point
altered
moment
is
scarcely
leverage about
diminished.
The circumstances
are adjusted
so that the former influence shall slightly prevail over the latter
is
The
132
196
are therefore essentially the
DYNAMICS
same
as in the previous case,
oscillation
[IX
and
its
is
behaviour under a
fcjrced
vertical
of the
axis
So
far,
to.
Free oscillations are of course also set up, as explained in Art. 13,
and tend to confuse the record, unless special damping arrangements are introduced. The operation of these will be considered
in
95).
It may be added that in the most recent forms of seismograph f, whether horizontal or vertical, the registration is on a different
principle.
The pendulum
carries
coils
of fine
wire in which
These cuiTents are led through a dead-beat mirror galvanometer whose mirror reflects a spot of light (3n to the running band of sensitive paper. The indications depend therefixed magnets.
fore
on the angular
velocity,
of the pendulum.
68.
Problems relating to the small oscillations of systems having more than one degree of freedom are naturally somewhat complicated, at all events when treated by direct methods. The following is
one of the simplest problems of this kind
is
;
it
1.
A
m,
It
is
is
body of mass
horizontal axis 0,
and a second body of mass suspended from it by a parallel axis 0'. assumed for simplicity that the mass-
centre
of the upper
0'.
body
lies in
the plane
of the axes 0,
The
figure represents a
these axes.
We
write
OG = h,
''
OO'^a,
0'G'
= b,
Fig. 64.
freedom
67-68]
197
where G'
k,
is the mass-centre of the lower bod\-, and we denote by K the radii of gyration of the upper body about 0, and of the
G',
respectively.
The
and
inclinations of
(f>.
OG
and
which G'
with
is
in the
same
0,
vertical
0',
plane
the axes
the
k]\I'j
+ >:io
vertical
will be mg, approxiDenoting the horizontal component by X, as indicated in Fig. 65, and taking moments for the upper body, we about
of 7n on
mately.
have, to the
first
order,
Mk'd = - Mghe +
Xa -
mga0.
. .
.(2)
ad +
bcf),
we
Fig. 65.
have
m{ad-i-b^) =
Also, taking
-X.
the lower body,
.(3)
moments about
///^<]b
G', for
= Xb
mgb(fi
(4)
(Mk^ + ma-) d
.(5)
It is convenient to write
M + ma^ =
Mh + ma
i.e. I is
K^
1,
bI':
~b
it
.(6)
pendulum equivalent
to the
upper
body when a
equations (5)
is
attached to
when
may
then be written
+g<^
=0.)
^
198
DYNAMICS
[IX
as in Art. 44. If
The
assume
same course
(f)
we
= Acos(nt + e),
(8)
(nH'-g)B^O:
(9)
(Mh +
real, positive,
nia){nH
(10)
and unequal.
is
ni, the
com-
plete solution
<!>
= Ai cos (/iji + ei) + An cos {n.J^ + e^),] = Bi cos (iht + ei) + B.2 cos {nd + 62),)
(11)
where the constants A^, Ao, Cj, 2 may be regarded as arbitrary-, whilst the ratios Bi/Ai and B.^jAo are given most simply by the second of equations (9), with the respective values of ri^ inserted.
The
is
as in Art. 44.
If
we put
^ = 9ln%
so that
(12)
is
period as a normal
mode
may be
(13) ^
'
written
of
is
is
V.
Since
(14)
-=
by (9), it appears that in the slower of the two normal modes 6 and have the same sign, whilst in the quicker mode the signs
(f)
are opposite.
Cf
Art. 44.
69.
elastic
Stresses in a
Moving Body.
moving body
is
The determination
problem which
of the stresses in a
is
an
of
usually
very
difficult.
Questions
68-69]
199
moment
in a
provided of
effective
'
forces are
is
The
following
an example.
We
of
mass m and length I swinging like The a pendulum about one end.
stresses across a section at a point
at a distance
a;
from the
free
end
moment M; we
positive
will
senses
of
and
mx/l,
of radius
^x.
Hence
if
6 be
we
^X) 6'=
y COS
d,
(1)
-j-(l- ^x)
It
Avill
6= F- J Bin 6.
I
{^)
be noticed that
of inertia of
when x =
Again, the
moment
AQ
with respect to
its
centre
is
mx 1 T-u"""'
,
12
But, putting
= M-F.h^x
in equation (1) of Art. 55*,
(3)
I = ^Ml', h = \l
we have
^2
Or putting
il/
w
(8)
= 0,
x l,
in (2)
and
200
Substituting in (2) and (3)
DYNAMICS
[IX
we
find
f='2^^.(3,,,_20
(5)
M='^^^(.-1)
These values depend only on the position of the on the other hand, being
bar.
(6,
The
tension,
T=:'^cose + '^(l-^a;)e^
will
(7)
It
may
shearing force
= |^).
may be
This
is
legitimate, in the
When
this condition is
for,
be allowed
and
the results
may
differ gi'eatly
method.
70.
Initial Reactions.
bod\', or
is
a system of bodies,
is
and
it is
desired to
know
Such questions are comparatively simple in that the initial vanish, and it is therefore not necessary to integrate the equations of motion. Thus, in the case of a simple pendulum of length / released from rest at an inclination 6 to the vertical, the radial acceleration 10- vanishes, and the initial tension T of
velocities
the string
is
therefore
2\.
nig cos
(1)
In some cases, however, the equation of energy is useful as an intermediate step, since on differentiation it leads to an equation involving the initial accelerations, and free from unknown reactions.
Some examples
are appended.
69-70]
Ex.
vertical
1.
201
[)lane, is
A
it is
end
rests
on a rough horizontal
and
vertical
components
R) of the
is really
initial
This
a case
treated
may be
more simply as
follows.
Let a be the distance of the mass-centi'e from ^4, and k the radius of gyration about G. Taking moments about A we have
{k-
(2)
is
a6 at
AG
we
Madcoii6 = F,
Maexm6 = Mg-n
K'^
'.
(3)
Hence
If
Mg
K'^+a^'
ifMg
+ a-cosK^ + aend
will
(4)
unless
(5)
where
fx
is
If
we put
/x
= tan X,
the condition
is
sin(2^-A)Xl + ^)sinX
Ex.
2.
.(6)
cylindrical solid, of
is
horizontal plane,
released
free to roll
on a rough
given position.
The
Let
be the
the
GN
to the plane.
We write
...(7)
GP =
and denote by
k
J',
GN=z,
PlY=q,
\
P
Fi".
6^<.
(0
When the body turns with angular velocity about P, the horizontal and vertical components of the velocity (wr) of
are
ws,
res]^>ectively.
(oq,
Hence
differentiating,
which vanish
initially,
the initial
and omitting terms containing /> and q, liorizontal and vertical accelerations of G arc
202
respectively.
DYNAMICS
Hence
if
[IX
F,
R be
we have
F=-Mi)Z,
Again,
tlic
R-Mg = M<hq
is
(8)
(9)
t,
putting
aq,
ay.
we
have, initially,
(c2
+ >-2)a)= -gq
Substituting in
(8),
we obtain
F
Mg
This problem includes Ex.
1
^
K^
qz
'
as a particular case.
2,
Ex.
3.
smooth.
is
Since
G now
moves
is
at the
The
equation of energy
therefore
^ if (k2 + (?-)
0)2
+%2 = const
z
(12)
The
vertical velocity of
is still
= a)q;
hence, differen-
tiating (12),
we
have, initially,
(13)
+ f)^+gq=0 G
is iaq,
we have
(14)
M6)q = R-Mg,
where
is
Hence
K^
Wg^K^^
71.
Instantaneous Impulses.
^^^^
(u, V)
In the case of a rigid body moveable in two dimensions, be the velocity of the mass-centre G^ just before, and (ii',
just after the impulse.
let
v')
its velocity
Also
let w,
r]
co'
be the corre-
be the time-integi'als
and
70-71]
203
moment
principles of linear
and angular
M (u
M
- u) =
^,
I ((o'
.(1)
V,
)
where is the mass of the body, and / its moment of about an axis through G normal to the plane ocy.
These equations may
Art. 63,
also
inei'tia
by
;
impulse
thus
3Iu'
-Mu=rXdt = f
Jo
Mv'
- Mv =
Nclt
f' Ydt
Jo
(2)
Iw -I(o=
V.
rest,
but
free to
move,
plane
is
struck
by an impulse ^
is
in a plane
which
It to
is
a principal the
of
inertia
at
mass-
centre G.
will
evident that
in
;
G
its
tw'
begin
to
move
,
a
let
line
parallel
initial
the impulse
velocity be u
and
let
be
the
angular
to
velocity
comIf
muiiicated
the body.
we
the
Fig. 69.
draw
GP
perpendicular
to
line of the
impulse we have
Ma=l
If
Ico'
= ^.GP
the point
(3)
PG
be produced to 0, the
be
u'
initial velocity of
of the
body
will
(o' .GO =
^
iTr
l\l
/,
GO.GP\
.(4)
where k
i.e.
is
This
will
\anish,
rotation,
will
initial
provided
GP.GO =
If the
point,
k'
(5)
body were fixed at 0, but free to turn about this there would in general be an impulsive pressure (|i, say)
204
on
this point,
DYNAMICS
[IX
|i)
and an equal and opposite impulsive reaction ( on the body. This would be determined by the equation
^-^, = Mu' =
where
to' is
Mco'.OG,
;
(6)
to be found
thus
(7)
M{k'+OG')co' = ^.OP
Hence
^^<^'-0G
^~
"^
axis
to
_ -
'
""^^
was
gation.
If,
being given,
'
is
is
called the
centre of percussion
with reference to 0.
It will
and
is
identical with
When
is
axis,
;
the reactions
there will in
its
bearings.
We
discussed in Ex. 3
In the case of a uniform bar, of length 2a, free to turn about one is at a distance
4 k2 +- =
,
--,
by a horizontal
/c2
-f-
-=5
a,
where a
is
the radius.
71]
Ex.
2.
205
rest in
similar bars
AB,
/>(',
a straight line
applied
to be at their
its
mass
J/.
At the joint
o)j, 0)2
B there
will
be impulsive pressures
the centres of
X,
say, on the
two
bars.
initial velocities of
AB, BC,
respectively,
and
the initial angular velocities, the positive senses being as shewn in the
tigm-e.
centres,
we have
(9)
Mui=-X,
J/?f2
J/K2a>i=-A'rt,
JA-'co2
= F+ A,
^Fa-Xu
(10)
AX
Ai
B
-O
X
Fig. 70.
Again, the velocity of the joint B, considered as a point of the first bar, is second bar it is Uo-w-iU. Hence iii + oiia, whilst considered as a point of the
Ui-\-(x)\a
= U2
wi,
a)'>((
(11)
These
five
u-i,
unknowns
terms of A, by
(9)
and
(10),
T=- ^'~'^\F.
2a2 + =^
Hence
(12)
^
'
\d^-KISa^+K^
''^=
F
''">
la-{a'-K-)
F
^
'''^-2^,^WJr
= -2^(^-fO-^'
la-(a- + 3K^)
/'
2^ + 'c^-J/'
"^ = 2^^^^^^.^)-J/
.,
^'^^
,,
The
cases
k=0,
'
206
If the bars be uniform,
DYNAMICS
we have -=!-, and
[IX
i=-4^'
,^,=
^-j^,
-i=-4^'
a,,=
(1^)
-^
by the arrows
(16.
of u^
of
AB
in the
Ex.
3.
is
free to turn
its
to find the
of the lamina,
Oy being coincident
which the impulse (f) is dehvered, the moments of the impulse about Ox, Oy will be ^^ and - fa, If w be the initial angular respectively, on the usual conventions as to sign. velocity, the momentum of a particle m at {x, y) is ma>x, and the moments
^) be the point at
of this about Ox,
is
Oy are - mutxy,
mcax-.
The
linear
momentum
of the lamina
therefore
0)2 {mx),
and the moments of momentum about Ox, Oy are
- co2
The geometric sum
will be a force f i
(mxy),
0)2 {7nx^).
of the impulsive reactions on the lamina at the axis normal to the plane, given by the equation
-o)2(m^-) = C+fi
If Xi
,
(17)
fx^
we have
Hence
may
^
we must have
^^^'
_2_(ma)
""2^^'
The
point thus determined
2imxy)
2^^
'
may be
called the
centre of percussion.'
(5).
When
Ox'
we transform to new axes Ox', Oy', of which Oy' coincides with Oy, whilst makes an angle $ with it, the new coordinates of a particle m will be given
x=x'sin6,
by
y=y' +x'
cohO,
(20)
as
is easily
It appears
on
by formulae
of the
71-72]
There
is
207
we
:r
to pass through
2(?w?y)=0
If
(21)
we now
x+h,
for x,
we
shall
have
(22)
(TO.r)
= 0,
2
(nixi/)
and we
find
_2_(to^)
"~A2(m)
'
'^~
h-2{m)
^'^'^'
'
as the cooi'dinates of the centre of jiercussion referred to axes through the mass-centre, the only restriction being that the axis of
to the axis of rotation of the lamina.
7/
is
supposed
i>arallel
The
of y.
result
is
simplified
if
we make
the axis of
We then have
(i^?/)
= 0,
and
(24)
a=j, ^ = 0,
where
i.e.
()fi
a2
= ^(^^P
2 (m)
that the centre of percussion
(25) ^
'
is
the
mean square
The
pole
the
'
anti-
72. The
The
Ballistic
Pendulum.
velocity of a bullet
pendulum' is a device f for measuring the by means of the momentum communicated to the apparatus, which consists of a compound pendulum carrying a block of wood, or a box of sand, into which the bullet is fired
'ballistic
horizontally.
Owing
brought to
preciable angle.
Let m be the mass of the bullet, v its velocity, and c the depth of its horizontal path below the axis of the pendulum. The moment of momentum of the apparatus, immediately after
* Greenhill, Hydrostatica,
London, 1894,
p. 65.
New
208
DYNAMICS
[IX
Hence, if w be the angular velocity the impact is therefore mvc. connnunicated to the pendulum, we have
mvc
Mk^co,
(1)
where the constants M, k refer to the pendulum as modified by the inclusion of the bullet; this correction is, however, usually unimportant.
If a
swings before
energy,
couiing
^
we
have,
by the equation of
a),
to)"-
= Mgh (1 - cos
(2)
Hence
^=^f-(!j-^''^^i'
If
<3)
T be
pendulum we have
(*)
-^'.
by Art.
55.
Hence
V
I ~ =- M
.
h -
am ^a ql
.
(5)
The
velocity v
is
be determined by observation.
The angle
is
attached to the pendulum, at a point in the plane of the masscentre and the axis of suspension, which swing.
axis,
the length thus drawn out, being equal to the chord of the
is
arc ha,
26 sin
\oi.
Denoting
this
by
x,
we have
(6)
axis,
.^^.^^.^r-sT.
In order that there
line of fire
may
the
which the
is
fired
set
in
motion by the
the
This arrangement
is
is
less
accurate, since
momentum
momentum
72-73]
209
73.
Taking the case of motion in two dimensions, let us suppose is acted on by a system of instantaneous impulses applied to it at various points, and that these are equivalent to an impulsive force (^, t)) at the mass-centre G, and an impulsive couple V. As in Art. 71, the sudden change of motion is given by
that a body
therefore
{^M(u''+v")
+ ^Io>'-} - {^M(u' + V') + ^loy'} = ^M (u'-' - u') + i if (v'^ - V') + \I {w' - 0)0 = ^.l(lt+ U') + .\{v+v') + V.\{(0-{7)
ft)')
(2)
We
initial
if
and
let us imagine the same body, same position, to receive a displacement such that the component translations of G are \{u + u)t, ^{v + v')t, and the accompanying rotation is ^ (tu + w') t, where t is some infinitesimal magnitude of the dimensions of a time. The expression in the last line of (2) would then represent the work done during this displacement by a force (^/r, ij/t) acting at G, and a couple v/t. Now if F be any one of the forces constituting the impulse in the actual problem, and q, q the initial and final velocities of
For
its
its
own
+ q) r,
and
the
total
The
work done by a force Fjr would be work done by the system of such
F .\{q
forces
q').
would
accordingly be
^[F-hiq +
This result
<i)]
(3)
may
also
is
to
for
210
a very short time
t.
DYNAMICS
[IX
The changes
within the interval t will then be proportional to the total impulse up to the instant considered, and therefore proportional to the
The
the
mean
velocities
of
in
be represented
hy^(q + q), and the corresponding displacements ^y \{q + q') r. In this way we are led again to the expression (3) for the total work
done.
It will
finite accelerations
is
legitimate since
the interval r
Ex.
is 7nv,
1.
is
practically,
and the
point of application
is
is cco.
The energy given to the pendulum is therefore hnvcco, which by Alt. 72 (1). The total loss of energy is therefore
^mv^-^Mk^o,^'=imv^
Ex.
is
2.
equal to IMk^co^,
S)
^^-^
71,
Ex.
2,
2 + '2 =
F
(^)
2i/'
to the impulse
is
therefore
7
F^
(>
is
If the joint
B had been rigid, the energy would have been F^jM, as is easily This illustrates a general principle that the introduction of any constraint in a mechanical system diminishes the energy produced by given
found.
impulses.
(See Art. 108.)
EXAMPLES. XV.
1.
fixed)
2.
A bar rotating on a smooth horizontal ^AfiWQ about one end (which is suddenly snajis in two describe the subsequent motion of each portion.
;
Having given a
solid
size
and weight,
B^'^
ascertain which
vertical thread
fixed.
thread being
unwinds itself from a reel, the upper end of the Prove that the downward acceleration of the reel is
a2
Cfi
+ K^'^'
EXAMPLES
tln-ead is
211
a-
+ K-
^'
where 3/
the axis.
is
reel,
its radius,
and
k its
thread rests by its sHghtly projecting ends on a horizontiil end of the thread is brought out from the under side of the reel, and pulled horizontally with a given force F. In what direction will the centre of the reel move, and with what acceleration ? (The radii of tlie reel at the centre and at the ends are given also the radius of gyration.)
4.
reel of
table.
The
free
5.
a,
and moment of
/',
is fixed,
and moment
of inertia
and
vi
is
hanging
running
I'"
6.
- 2
and the latter is any manner at right angles to the axis. Prove that if the plane and cylinder were initially at rest they will come to rest simultaneously, and that the distance travelled by the centi'e of the c}'linder will be to that travelled by the plane as k'^Kk^ + u^), where a is the radius of the cylmder and k its radius of gyration.
made
to
move
horizontally in
running on the inside of a circular loop in a vertical plane. If a be the radius of each wheel, R that of the loojj, v the ap2)arent velocity of the bicycle (i.e. the velocity with which either point of contact moves along
7.
A bicycle is
the track), find the angular velocity of the wheels, and the ang;ilar velocity of the frame.
8.
[v{\la-l/R); vjR. ]
circular
hoop of radius a rolls in contact with a fixed circular which it surrounds, its plane being perpendicular to the Through what angle does the hoop turn while the point axis of the cylinder.
cylinder of radius
6,
of contact
makes a complete
Also
if
is placed like a ladder with one end against a smooth and the other end on a smooth horizontal plane. It is relca.sed from rest at an inclination a to the vertical. Calculate the initial jjressures on the wall and plane. [|-% '^i" a cos a Mg (1 - 1 sin^ a).]
9.
uniform rod
vci-tical wall,
142
212
10.
DYNAMICS
[IX
Also prove that the bar will cease to touch the wall when the upper
fallen
end has
11.
through one-third of
Two
by a
I,
and
is
be slightly disturbed from the unstable position, prove that the angular velocity w with which it
free to
move on a smooth
horizontal plane.
If the rod
is
given by
6)2
=%/^.
?
What
12.
is
and length I hangs in equihbrium over be just started from rest, and does not slip a pulley of radius a. relatively to the pulley, prove that the equation of motion is of the form
chain of mass
If
it
A uniform
when the
13.
Find the tensions of the chain at the points where latter has turned through an angle 6.
it
A uniform
plank of thickness 2A rests across the top of a fixed circular Prove that if it be set in motion is horizontal.
is
<9
(a
is
one of pure
if
a>h
is
+ h^
'
ak
14.
whose semi-axes are a, b, c rests, with its shortest on a rough table. Prove that it has two normal modes of vibration, and that the lengths of the corresponding simple pendulums are
solid ellipsoid
(a^
+ Gfyc
{b^
+ 6c^)c
is parallel
to
by cylindrical
equal to the
pendulum
is
if
the periods are nearly but not exactly equal the formula
hold very approximately, if the radius of the cylinders be small, provided Aj, A2 denote the shortest distances of the mass-centre from the surfaces of the pins.
still
56 will
EXAMPLES
213
16. A bar AB hangs by two equal crossed strings, attached to its ends, from two points C, D-aX the same level, such that AB = CD, and it is restricted to motion in the vertical plane through CD. If AB = 2c, and 2b lie the depth of AB below CD, prove that if 6 > c the length of the equivalent simple
pendulum
is
2(<^ + b^)b
A wheel of radius a, whose mass-centre G is at a distance c from the can turn freely in a vertical plane, and carries a weight m by a string hanging tangentially on one side. Form the equation of energy in terms of /, J/, 6 and the other given quantities, denoting the mass of the wheel, / its
17.
axis,
moment
and 6 the
radius through G.
When
alternate
;
equilibrium
is possible, shew that stable and unstable jjositions and prove that the time of a small oscillation about a stable
position
is
^Mgc yc
where a
18.
is
/+ mar'
cos ay
6.
Two
and
C to
a string
A BCD,
same
such
level.
that
AB=CD = BC=2a;
the system
is
D are
AB,
fixed at the
When
DC make
angles a with
the horizontal.
in the vertical
is
plane
through
AD
sin a
*
+ l/a. cos^a
for a
uniform bur
BC
suspended by equal
AB, DC.
of a
compound pendulum
t
is
moved
horizontally
to
and
displacement at time
being
|.
equation of motion
where
I is
bar hanging from a fixed point by a string of length I attached to 20. one end makes small oscillations in a vertical plane. Prove that the periods (27r/?i) of the two normal modes of vibration are determined by the equation
,
K'^
+ a^-\-al
K"l
.,
q'^a
K.-1
where a is the distance of the point of attachment from the mass-centre and K the radius of gyr;i,tion about G.
Find approximate values of the roots when k/I and and examine the nature of the corresponding modes.
a/l are
(O),
both small
214
21.
DYNAMICS
[IX
Prove that in the case of the double pendukim (Art. 68) the kinetic
is
where
tial
A = MP + tna^,
is
ff=mabcoti{d(f)),
B=m
{V^
+ <'^) and
;
energy
const.
- Mgh
cos 6 - mg (a cos 6 + h cos ^). momentum about the axis is {A+H)e + {ff+B)4>.
I
22.
is
made
to
move
by means of equal forces applied to it at the ends. Prove that the shearing force and bending moment at a distance x from one end are given by
F=^{\l-x\ M=--^x{l-x).
EXAMPLES. XVI.
(Impulsive Motion.)
1.
A A
circular
hoop which
is
circumference, find the initial axis of rotation (1) when the blow (2) when it is at right angles to the plane of the ring.
2.
tangential,
is
prove that
fixed, in
the ratio 4
3.
3.
its
A A A A
A
is
struck perjjendicularlj' to
;
rigid
lamina
is
moving
point
in it is
suddenly
fixed.
any manner in its own plane, when a What must be the position of in order that
in
?
the lamina
5.
may
be reduced to rest
jalate
is
square
velocity m.
new angular
6.
by an impulsive couple
it
its own plane about a fixed point is struck Find the impulsive pressure at and prove that
;
any point P, and the velocity produced at any other point Q is v. Prove that if the same impulse had been applied at Q, the velocity at P would have had the same value v.
at
8. A point P of a lamina is struck by an impulse in any direction PP' in the plane of the lamina, and the component velocity of any other point Q in a direction QQ' is v. Prove that if the same impulse had been applied at Q in the direction QQ\ the velocity of P in the direction PP' would have been v.
examples]
9.
215
A
I
length
plane.
to rest.
Find at what
is attached at one end by .i stringjof about which it revolves, on a smooth horizontal an impulse nuist be applied to the rod to reduce it
10. A rigid lamina free to turn about a fixed point is struck by an impulse ^ in a line meeting OG (produced) at right angles in /. Prove that the energy generated is less than if the lamina had been perfectly free by the
amount
1
2
{GP .GOk^{k^
K^f
f-^
+ 0G^)
J/*
Two equal uniform rods AB, AC, smoothly jointed at A, are at rest, 11. forming a right angle. If a blow be delivered at C in a direction perpendicular
to
AC, the
12.
initial velocities of
the centres of
AB and AC are as
If a
7.
AB,
CD
blow
is
administered
Z>.
AB, the
initial velocity of
is
7 times that of
smoothly jointed together, are at rest in the form of a square. Prove that if an impulsive couple be applied to one of the rods its initial angular velocity will be one-eighth of what it would have been if it had been free.
rods,
Three equal uniform rods AB, BC, CD, jointed at B and C, start 14. from rest in a horizontal line, the outer rods being in contact with smooth pegs at A and D. Prove that the initial acceleration of the middle rod is ^^</.
Why
15.
is
this greater
than g
Two
hinged together at a
pulsive couple
V,
bars of masses mj, m^, and lengths 2ai, 22 are in a straight line, common extremity. If either bar be struck by an im-
is
+ K2^)*lKl^"
'
where
ki, k2
are the radii of gyration of the two bars about their centres of
Two
is
extremity.
If
equal miiform rods, hinged together, hang vertically from one an impulsive couiJle v be applied to the lower rod, the energy
generated
17.
'iv^jMa^,
where 3/
is
uniform bar of length 2a rests symmetrically on two jjegs at a line. The pegs are supposed to be suf-
One end
of the bar
is
raised
is
instantaneously reduced at
(a'-'
.3c'-^)/(a''^+3c'^).
CHAPTER X
LAW OF GRAVITATION
74.
propounded by Newton is to the effect that two particles of masses m, m', at a distance r apart which is great compared with the dimensions of either, attract one another
The law
mm'
The
follows.
up
to this induction
may be
stated as
We
to
bodies at the same place near the earth's surface are proportional the respective masses.
assumption to make
is
not a
Also,
but
any position in
space.
earth as the
resultant of the
is
that these elementary attractions follow the same law, and that
on a particle m, so
far
is
depends on
it
in, is
proportional to m.
mutual,
must
may
where
(f)
(r) is
r.
some
(as yet
distance
The
body.
acceleration produced
by a mass
at a distance r will
74-75]
LAW OF GRAVITATION
<f>
217
is is
The indication as to the form of the function (?) by Kepler's Third Law of planetary motion, which
'
'
furnished
that the
This
radii of
and not merely approximately, circular. two such orbits, and T, T' the corresponding periods of
revolution, the statement
is
rpn
~ ITs
is {'iirlT).
V^/
r,
we have
T^^y^
r^
<^(r')
r" T'
^'
,^.
Hence ^{r)
varies as 1/r^
which
itself yields
somewhat
to
the
attraction
of the
planet.
Owing
planet,
very slight;
we
shall
see
presently
If
how
we
unit masses at unit distance apart, the force between two particles
m, m' at a distance r
be
7mm'
r-
.,
This constant 7
is
called the
'
constant of gravitation.'
75.
If the
The only
distant
is
body which
is
earth's attraction
the moon.
If
(essentially)
218
DYNAMICS Thus
if
[X
earth,
geometrical operations.
and
moon must be
But
moon about
.
(27r/T)-
D.
Equating, we find
^w
If
c/r
we put
a = 2-09x
lO^ft.,
r/
= 32-2 ft./sec.-,
we
find
5 = 6M'
ajD
is
The
ratio
'
The
above] numerical value agi'ees well with the result obtained in this
was made, in a somewhat different form, by Newton, and furnished the first definite test, apart from
calculation
The above
known
these bodies.
moon relative to the earth by T' the radius of the earth's by D, and that of the moon's orbit by D', we have, comparing the central accelerations in the two cases,
of the
,
orbit
E
(2)
^*^^^^^
5=(tt) -(^l
(3)
.is known from the theory of Attractions that, on the law of the inverse any body composed of siDherical layers of uniform density attracts external bodies as if its mass were concentrated at the centre.
* It
square,
75-76]
LAW OF GRAVITATION
219
389,
^ = 13-37,
1_
*
wnence
E_
^
is
329300
due in principle to Newton*.
76.
The Problem
his
of
Two
Bodies.
which account is taken of the attractions of the planets on one another and on the sun, have
Newton and
successors, in
abundantly confirmed the accuracy of the law of the inverse square, by shewing that it is able to explain the actual motions of
the planets in minute detail.
The
is
first
Two
Bodies'
slight simplification
made
if
we assume,
is
bodies (a planet)
so small
compared
sun) that the acceleration produced in the latter may be neglected. have then the problem of the motion of a particle about a
We
iMJr^,
where
/x
The
centre of force and the tangent to the orbit at any given instant. Since there are two degrees of freedom in this plane, we require
These may be formulated in various ways; but the simplest plan is to proceed from t\\v two first integrals which are supplied by the principle of angular
two
momentum and
and
p
its
the perpendicular
path,
we
have,
by
= h,
(1)
where h
*
is
a constant.
The
sun's distance was at that time greatly under-estimated, aud the ratio much too large.
220
DYNAMICS
[X
Again, taking the mass of the particle as unit of mass, the kinetic energy is ^v^ and the potential energy is -/i/7- + const., by
Art. 43.
Hence
it;2_^ = const
(2)
Combined with
^.= "^ +
0,
(3)
which is, virtually, a differential equation of the first order to determine the path. Any equation of this t3rpe, connecting p and
r, is
called a
'
tangential-polar
its
'
equation
it
completely determines
The
may be
In
we have
p-
-=
^21
r
...
,
(4)
^=r + ^'
where
in
^^>
each case
we have
a = oo
and
(6)
p^
4=r
Comparing with
provided
(3),
we
'-'i'
"=
(^^
The
orbit will
therefore
be an
ellipse,
hyperbola, or parabola
Now
r
if
a particle were to
its
fall
from rest at
infinity, so that w
= 0,
oc,
initially,
velocity
*
when
at the distance r
would be
t Ibid.
76]
\/(2/i,/r),
'
LAW OK GRAVITATION
by
(2).
221
This
is
critical velocity,'
We
learn then
be an
ellipse,
hyperbdla, or parabola,
than, greater than, or
if
is less
In other words,
the particle
it
to
an
ellipse
if
becomes
case
to zero.
Combining
formula
and
(5),
w-
= /i
/2_1' \r
- +
a
elliptic,
.(8)
relates to
an
to a
The formula
interpretation.
(1),
extremities.
of this triangle
by ZA, we have
W=
if
i''
(9)
up
to the instant
t.
In other words,
If
the radius vector sweeps over equal areas in equal times, the rate per unit time being ^h.
the centre of force,
r,
we may put
8A=hr"-80,
222
DYNAMICS
(1) takes the
[X
form
(10)
'4r''>
which
will
be required presently.
leads to an expression for the period
{T) of revolution in an elliptic orbit. Since the whole area of the ellipse is swept over by the radius vector in the period, we have
hT=2'7rab,
(11)
where
b is
= s/{fMl) = ^{fjLla)
(12)
Hence
T=^^
(/j,),
(13)
absolute acceleration
what
i.e.
is
called in
'
in
the
elliptic orbit,
nr=2ir,
(14)
(^^)
and therefore
Ex.
fall
''^~\/s
(13)
1.
From
particle
c.
would take to
The straight path may be regarded as the half of an infinitely flat ellipse. Hence, putting a = ^c, and dividing by 2, we find that the required time is
1
27rc2
\ffji''
V2"
as in Art.
16.
The law
The major
mean
called in
mean
76-77]
Ex.
2.
LAW OF GRAVITATION'
To
find the uioaii kinetic energy in
223
(irl)it, i.e.
an
elliptic
the average
we have
vds = h
/=,-/
p'ds,
(1 6)
where p'
integral,
is
The
last
area,
^1
v^dt
-r:,
= - = n-a',
(1'
by (7) and (15). The mean kinetic energy is therefore the same as that of a particle revolving in a circle of radius eciual to the mean distance , with the
mean angular
velocity n.
77. The
follows.
Construction of Orbits.
orbit of a particle
which
is
First,
is
less
than the
critical velocity.
The formula
^2 1\
'"=''lf-5)
determines the length 2a of the major
axis, since
yu,,
w
r,
and
v are
supposed given.
(*S^)
as centre,
and radius
anywhere on
velocity.'
this
circle will
particle, if of the
same mass.
We may
call
this the
'
circle of zero
It
corresponds to the
common
If
PH
is
given by the
(2)
formula
PH = 2a-SP
Hence
must
lie
on a
circle,
with
as centre, touching
is
thi'
The
direction of
PH
determined by the
must be equally
Again,
particle
let
it
224
order that
it
DYNAMICS
[X
may
The
on a
circle
with
Fig. 72.
as
H, H'
Fig. 73.
will
bisect
the
SPH, SPH',
respectively.
If the circles
77]
LAW OF GRAVITATION
225
do not intersect, the problem is impossible. In the extreme case, where the circles touch, as in Fig. 73, the point Q is just within range 'fi'om P. It is evidently a point of ultimate intersection of
consecutive paths of particles started t'n>m
velocity.
We
have then
(3)
S and
P
P.
touching the
is
replaced by
""=''(?
)
real principal axis.
<*'
We
(.5)
now
HP = SP + 2a
the orbit, since the given tangent unist bisect the angle between the focal distances.
If the orbit
is
to pass
describe about
tively.
and
circles of radii
SP + 2a, SQ +
2a, respec-
ac-
What
is
an
ellipse
touched by the
outei'
this
is
equal to the
focal
and the
distance
SP make
equal
is
The
to pass
by drawing circles about P and Q as centres to pass through S. The two common tangents to these circles will be the directrices of the two possible paths.
most
easily found
L. D.
15
226
Ex.
Ill
DYNAMICS
[X
the theory of projectiles, if the variation of gra\ity be allowed for, This is of is a conic with the centre of the earth |as focus.
in
h vc cos
where
c is
a,
(6)
Putting
filc-=ff',
we have
recturn,
'
^^
/*
77
\'/
9
A'elocity.
The major
a.xis
of the orbit
is
given
l)y (1),
-'=9'oH-.--)
Hence
^ = ^$K>
is
(9)
The path
2g'c.
Since
= a{l-e^), we
find
from
(7)
and
(8)
^,^^_2^^Wa^^^Wa
gc
This vanishes
earth.
If 26
if
g^c^
a=
and v^=g'c.
The path
is
the two points Avhere the path meets the earth's surface,
be the angle subtended at the centre of the earth by the line joining we have
- = l-ecos(9
(11)
The length
of this line
.
is
hence found to be
2a
/
v2 sin
2v^ cos^ a
v* cos^
a\
2
^
g
and W.
gc
g^c^
In the case of a particle projected from a point of the equator, in the E. plane, the velocity v and angle a are connected with the apparent
v'
velocity
and elevation
d by
the relations
d + mc,
a',
(13)
where a is the earth's angular velocity, the angles measured from the eastward horizontal.
a,
being supposed
77-78]
LAW OF GRAVITATION
Hodograph.
(1) of Art. 76
227
78.
The fonnula
of the orbit
is
SV
(1)
where
the
SY is
the
to
tangent at P.
auxiliary
In the case of
circle
Y
YS
is
'
'
and
if
circle
again in
Z we
have
at right angles to
SZ
it
appears
that
the
auxiliary
circle
is,
on
a
Fig. 74.
certain
scale,
the
hodograph of the
moving
particle,
being
the pole.
is
the tangent at
will therefore
through
>S^.
The following diagrams shew the hodogi-aphs in drawn separately from the orbits, and with their
Fig. 75.
152
'
228
DYNAMICS
[X
Fig. 76.
Fig. 77.
79.
to find the
velocity in
position in
conditions.
We
an
elliptic orbit,
which
is
the
most important from the astronomical point of view. The points where the radius-vector meets the orbit at right angles, viz. the
extremities of the major axis, are called the
'
apses,'
and the
line
joining
them
is
called the
'
apse-line.'
orbit round the sun, the two apses are distinguished as 'perihelion and 'aphelion'; when we are concerned with the orbit of the sun relative to the earth they are called perigee and apogee,' respectively. The angle FSA which the radius vector makes with the line drawn to the nearer apse is called the true anomaly.' If
'
'
'
'
78-79]
LAW OF GRAVITATION
circle
229
to P, the
which corresponds
is
excentric angle of P,
centre, is called the
the angle
QCA, where C
the geometric
excentric anomaly.'
Fig. 78.
If
by
<f),
we denote the true anomaly by 6, and the excentric angle we have, by known formulae of Analytical Geometry,
-=l + ecos^,
r
(1)
where
e is
= SP = a-e.CN' = a(l-ecoa<f))
(2)
if
Again,
if
to P,
we
*S^,
have,
n denote as in
Art. 76 the nt
lir
mean angular
area
area of ellipse
velocity about
ASP _
area
ASQ
\a^^
area of circle
^a.ae sin
ira-
(f>
(f)
sin
(p
(3)
Thus
(1)
determines r in terms of
the angle
and t from (3). In Astronomy, however, it is the converse problem which is of interest, viz. to find the value of corresponding to any given value of t This is known as Kepler's Problem, and has given rise to many mathematical
is
(2),
230
investigations.
DYNAMICS
In practice
is it is
[X
simplified
by the
fact
that the
excentricity e
quantity.
method
of successive approximation
may be
used, as follows.
By
Art. 76 (10)
we have
-2
=s=i^(i+-^^)-'=|(^ + ^^^>
= ^(l_p2)(i +
gcos6')-(15),
(4)
!^ = (l_e2)(i +
. .
ecos^)-2
3e- cos'^
(9
.)
(5)
we have
w
= (9-2esin0 + fe-^sin2(9-...,
t
(6)
vanishes
To
we
write
it
in the form
(7)
= ?i+2esin^-|e2sin2^+
is
The
first
approximation
= nt
(8)
For a second approximation we insert this value of 6 in the second term on the right hand of (7), the error thus involved being of the order e-. Thus
e
= nt + 2em\nt
(9)
For the next approximation we adopt this value of 6 in the second term, and put 6 = nt in the third term, the errors being now only
of the order
e^.
We
find
= nt + = nt +
2e sin {nt
+ +
2e sin nt)
f e- sin 2nt
2e (sin nt
= nt + 2e sin nt + f e* sin
(10)
79-80]
LAW OF (JKAVITATION
find the correspond ini( cxprcssidn tor
<f)
231
r,
To
we
iit,
nt
+ e sin
(f)
nt
e sin
(11)
approximately.
9*
Hence
e cos
(f)
e COS (nt
e sni }d)
(12)
The mean
time
is
(1
+ W).
formula:'
is
The quantity
called the
nt
'mean anomaly';
gives
The
difference 6
'
nt
mean anomalies
is
called the
It may be noticed that the formula (9), where the square of e is neglected, would hold to the same degree of accuracy if we were to imagine the particle to describe a circle with constant velocity, with S at an excentric point, the distance of S from the centre being 2ae, if a is the radius*. The variations in the radius vector would however not agree with (12). A l)etter i-epresentiVtion is obtained if we imagine a circle to be described with constiint angular such that velocity {71) about a point 11 on the same diameter with SC=CHae, where C is the centre. The true orbit deviates in fact from a
.S',
circle
e^,
since b^
= a^ (l
e'^).
Moreover,
if 0'
HP drawn
we
easily find
e'
= e-2e^md = nt,
(13)
approximately, by
(6).
80.
Some
years
before
the
publication
of
the
law
of
by Newton, Kepler f had enunciated his celebrated These were not based on theory three laws of planetary motion. i)f any kind, but were intended to sum up facts of observation.
gravitation
(B.C. 120).
This mode of representing the lunar motion was devised by Hipparchus The orbit, regarded as described in this way, was called an excentric' The first two laws were announced in 1609, the t Johann Kepler (1571-1630).
*
'
third in 1619.
232
DYNAMICS
[X
We
The
The form
mosb
indicated
by the changes
in the
latter.
The
polar
-=1
r
+ecos<9,
(1)
the
should vary as
+ e cos
6,
where
is
the longitude in
if
Conversely,
a relation
form
is
sun in one
focus.
is
The
6
excentricity e
easily deduced.
If
A,
A he the greatest
= 0,
..
= IT,
respectively,
we have
1
A
Taking
D,-D,
''
nri^e'
^=aTa
we
find e
^^^
A=
32' 36",
A=
31' 22",
gV-
The
but the
test
The
calculations,
more
II.
stringent.
The
radius vector
to a planet describes
The
verification
is
all
times of the
case.
year
This
is
found to be the
III.
The squares
mean
distances
The
The
80]
LAW OF GRAVITATION
The
following table, given by
238
determined.
mean
distances from
of the
the
mean distance of the earth as unit. The mean distance as deduced from Kepler's law.
last
column
givi-s
234
DYNAMICS
[X
momentum
The
Thus, the uniform description of areas implies that the angular of a planet about the sun is constant, and thence that
is
form of the
focus, implies
varies inversely
is
An
analytical proof
given
may
about a
right angle, the focus in question being the pole of the hodograph
(Art.
78).
The
is
line
GZ
in
and the velocity of Z is thereFig. 74, p. 227, Since this fore addjdt, or hajr'^, in the customary notation. velocity represents the acceleration of P (turned through a right angle), on the same scale on which SZ represents the velocity
parallel to
the acceleration
is
(3)
.(4)
80-81]
LAW OF GRAVITATION
285
though comparatively slight, are sufficient to product' iiiotJiHcalioiis of the orbits. As some of the effects are cumulative, the changes may in time become considerable.
In the problem of two bodies, the effect of the attraction of
the planet on the sun
is
If
ii,
tiu
he the
the
two gravitating bodies at particle Wj has an acceleration towards whilst ^2 has an acceleration towards The acceleration of m^ relative to m, is Hence the same scale to {nii + m^^jr-.
masses of
{fi)
a distance
ajjart,
vu, proportional to
//ij
iii.,Jr'\
proportional
to
?/i,/r-.
therefore proportional on
at unit distance
is gi-eater
than
if iiu
were fixed
in the ratio
(mj
+ m^jmn.
mass
is
(say),
we
have, by
T-:
T-'=-:%,
S+
m,
(1)
'=
This
is
/A
iTV
fT
.(2)
the
amended form
mjS
is
very
The
law,
for
The
greatest value of
is
mIS
an outer planet
about
^^'l^ich jijijff'
Although the consideration of the relative acceleration leads most immediately to the foregoing result, it is instructive to look
at the matter from a different point of vieAv. If
i\,
i\
be the
=
nil
+ ''^2
r,
ro
'
=
f^h
+ f^h
(8)
(jf
(J
and
be geometrically
may
in con-
itself
236
DYNAMICS
iii^
[X
towards
ymi/r^, or
P'"^
If cu be the
w
^^>
"^"(STf^)'
mean
distance in the orbit of m about G,
we have
(o)
a.,
=
m^
+ nu
a,
where a
period,
Hence
if
be the
we have
T'=
where
itt
=
rii^)
(/)
= 7 (-mi +
(2).
(8)
have seen in Art. 42 that the kinetic energy of the motion relative to the mass-centre, which is the only
variable part of the kinetic energy in the present case,
is
We
l^-V, 2 mi +
m,2
(9)
where
two
particles.
The mutual
potential energy
-'-^
The equation
of energy
(10)
may
;
therefore be Avritten
v-
,7
=-
f-const
(11)
This
is
in that equation
Ex.
To deduce
the
mean
(2),
we put
^, = 11-8618,
-5
= j^^,
^=
0,
81-82]
where the accented
LAW OF GRAVITATION
letters relate to the
Cixrtli,
237
Iteiiiy
aimed
at.
We have
whence
= 5-2028.
82.
Perturbations.
of the 'perturbations' prochiced in [the orbit of ine
The study
body by the attraction of another is the special probk'ui of In a book like the present only one or two Celestial Mechanics.
of the simpler points can be noticed.
In the
first
place
it
may be remarked
that
it
is
not the
primary, but rather the acceleration relative to the sun or the primary,
i.e.
in the planet
respectively.
satellite
which
implied in
the term
'
disturbing
The disturbing
only gradually
conception of the
felt.
'
For
this
reason Lagi'ange
ellipse,'
i.e.
introduced the
the
instantaneous
which a planet would at any instant proceed to describe The changes in this
ellipse
The method
in its plane.
is
illustrated
(in
principle) if
we examine
into
the
two com-
ponents,
direction of motion,
may be
considered separately.
first
place, that
we have a
small tan-
+ tv.
The
''
= '^C--a)
mean
238
;iii(l
DYNAMICS
a.
[X
quantities
in
these
are
therefore
connected by the
2v8v
= 8a,
a-
or
if
^^/
/o\
mean angular
The
from
direction of motion
unoccupied focus
of the
body
is
is
changed
in
PH
to
PH',
HH' = 2Sa.
There
therefore
Fig. 79.
viz.
from
SH
to
SH'.
To
find the
= al = aJrI/ji = ap'V'jfi,
is
(3)
by
Art. 76 (7).
Since there
value of J),
we
2 a
(4)
n-a-J v
by
(2).
Since
n-o?
jx,
(5)
mean motion n
hi
3 8a
is
given by
^ vhv
rva^
,_,
la
82]
If TT denote the
LAW OF GRAVITATION
moan
kinetic eniTgy in the oibit,
2'-V.)
we have,
I)}-
2,
K=^nhi^=l^,
and therefore
(7)
8K =
7;,
-,Ba
Cl-
= vBv
orbit,
(S)
where
= na,
nearly,
have
8a
_8b _^Sv
V
Bn
Bv
V
BK _
Bv v
medium, see Art. 100. Another interesting illustration is furnished by the theory of the reaction of the earth's tides, supposed retarded by friction, on the moon. This will consist in the main of a small
tangential acceleration /.
effect
It appears that,
/ being
kinetic
is
positive, the
would be
its
whilst
mean
energ}'
diminish.
of course
would more
than compensated by the increase of the potential energy, the total energy (of the moon) being increased by the accelerating force.
Take next the case of a small normal impulse, and let Bv be the velocity which it would produce in the body if the latter were at
Fig. 80.
rest.
is
The
is
/s/{v^
+ (Bv)-},
and
a.
therefore equal to
is
The formula
(1) then
240
DYNAMICS
direction of motion
is,
[X
The
Sv/v,
an angle
to
PH' = PH,
and
HH' = PH.
The
tion
2hv
.
is
in general changed.
The
ix is
and
Thus
^'Za
a-
+ {---)h^l = \r aj
ha
o,
or
-= a
is
r' SfjL
-,
Also, since nht^
(10)
fx
where r
fx,
hn
1 hfx
3 ha
2 a
/3a
\
-,\^l^
/x
(11)
fx
^^_^M
a
'
^^2^'
n
"
fx
(12)
fji
For instance,
if
would contract,
To compare the
With the notation used in Art. 75, in the determination of the earth's mass, the disturbing force of the sun, when the moon is in 'conjunction,' i.e. between the sun and the eai-th, is
yS {D-D'f
approximately,
if
'
yS_2ySD'
^^'*''
Z>2
i)3
'
When
the
moon
is in
yS
{D + D'f
* If a cloud of meteoric matter,
yS _
Z>2~
2ySD'
i93
^ '
the portion included within a distance equal to the radius of the planet's orbit
attracts as
if its
The change Sfj. must coming from outside the planet's orbit.
82-83]
LAW OF GRAVITATION
is
241
Ciirth.
Tho
is
ratio wliicli
moon,
viz.
yEjD"-,
By
^A-d)
Art. 75 (3) this
is
<">
equal to
\t)
nearly.
{\znif
90'
.(16)
83.
The Constant
of Gravitation.
The constant
3?
for the acceleration
r,
(1)
produced by a mass in a particle at a distance being equal to the acceleration which the unit mass exerts at
Since rym/r^
unit distance, will depend on the units of mass, length, and time
is
an acceleration, whose
diraeii'
of 7 will be
L'M-'T-^
of
can of course only be found by actual measurement of the attraction of knowTi masses. This is a matter of gi-eat delicacy, since
the forces concerned are extremely minute.
result*
is
that
7 = 6-658 X
in c.G.S. units.
10-,
This
is
earth's
knowledge of the value of 7 leads at once to that of the mean density. As already stated, we may assume from the
whole mass were condensed at the centre. the earth's radius, a its mean density, we have
if its
Hence
if i2
be
7 ^TtR
.
(J
= 9>
^'^
-=
*
L. D.
^i
That of
16
242
If
DYNAMICS
[X x
10**
R = 6-37
= 5-522,
cm.,
in
grammes per cubic centimetre. It is remarkable that Newton had surmised that the mean density was about 5^ times that of
water.
measure had been ascertained with any precision. Astronomy is To in fact concerned only with relative masses (and distances).
avoid
the continual recurrence of an
it
unknown and
irrelevant
employ a
If the earth's
(Itt^
rj,
a,
(5)
J
if
negligible.
Putting *Sf=l,
a=l,
T= 365-25,
xlO-^
we get
7=
^=
2-96
Another method is to fix the unit of mass so that 7 = 1 the acceleration produced by a mass m at distance r being then A unit so chosen is called an astronomical unit. w/r-, simply. If the earth's mean distance be taken as unit of length, and the day as unit of time, the sun's mass in astronomical units will now be given by the above number, viz.
;
' '
^=
Ex.
1
^=
2-96
xlO-^
The mass m,
in
grammes, whicli would produce an acceleration of is to be found from (1), viz. we have
wy=l, and
m = -= 1-502x107.
83]
EXAMPLES
?,
243
The mass
of
1
in
grammes, which would attract an equal mass at a distance 1 dyne is given by iny=\, or
m = - = 3876.
vy
EXAMPLES.
1.
XVII.
in
What form
?
the case of
a projectile
2.
less
if it
3.
different directions,
the distance.
4.
from the same point with the same velocity, in under a central force varying inversely as the square of Find the locus of the centres of the orbits.
If particles be projected
from a given point with the same velocity in minor axes of the orbits will vary as the
If 6
is
diameter
given by
least values of D.
7.
In
elliptic
at the ends of
distance.
8.
motion about the focus the geometric mean of the velocities any diameter is constant, and equal to the velocity at the mean
is
nab
where
9.
CD
is
Prove that the velocity at any point of an elliptic orbit ciin be resolved two constant components, viz. a velocity iia/Jil -e^) at right angles to the radius vector, and a velocity 7iaeU{l - e") at right angles to the major axis.
into
Prove that the two parts into which the earth's orbit is divided by 10. the latus rectum are described in 178-7 and 186%') days, rcsj actively. {e = f^.)
11.
Jupiter,
12.
Assuming that the earth's orbital velocity is 30 km. /sec, find that of [13-2 km. /.sec] whose distance from the sun is 5-20 times as great.
Prove that the velocity acquired by a particle in falling from a great is \/(2 V^/a), where V is the earth's orbital velocity, and the apparent angular radius of the sun as seen from the earth.
162
244
DYNAMICS
[X
Prove that if a particle be projected in the plane of the equator, with 13. a velocity small compared with that due to the earth's rotation, its path in space is a conic whose semi-latus-rectum is about 14 miles.
14.
focus, the
component
radius vector.
15.
If the (parabolic)
path of a comet cross the earth's orbit at the exhow many days will the path be inside the earth's
[77|.]
16.
Shew
as circular) varies as
+ 2c)V(a-c),
orbit,
and
c is
greatest
when
= \a.
EXAMPLES.
1.
XVIII.
constant,
2.
orbit
is
a conic.
is
given by the
u-u,
where
3.
?i
= V (/x/a^),
and
e is
the eccentricity.
is
maximum
for
cos6 = -
(l_e2)_i
.
Taking
4.
= ^,
maximum
is 1 54'
30" about.
In elhptic motion about the focus, prove that the mean of the values
(1+1^2),
accurately,
5.
tion
ja/r2
= fixjr^, y=
- iiyJT^-
EXAMPLES
Deduce the
integral
.ry
245
- yx = h,
,
'v=
-y
-,-
=t ^
is
of the i)ath
of the form
\-Ax + By.
6.
if
new
8.
The
effect
tion is given
by
a
r
'
byi
'
IX
9.
effect of
of an orbit
given by
^
e8e
= 262
/^ a- \r
-1
-_.
V
If Q be the longitude
EXAMPLES. XIX.
(Constant of Gravitation.)
1.
Assume
is
same
f.s.
mean
diameter
100 miles.
Shew
that a
ft.
per
sec.
moon
may
escape.
and the moon's mass and radius are (The earth's radius is 21 x IC ft. [81.')U f.s.] respectively and | of those of the earth.)
246
3.
DYNAMICS
Two
[X
compared with the radius of each. Prove that if they are abandoned to their mutual attraction the time which they will take to come together will be '707 of what it would be if one of the spheres were tixed.
Prove that two equal gravitating spheres, of radius a, and density mean density, starting from rest at a great distance apart, and subject only to their mutual attraction, will collide with a velocity
4.
where
5.
is
Two
apart.
Prove that
subject only to their mutual attraction they would come (Assume that the earth's radius is 6 "37 x 10* cm.,
is
mean
density
one half that of lead, and that ^ = 981 cm. /sec. 2.)
1
6.
Two
spheres of iron,
metre
2 metres apart.
Prove that
if
is
would come into contact in about an hour. 6'37 X 10* cm., and that its mean density
7.
about ^ that of
iron.)
One
m. and
is
at
a distance from his centre equal to 15 times the radius of the planet.
Our
moon
revolves in 27 d. 7 h. 40 m.
and is at a distance from the earth's centre Find the ratio of Jupiter's mean density
[-214.]
moon
(57'),
mean
density to that of
[-252.]
satellite close to
the surface
mean
What would
be the period
if
the
mean
20 min.]
10.
Prove that
if
and
their mutual distances, were altered in any uniform ratio, the densities remaining the same, the changes of configuration in any given time would be
exactly the
same as
at present.
effect if
What would
ratio
?
be the
CHAPTEH
XI
CENTRAL FORCES
84.
The
Determination of the Orbit.
discovery
of
the
orbits
described
problem,
viz. to
examine and to study also the converse ascertain under what law of force directed to a
his successors to
force,
Newton and
As
concisely
pv =
h,
(1)
where v is the velocity, p the perpendicular from the centre of The radius force on the tangent to the path, and A is a constant.
vector therefore describes equal areas in equal times, the rate per
^h
(Art. 76).
Again
if
{r)
r, is
'
(r)
dr
of energy
is
\8. 49].
The equation
^t'2+
therefore
(2)
(?) rfr
= const
Substituting from (1) we have the tangential polar equation of the path,
viz.
-'=C'-2l<^(r)dr
pJ
(3)
248
DYNAMICS
size of the orbit,
[XI
when G
is
given,
but not
its
Thus
in the case of
4>{r)^li^r
(4)
we have
If
=G ar^
(5)
we compare
an
ellipse
- = a- + f%
we
see that the two equations are identical provided
(6)
a'
Since,
= h'/fi,
a^
+ = CliJi
(7)
by
(5),
is
and
b^
determined by (7)
0>Vi2
Now
if p,
(8)
we have from
(5)
Xp"
(9)
which
all
is
positive, since
p<
r.
We
centre of force.
The period
of revolution
is,
by
(7),
T=^^ = ^,
as in Art. 28.
(10)
fjL
(a~
b''
r^),
(11)
The
distance
case of
(p
(r)
= /j,/r-
In the
we have
<j)(r)
-fx/r^,
(12) (13)
and therefore
,= G
* Inf.
84-85]
CENTRAL FORCES
this
249
Comparing
i=l-?
p^
r'
(14, ^
'
we
= hyfi,
= fjLia
(15)
Since
is
satisfied.
85.
To
The
Inverse Problem.
i.e.
to ascertain
we have
= C-2U{r)dr
(1)
with respect to
r.
We
find
.(2)
The
as a function of
tained.
The formula
path we have
(2)
may be
f(ill(ws.
<h
{r) sin
<^,
.(3)
where p is the radius of curvature, and ^ the angle which the tangent makes with the radius vector. Putting v = h/p, sin 0=jo/r, and
Fig. 81.
p^r
by a known formula of the
sin
dr
.(4)
dp'
Calculus,
we reproduce the
result (2).
is
250
of the orbit
is
DYNAMICS
[XI
in falling from rest through a space equal to one-fourth the chord of curvature, under a constant acceleration equal to the actual
geometrical centre,
ellipse,
^=a? + b^-r%
P
and the required law
is,
(5)
by
(2),
<^(''')
= ^2p-'''
(^)
The
= K,
(7) (8)
provided
h = Jfi.ah
To examine whether an
under the law (7), whatever the initial conditions, we note that these conditions imply a given point, a given tangent there, and a giv^en value of the angular momentum h. In the present case, the latter circumstance determines the product a6, by (8). Now the problem of describing an ellipse with a given centre, so as to pass through a given point, to touch a given line there, and to have a given area, is possible and determinate. It is in fact identical with
the problem of describing an ellipse having given two conjugate diameters.
Ex.
2.
we have
(9)
p-
i-Wa
r
h^
1
whence
cf){r)=j.^
of the inverse square
viz.
is
(10)
The law
(cf.
Art. 80).
= ^2^
(11)
jjrovided
h = J{fir)
is
(12)
(II).
For the
problem of describing a conic with a given point as focus, so as to touch a given straight line at a given point, and to have a given latus rectiim, is
85-86]
determinate.
CENTRAL FORCES
The equation
(9) in fact
251
/>, r,
determines a when
(cf.
and
arc
i,'ivcii,
Art. 77).
The
is
circumference
P = r-'lc,
where
c is
(13)
the diameter.
The formula
<>^>-)
(2)
therefore
makes
(14)
= ^r^
or
'^W = 5,
c'^
(ir.)
provided
= fi/2h'^
(16)
The force must therefore vary inversely as the fifth power of the distance, but the orbit in question is not a general one for this law. A circle described so as to pass through the centre of force, and through two other given
(coincident) points, will not in general
is
which
required by (16) to satisfy the initial condition as to angular unless this be specially adjusted.
Ex.
4.
momentum,
spiral
p = r sin
the law of force to the pole
is
a,
(17)
h^
1
?-^
^
or
if
sm-' a
i>(>-)=^,
sin2a = A2/M
(19)
(20)
The orbit is not however a general one for the law of the inverse cube. For an equiangular spiral, having a given pole, is completely determined by two coincident points on it, and its angle (a) will therefore not in general
satisfy the relation (20).
A complete examination
the law (19)
is
86.
Polar Coordinates.
'
Investigations relating to
in terms of polar coordinates,
essential, especially in
central forces
'
some purposes
Let the polar coordinates of a moving point be r, 6 at the In the annexed instant t, and r + hr, 6 -{-hO -At the instant t + U.
252
figure
DYNAMICS
[XI
is 86.
placement parallel to
OP = r,OP' = r + 8r, OP in
OP' cos
and
The
dis-
86-OP={r+
direction
OP
is
therefore
dr
perpen-
OP
(r
is
OP' sin 86 =
to the
8r) sin 86
= r86,
first order.
The component
is
velocity at
in the direction at
right angles to
OP
therefore
Fig. 82.
=r
dd
dt
.(2)
quantities which are here denoted by u, v are called the and transverse components of the velocity, respectively. Their values might have been written down from known formulae of the Calculus. Thus if be the angle which the tangent to the path makes with the radius vector, we have
'
The
radial
'
'
'
_ds
dt
ds dr
dr
dt'
.(3)
^
.
dt ds
ds
ds rd6
dt
_ rd6
dt
ds
let the
and transverse components of acceleration, t+ 8t he u + 8u, v + 8v. The directions of these will of course make angles 86 with the directions to which u, v relate (Fig. 83). In the time 8t, the
find the radial
To
component
velocity parallel to
OP
is
increased by
8v) sin
(u
8u) cos 86
-(v +
86
-u = 8u - v86,
time
t is
ultimately
and the
radial acceleration at
therefore
a=
du
-^
d6
V
dt
^r
dt
.(4)
86]
CENTRAL FORCES
253
is
OP
increased by
hv
hu) sin 6^
+ (v +
hv) cos h6
-v =
uhO,
+5r
O
Fig. 83.
ultimately
t is
therefore
^ = *+"S
Substituting from (1) and
(2),
d'^
dd
<5)
we have
d-t) d'd
^drdU ^drdd
Id/ I d f
d6\ dd
Hence
motion are
if
R,
{s-Kfn=^.
The
equation
<')
latter
principle
of
angular
momentum
(Art.
48).
is
The moment of
the
momentum
product of
r,
the transverse
momentum mv
and
is
254
Ex.
1,
DYNAMICS
In the case of a circular orbit
[XI
have
(9)
= ), we = afi, a=-ue% ^
(?
as in Art. 34.
x. 2. We may apply the formulae to the case of a particle falling in a smooth vertical tube at the equator. Taking the origin at the earth's
centre,
and writing
r
= a + z,
(10)
where a
is
we have
<"'
"-(^+"'(+^)'
where
g' is
of rotation.
the acceleration of true gravity, and w the earth's angular velocity In the circumstances of an ordinary experiment the ratio zja is
is
therefore
(12) (13)
2=-5',
where
cf.
g=g'-u>'^a;
2.
There
will
S=
where
rest.
t
-r
(r-(u)
= 2?H(BS=
-2mo)gt,
(14)
is
the time during which the particle has been falling from relative
Jq)
the vertical
that
motion
will still
(12), so
= z,-\gfi
(15)
= = a)(a^-^o)^
/^
(16)
whence
approximately.
therefore
a,
f^^^~ Y =
a,
f1
^\
(17)
is
""(' +
If
t
3?)
auit.
(>>
be the time of falling to the earth's surface, the point vertically beneath
Thei-e is therefore
(19)
if
As was
descent.
to be expected, this
is
the same as
opposite to that given by (14) had been applied to the particle during
86]
CENTRAL FORCES
numerical example,
'imt
if
i;
255
fall
As a we have
= 5scc.,
corresponding to a
of 400
ft.,
h(jf^= 1333a)
= -097
we
(ft.).
x.
3.
have,
if
centre of force,
Ji=-m(fi{r),
S=0,
(r),
and
therefore
r- r6-=
0,
-(f>
(21)
(22)
r^0=/i
Hence, ehminating
'^-^=-^i^)
If
(23) to
we multiply by
2r,
t,
we obtain
(24)
+ y, = C-2 U{r)dr,
which
is
Thus
if
= nh-
(25) (26)
we have
The
r^
+ -^ = C-n^r'^
?iV-CV- + 7*2 =
and
positive.
(27)
It is easily seen, as in Art. 84, that the roots of this quadratic in f^ are real
Denoting them by
a-,
h'^
we have
K-
C=n^{a^ + h^\
= n-a-W
(28)
The equation
(26)
may now
be written
,.2^2
= j^2((^2_^2)(,.2_52)^
cfi,
(29)
b'K
where a^
is
Hence, as
diminishes from a to
rf
J{(^Lr2)(r2-62)}=
If
~"
('"^O)
we put
find
r2
= a2cos2<^ + 62.sin2 0,
= < + f
(31)
we
;^~**'
(22),
(32)
Again, from
we have
d6
d(^
,
ab_
a^ cos^
.
+
1
6"''
sin^
^
,
'
^'
'
and
(34)
^
'
256
if
DYNAMICS
It a])pears
[xr
from
(31)
and
(34) that
a cos (^, h sin <j> are rectangular Cartesian coordinates which is therefore the eUipse
'h^%='
Ex.
4.
(^^)
table, is
particle of
mass
wi,
moving on a smooth
attached
and
carries a
mass
for the
motion of m,
m{r-re'^)=-P,
where
rW = h,
(36)
is
r,
is
upwards, we have
Eliminating r and
= P- m'g
(37)
6,
we
obtain
P= mmmm'
+
,
U+ V
/i2
-r,
(38)
of a constant part,
m moves as if subject to a central force which is made up and of a part varying inversely as the cube of the distance. The intensity of the latter part depends however on the value of A, and
Hence the
particle
87.
under a central which is a function of the distance only, provided If a be the radius of the the circumstances be properly adjusted. in it, and ^ (r) the central accelerathe angular velocity orbit, tion at distance r, we must have
circular orbit is of course always possible
attractive force
ft)
fw-a
= ^ (a)
by
(1)
is
therefore given
lr-=oi^a'=a'(f)(a)
(2)
particular,
i.e.
This leads to the consideration of a nearly circular orbit. In we may inquire whether the circular motion is stable,
circle
whether a particle slightly disturbed from revolution in a about the centre of force will always remain near this
circle, or not.
If
...
dd
dt
87]
CENTRAL FORCES
obtain as before
257
we
^-^^-^^'^
Writing
r=
<**
a+x,
is
(5)
we
small,
approximately.
equal to
is
h^,
i.e.
assumed
angular
momentum by
by a
the relation
very nearly.
It is there(5), to
fore possible,
slight
exactly.
On
this
understanding we have
^+
Hence
if
|f(a) +
^0(a)|^=O
0(a)>O
viz. Ave
(7)
<^'(a)
(8)
have
(9)
x
provided
n-
(10)
The condition
In terms of w we have
:=^)+3,
by
(1).
(11)
For instance,
in
<^(0
= ,^,
(12)
we have
The
circular form of orbit
L. D,
--
= 35
<
3,
(13)
is
therefore stable if s
and unstable
17
258
if 5
DYNAMICS
case s
[XI
= 3 must
also
^=
that
for
0,
x = At
+ B,
.(14)
of
oc.
may be
interpreted as expressing
the distance.
It appears from (9) that the period of a in the length
of
the radius
vector
is
27rln.
Fig. 84.
Fig. 85.
^ (r) = /xr, we
if
(f)
find,
putting
is
=-
1 in (13),
that n
= 2(w, and
is
the
period in question
(r)
Again,
that
of the
= fi/r"',
so that s
= 2, we
have n =
co,
of revolution.
know
accurate orbits.
Ex.
4,
we have
^1')
'-^=-^ri^n'[^ + ^)^
or
{7)i
+ m')r
-=-m'g
(16)
Hence
for a circular
mh^ = in'ga^
(17)
87-88]
Writing
CENTRAL FORCES
259
r=a +
.r,
and approximating, wo
find
(m + m'):v +
Tlie circular path
is
^.*.-
(18)
therefore stable,
and the
about
it is
^'^{"^'D
88.
Apses.
the
radius drawn from the centre
is
(')
point where
ul
force
called
an
'
apse,'
called an 'apse-line.'
is
If the
force
For if at an apse would retrace its previous path. Moreover, the paths described by two particles which are started from an apse with equal and opposite velocities
the velocity of the particle were reversed,
it
all,
at equal angular
For if OA, OB be radii drawn from the centre (f force to two consecutive apses, the point A' which is the image of A with respect to OB, will be the next apse, on account The next apse will be at of the symmetry with respect to OB. The angles B', the image of B with respect to OA', and so on. AOB, BOA', A'OB', ... will all be equal; and their magnitude is The distances OA, OB, called the 'apsidal' angle of the orbit.
intervals.
OA', OB',... are called the 'apsidal distances'; the alternate ones
In an elliptic orbit about the centre the apsidal angle and the apsidal distances are the semi-axes a, b in an ellipse described about the focus the angle is tt, and the apsidal distances See Figs. 84, 85. are a (1 e).
are equal.
is ^TT,
;
orbit,
maxinmm
given by
minimum
where
)i
is
angle
TTG)
-^At^^^
'^'-
260
which
is
DYNAMICS
accordingly the apsidal angle.
[XI
= ^..
s
,
(2)
the angle
is
//g
(3)
we can
all
have
some power
of the distance.
we must have
a(f)'
(a)
= ?>l^
a
^^^
</,()
or
"""^
^)_m^3
<f>{a)~
log
<f)
Hence
or
(a)
(5)
unless the
law.
Newtonian
if
movement
if
For instance,
the index s
had the value 2 + X, where X is small, the apsidal angle would be (1 + ^X) tt, nearly, by (3), and the nearer apse would advance in each revolution by the amount Xtt. As a matter of fact a progressive motion of the apse is observed in the case of
every planet, as well as in the case of the moon, where
considerable
;
it
is
is
accounted
for,
on the whole
satisfactorily,
by the disturbing
the
and Mars, which are as yet unexplained. These are very slight, amounting for instance in the case of Mercury to about 40" per century. A slight amendment of the law of gravitation, to the extent of making X=l-5 x 10-", would account for this, but would apparently give too gi'eat a result in the cases of Venus and Mars.
case of Mercury, Venus,
88-89]
CENTRAL FORCES
261
may
be closed, or re-
must be contained
an even number of times in 27r, Hence the value of in in (5) must be integral. The only case which gives a force diminishing
with increasing distance
square
is
is
that of
m=
1.
The law
of the inverse
t)rbit
of an
necessarily
stars.
an oval curve.
star,
sufficiently observed, is
an
ellipse,
may
not be at a focus.
deviation of the
that the law of gravitation holds in this case also, the apparent
'
by the
fact that
what
observed
its
is
89.
Critical Orbits.
Subject to a certain proviso, a particle projected directly from a centre of attractive force, with a certain definite velocity
depending on
tending asymptotically to
the initial position.
zero.
corresponding to
particle
is
The
orbit described
when the
is
called
a a
'critical orbit.'
critical orbit is
it
is
just sufficient
shall see that
to carry
it
to infinity if
be properly directed.
We
infinity.
The equation
of energy, viz.
v~=^G-2J4>(7')dr,
becomes,
if v is to
(1)
vanish
f(
)r
cc
262
DYNAMICS
to is that this integral
if
(r),
[XI
must be
Mm
J^> 00
r^+'
cf)
(2)
where
e is
is finite.
If the integral
is
not
We
(ir-(fy-/><'-)*'
,7/3
<^>
with
r^J^
=h
(4)
Hence
(I"! + ^^^^/J*^^^)^^
(^)
Hr) = ^s
we have
provided
.9
(6)
1
fdry
[drt)
/i-
2,jL
^ 7^ = ^V^^'
1,
^^,
(^>
>
1.
Excluding these
there
is
no
critical
velocity.
^drV
dt
= h- {(f-^ - r'-''),
(8)
root,
and dividing by
(4),
we
find
W='^^) =
Hence
or
if
''
^''^
cos-W-j
rv
= |(s - 3) ^ + const.,
= cP(io^p{6-a),
(11) (12)
(13)
p-hi^-^)
89-90]
If s
CENTRAL FORCES
2G3
and the equation (12) is that uf ;i purabola If s = 5, p=l and the critical orbit is a circle through the centre of force. If s=7, p = 2 and the (rbit is a lemniscate, with the node at the centre of force.
referred to the focus.
= 2, p = ^
The
= S.
We
r|'=\/(/.-/r)
Dividing this by
(4),
(14)
we have
dr
de"""'
where
<^^'
m
r=Ce'''^
(17)
spiral, unless h
Hence
The
in
an equiangular
\/fi,
which case
a circle
c Art. 91.
be
finite if s
> 3,
and
will
extend to infinity
Differential
if s
<
3.
90.
The
form
if
simplest
we
radius vector.
Writing
"
=~
'
(1)
we have
dr
^^"^""^
31 at
= = ^^*'
r-
(^)
_
,
du _
du dd _
J
du
d-u
di^~V^~dt~~^'dedt~~de'
d^r
^^
.
.,
d fdu\
d-u
dO
.,
.,
d^=-^dt[rd) = -^d&^Tt =
d-r
^^^
-''''''dF^
djj-'-U)
we obtam
d-u
jni
=-*<'>'
f(u)
,,
.-.
<'>
+ ^^=i^'
.,..
v^V
'
264
where
This
is
DYNAMICS
[XI
/()
(0 =
(^)
C^)
If
we
in the form
f{u)
it
= hhi'(-j^^+u],
(8)
described.
first integi^al
thus, multiplying
by 2 du/dd, we have
/.{(|)V,4 = 2//(f^.a
This
is
(9)
duV
ddj
/T^x
p-
jl^du = -jcf>{r)dr
The
further integi-ation of (9)
is
(11)
in general difficult.
In the
(12)
case, hoAvever, of
f(u)
which
is
= /^tt%
/1Q\
Except
the solution
accordingly
w=^
where the constants
+ ^cos(^-a),
arbitrary.
(14)
If
and a are
l
we put
(15)
= hyfi,
this is equivalent to
lu
= l + ecos{d-a),
(16)
90]
CENTRAL FORCES
is
265
Cf.
which
Art. 76.
Ex.
1.
To apply
(6) to
the case of
motion,
let
(17)
S+=^^
This
is satisfied
(-)
by u c, provided
Kh = F{c\
this being the condition for a circular orbit of radius c~'.
If
(19)
we now put
is
;/,
=c + ^,
(20)
where ^
'M^-'^V-^'^
provided
positive,
c
<-'
If the coefficient of ^ be
(19).
we may put
^
F{c)
-"''
'
and obtain
|=Ccosi(^-^),
where the constants
If
(7, ^3
(23)
is
are arbitrary.
The
apsidal angle
therefore
tt/wi.
/() = MW'>
F{v.)
= fxu'-\
(24) (25)
we have
if
m- = 'i-s,
agreement with Art.
88.
s<3,
Ex.
in
2.
orbit
(-^6)
-xW
orbit
^'
can be described under the central force /(?/.), to find the law luider which the
= x(n
(27)
can be described, where ?' = ?/, & \6. The A-alues of the railius vector at corresponding points of the two orbits are equal, whilst the vectorial angles are in a constant ratio. If two particles describing these orbits keep step with one another, being always in corresponding positions, we may say that the second
particle describes
relatively to
it
an orbit which
is
the
same as that
of the
first,
but revolves
at a rate (X
1)^,
its orbit.
266
DYNAMICS
niomentmn
6'
[XI
in
we have
(28) (29)
e = hu\
= h'u"^,
and therefore
Ji
=\h
is,
by
(8),
= h'H'-^
(^ +
^.')
= /A.^
(S-^^'")
(30;
=f{u) + {\'^-\)hhi,^
Tlie original central force
must
This
is
orbits,'
obtained by him
Ijy
a geometrical method
*.
91.
It has
Law
For
this
fact
that
it
is
cases in
has attached to
it.
known
as
'
Cotes's Spirals.'
The
physical
is
momentum
velocity in
the
same
for
all
is
circular
orbits,
a circular orbit
equal
to
the
'
critical
velocity
For
if
^{r)
= ^
is
(1)
given by
(2> (3)
is
= ^,.
CI"
whence
Again, the
A^
= v-cC- = /x
the distance a
given by
(4)
V^=2r4>(r)dr=^^,
* Principia, lib.
i.,
prop,
xliii.
first Plumian Professor of Astronomy at Cambridge 1706-16, editor of the second edition of the Principia.
90-91]
CENTRAL FORCES
therefore
a,
267
in
and
is
equal
to
the
velocity
circular
orbit
uf
radius
as determined by (2).
orbits generally,
To determine the
we put
(5)
f(u) =
fiu^
and obtain
<>
is
w-H>^-'
Let us first suppose that the angular momentum than that proper to a circular orbit, so that
h'->H-
greater
0)
than the
critical
The
velocity at
any
p<r we
have h/p
> s/fijr.
If
we put
(8)
l-f, = m^
the solution of (6)
is
u
or,
=A
cos
md + B sin m6,
cos
(9)
au =
There
is
m6
(10)
?% and the line ^ = There are two asymptotes
therefore a
minimum
is
value of
corresponding to this
an apse-line.
whose directions are given by md = + | tt, so that the direction of motion in the orbit turns altogether through an angle ir/m -rr. The distances of these asymptotes from the centre of force are
equal to ajm.
to Vy"is
Whrn
IV,
m = 1 and
line
the path
is
a straight line
this
indicated
by the
marked
I in the figure.
The curves
viz.
II, III,
respectively, f, ^, f, i,
the angles turned through being therefore 120, 180, 300, 540'. The smaller the value of m, the gi-eater is the number of cunvolutions
round the
origin.
When
so that
the angular
momentum
h'
= fi,
268
DYNAMICS
[XI
we have
adIf
.(12)
^ = 0, we
have a
;
circle,
whilst
These may be regarded as the starting points of the two of orbits next to be referred to.
series
Fig.
8().
Finally
less
we have
'
momentum
has
than the
circular
value, so that
h-
< fx.
.(18)
If
we now put
u
1 = n\
e^
.(14)
we have
=A
+ 2?e-".
(15)
* Inf.
91]
CENTRAL FORCES
2G9
At the point ^ =
u
we have
= A+B, '^=n(A-B),
(16)
and therefore
v-
- H'U- =
- H'U- =
h- j-
(^^ j
- fiuI
=
by
(14).
h''
I
(17)
Hence
and
will
In the former
case,
we
can,
6,
au
Since
?t
=
^
sinh
nO
(18)
= 0,
or
r=X),
for
= 0, we
Fig. 87.
parallel
to the
initial
line.
Since
u=
oo
for
oc
the path
it
in ju\
270
If
DYNAMICS
[XI
and
sign, the
au = cosh nd
There
is
(19)
r,
now a maximum
value
(or)
of
an apse-line. Since m = oo or r = 0, for ^ = + oo the particle finally revolves round the origin in diminishing conSee Fig. 88. volutions, as in the preceding case*.
radius (6
= 0)
is
Fig. 88.
If
or JB vanish,
we have
au
either
or
au
_ y)-m0 =e
.(20)
and the
that this
orbit is
is
an equiangular
spiral.
We
a critical orbit.
the particle
is
apse (A) with different degrees of velocity. where the velocity of projection is greater than the 'circular'
it is less.
91]
escape to
infinit}',
is
oi'
EXAMPLES
will
tall
271
circular orbit
therefort' to
be counted as unstable,
aliradv
proved (Art.
Ex.
87).
The
case of
(21)
jiartly as
where the force varies partly as the inverse square and cube, is also readily integrable. Wc have
d-u
/
^
the inverse
v\
;7^+
Assuming that
v
1-12 =i^
(22)
< h-,
and putting
l-p="^^
we have
This
is
%i,
(23)
-^-C con
{m6- a)
(24)
of the
f(jrni
lu
(25)
and may
therefore be regarded as the equation of a conic which revolves about the focus with an angular velocity proportional to that of the radius vector,
(l-m)(9 + a.
This description
i.e.
is
is
equal to
unit\-,
A law
a modification
between the progressive motion of the apse of the lunar orbit (about 3 in one revolution) as actually observed, and that which was given by the calculation of the perturbations so far as this had at the time been carried. It was
defective,
by Clairaut himself that the calculations were and that a more careful computation on the basis of the Newtonian law gives a result in agreement with the observations.
subsequently recognized
EXAMPLES. XX.
If a particle is subject to a constant force making a constant angle 1. with the direction of motion, the path is an equiangular spiral.
2.
particle describing
an
ellipse
about the centre receives a .small Prove that the consequent changes
by
ba a
= 8v sni- m, ^ V
.
.,
8b
-J-
8v , ^ = cos'' q>, ^
where
*
(f)
is
A. C. Clairaut (1713-65).
was pubhshed
in 1752.
272
3.
DYNAMICS
Prove that about
if
[XI
in
described
distance.
the
pole
equal
times
the
force
must vary
as
the
4.
[)olar
'
is
5.
Prove that
about a centre of
force at
an
ellipse,
parabola, or hyperbola,
6.
is
({}
{r)=fi/r-'^'^'^.
law
7.
Prove that
if
.2
'
where k
is
advance in each
orbit.
8.
be
e"
Trk'^a^,
nearly.
9.
Prove that under the conditions of Art. 88 the two apsidal distances
circular.
A particle
11.
is
makes
the critical velocity at any distance equal to that in a circle at the same
distance.
12.
Examine the
cases of
(r)
= /ir
and ^
{r)
= fj.lr\
EXAMPLES
273
13. A ring can slide on a spoke of a wheel which revolves about its centre with constant angular velocity . Prove that if it start from rest at a distance
its
will
be a cosh
a><.
Two
by a
string, are
divides the length into segments aj, a2, find the initial tension.
|_
(ii
+ W2)
aia2
15.
Work
(r)
= fir = fi/u.
under a central
16.
acceleration
distiu'bed
by a small constant
force
/ at
radius vector.
r=a + -^,
n
671--"^. a
L. D.
18
CHAPTER
XII
DISSIPATIVE FORCES
92.
Except
taken into account, it has been assumed up to this point that the conservation of mechanical energy holds in the various questions
Dissipative forces, as they are which have been considered. called, which convert energy into other than obviously mechanical forms, have been ignored.
' '
what precisely happens when a body traverses a resisting medium is difficult and experiment has failed to elicit any simple law which shall hold for all velocities. We can only attempt here to examine the consequences of one or two simple empirical assumptions, each of which is probably fairly
The
theoretical discussion of
We
is
take
first
The equation
of motion
~ = -(f>{u),
where
a
first
<\>
or
u~ = -4>{u),
velocity u.
It is
(1)
(u) is
sometimes
The
1
<f){u)
first
u and
thus
du _
dt
"^^
=^-t +
A....-
(2)
/;<f>{u)
92]
DI8S1PATIVE FORCES
leads to a relation
;
275
x,
between u and
with a
thus
u
(u)
du _ dx
'
fudu
_.
The elimination of u between (2) and (3) gives the relation between x and t, involving two arbitrary constants which may be used to satisfy the initial conditions.
As
(f)
(u), it is
of course positive,
and must vanish with u. A plausible assumption from the mathematical side is that for a certain range of u it can be expanded in a series of powers of u, thus
(f>
{u)
All
+ Bu-+
Cn;'
...,
(4)
is sufficiently
term
We
dt
dx
ii
whence
If
log
ii
= kt + A,
0,
kx + B
^
(6)
we assume
B = Uq,
Uq,
u
for
= 0, we
have
^1
log Mo>
u
Eliminating
u,
UQe~^^,
Uo
kx
(7)
we have
^
= ^0 (1 _ e-^-)
^
(8)
If
we put M =
in (7), or
= oo
is
in (8),
we
find
=
to
Uq/L
With
space
this
therefore a limit
the
described.
The quantity k is the reciprocal of a time, viz. the time in which the velocity is diminished in the ratio 1/e. Denoting this time by t, we have
x
= Uor{l-e-"^)
(9)
182
A
276
DYNAMICS
[XII
93.
When
force, as well as to
s=/-^<"'
Since <^(?0 increases indefinitely* speed V for which
u,
with
there
is
a certain
<f>(y)=/,
i.e.
(2)
force.
'
This
is
'
full
speed
this,
of the body.
less
than
the propelling
force is greater
If
be started with a velocity greater than V, the resistance exceeds the propelling force, and the velocity diminishes. In
it
V.
In
(f){i() =
the
ku,
case
of
resistance
we
have
may be
written
14^^-^^)
Hence
If, initially, t
(^)
y^ ^ =
>
\og(V have
u)
-^+
and
(4)
*f
= 0,u= u^, we
A = log {V u^,
V-u = {V~u,)e-f'lv.
Hence
(5)
S""*^
V - {V - u,) e-f'l"^
(6)
-P=F^ + nZjl^g-/-/F +
If
5
whence
(7)
for
= 0, we
have
B = V{V o^)//,
(8)
There are some exceptions to this statement in the case of the 'wave-making'
resistance of boats in shallow water, but these need not be considered here.
93-94]
DISSIPATIVE FORCES
277
last e<|nati(ni
We
= V
t
for
t=
qc
The
shews
,^Vt-^-^'>If
(9)
we put/=5',
may be
taken to illustrate
air.
particle
find, if
resistance
we
be upwards,
(10)
M = (F+o)e"^'^^-
V,
(11)
= Uo,
for
= 0.
The
particle will
come
to rest
when
(12)
^=I^log(l+^),
at a height
A = |-' |^-log(l
+ ^)}
(13)
94.
I'he
Theory of Damped
Oscillations.
and a resistance varying as but for the sake of its wide analogies. The differential equation on which it depends is of exactly the same type as that which applies to the small oscillations of a pendulum, or the torsional vibrations of a suspended bar, as affected by the resistance of the air, or to the vibrations of a galvanometer needle as affected by the cuiTents induced in adjacent masses of metal, and so on.
central force varying as the distance,
the velocity,
itself,
The equation
in question
Cv'f
is
dec
di^
= -^''-^dt'
^^>
where the first term on the right hand represents the acceleration due to the restoring force, whilst the second term is due to the resistance. It is usually studied under the form
^+
t^.- +
^=
(2^
278
This
DYNAMICS
[XII
may be
transformed as follows.
If
we put
(3)
X=
?/e^*,
^^have
S=(l + ^2')^"
<*>
w~-^I-<--'
Substituting in
(2),
-^'^
we have
(2\
g+
The quantity
X, is
(6)
at our disposal.
term in (6) disappears, and the equation reduces to the form which we have already met with in Arts. 5, 11, 57, &c. The equation (2) is therefore satisfied by
x
provided
-^^
=
{fjL
e~^^*y,
(7)
- \) y = Q
first,
(8)
arise.
The
is
where
(9)
f^>W,
this condition being satisfied for all values of the
efficient
Actional co-
below a certain
limit.
Putting, then,
(10)
(11)
fi-lk''=n%
we have
or
=A
coBnt
+ BBinnt,
{nt
-\-
y = a COS
a,
e,
e),
(12)
are arbitrary.
e)
Hence
(13)
The type
of motion
by
this
formula
may
be
ae~^
increases.
1,
.
the space-time
curve
is
x= ae~^
See Fig.
89.
94]
It
is
DISSIPATIVE FORCES
279
u
(=
dccjdt) satisfies
type.
Hence
we may
write
= ae~^^* cos{nt-\-e'),
(14)
found otherwise from (13). The stationary values of x when cos {nt + e) = 0, and therefore at equal intervals {irjii) of time. The interval between two successive mascima of x is 27r/n, and this is accordingly reckoned as the period.' The ratio of one
as
may be
occur
'
is
e*"-/2^
and the
logarithm of this
ratio, viz.
1^ log... = -2171^.
is
(15)
called the
'
logarithmic decrement
'
of the oscillaticms.
Fig. 89.
It appears
period
is
r- to
as in
27r
If,
many
compared with
\Jfi,
small
oscillation,
was shewn
in Art.
(f
a
is
we
replace the
280
circle
DYNAMICS
by an equiangular
spiral*.
[XII
To
see this
equations
e),
...(16)
which x, y are regarded as rectangular coordinates of a moving point, determine such a spiral, being equivalent to
x=
provided
For, eliminating
t,
rQ,os 6,
2^'
i/
= r sin
6,
(17) (18)
= ae
r
= nt + e.
we have
= a e
.(19)
**-
'*
'
Fig. 90.
-i,,where
""
= #^/'^
is
cot a
= - ^kjn
by
h ^ In
(20)
"fhe
therefore given
^TT
+ tan-i
(21)
is
the
coefficient
is
greater than
2\//a,
the
w'->='
*
(2^)
This remark
is
94]
DISSIPATIVE FORCES
n- = \k- = J.e"' + Be~^^\
yi,
281
(2:^)
(
where
The
solution
(7),
is
i/
24)
whence, by
provided
x= Ae'^^^ -^-Be'^^
fx),
(25)
Xi
= \k - ^J{\k- -
\,
(20)
This solution may, however, be obtained more directly from the original equation (2). If we assume
= Ae-^K
(27)
we
- ^'X + /A =
X,
X^.
(28)
This determines the two admissible values of fact the two quantities denoted above by \,
result (25).
which are in
Superposing
the two solutions of the type (27) thus obtained, we have the
Since
to zero.
Xj, Xa
may
vanish,
we must have
^29)
g(K,-x,)t^_^l^
If A.
and B have opposite signs, this equation is satisfied by and only one, real value of t. If A and B have the same sign there is no real solution. Hence the particle, however started, cannot pass more than once through its equilibrium position, to which it finally creeps asymptotically. The present type of motion is therefore called 'aperiodic' It is realized in the case of a pendulum immersed in a very viscous medium, in dead beat galvanometers, where the needle is closely surrounded by metal of high conductivity in which currents are induced opposing the motion, and in modern forms of seismograph.
one,
*
'
In the transition
case,
where
P = 4m,
exactly, the equation (8)
(.SO)
becomes
=
whence and
y = At
''
(.S2)
+ B,
= e'^~''\At + B)
(33)
282
DYNAMICS
[XII
The diminution
the increase of
t
therefore also
classed as 'aperiodic'
half-
period of an unresisted particle started from the origin with the same velocity is also represented (by the dotted curve).
Fig. 91.
95.
Forced Oscillations.
have next to consider how forced
oscillations,
such as have been discussed in Art. 13, are modified by the resistance. Adding on the right-hand side of Art. 94 (1), to represent the a term accelerative effect of the disturbing force, we have
We
^_^-k^^+,.x =
X
is
(1)
necessary to
in order that
Thus
x = a cos pt
(2)
may
X=a
[{jx
(3)
94-95]
If
DISSIPATIVE FORCES
288
we put
IX
p- = R cos a,
kp =
as
is
R sin a, of R and
a)
for pt,
(4)
a, this
becomes
(5)
X = Ra cos {pt
Hence, putting
turbing force
-\-
Ra =/,
and
\vi-iting
pt
a
t,
which
is
merely
we
X =f cos pt
will correspond the forced vibration
(6)
x=
with the value (6) of X.
-^ cos
(pt-
a)
(7)
(1),
We
which makes the expression on the left-hand side of Thus in the case where k^ < 4>fjb we have the form
(1) vanish.
= e'^^^* (A
cos nt
+ B sin
nt)
(8)
where n is given by (10) of Art. 94. The arbitrary constants A, will depend on the initial conditions.
The
first
may be
is
interpreted as re-
Owing
conditions, gradually die out, until after a time the forced vibration
is
The same
conclusion
>
^jju,
and
k"^
4fjL.
With regard
important
points to be noticed.
First,
R'=(fi-p^y+kY^
If k^
<
2/x this is
minimum,
^
p.=
^_^/,:i^
.....(10)^
284
DYNAMICS
[XII
and the
maximum
amplitude
is
i
If k
is
\//Li,
<")
the amplitude
is
sjfi,
greatest
when
is
p=
Owing
to the factor
denominator of (11) the maximum amplitude is relatively In the case of a pendulum swinging in air it may easily
become so gi'eat as to impair the legitimacy of the approximations on which the fundamental equation (1) is based.
The
It appears
from (7)
(4).
that the phase of the forced vibration lags behind that of the
disturbing force by an
amount
a,
which
is
determined by
Since sin a
as p" $
is
yu, the angle a may be taken to be in the first or second quadrant according as the period of the disturbing force is longer
fi-ee
Moreover, since
tanot
-^, -pIX
(12)
or
damping be
This
as
we should
anticipate
where we found exact agreement or opposition of phase in the two cases, on the hypothesis of no friction. But when there is almost exact coincidence between the periods, or, more precisely, when the difference between jW/"' and unity is small compared with k/j), the angle a approaches ^tt from one side or the other, and in the case of maximum resonance when p = ^J/x, we have a = ^7r; i.e. the maximum displacement follows
from Art.
the
maximum
force at
an interval of a quarter-period.
velocity.
The
force
is
When
one half-period
is
and there
is
In the general
case, the
95]
rate at which
DISSIPATIVE FORCES
285
work
is,
is
against resistance
X -j-=
doc
x)f^
a) cos pt
(13)
is zero,
= ^{sma-sm{2pt-a)]
The average value of the second term in the bracket the mean rate of absorption of energy is therefore
and
pfsma ^kpPf_
2R
The absorption
is
Uf
k'
2R'
^-"^^
{p-fji/py
i.e.
therefore a
when
the imposed period coincides with the free period in the absence
of friction, exactly.
<15>
k.
and
is
To
the
effect
of
a slight deviation
the
from exact
maximum, we
may put
i=i+^'
where z is supposed small. The expression (14) may then be put in the form
()
for the absorption
approximately, where
^-^,
The absorption
z
<>'
its
maximum when
(19)
= ^,
or
= s/fji +
\k,
The graph
of the function
^
/3.
<2>
is
shewn
in Fig.
92
The area
286
DYNAMICS
is
[XII
independent of
yS,
maximum
on either
side.
This principle that, the greater the intensity of the resonance in the case of exact agreement between the periods, the narrower
the range over which
it is
has
many
is
there
Fig. 92.
between the imposed and the free periods whilst the air column of an organ pipe will respond to a comparatively wide range of
;
frequencies.
own plane
in
a magnetic
field,
magnets on the
electric currents
dt
.(21)
I
dt"^
95-96]
where
DISSIPATIVE FOllCES
287
The
$=acoapt
of the frame of the instrument
is
(22)
therefore
6
in the preceding notation.
J.
a),
(23)
The
ratio of the
amphtude
of vibratit)ii of a point
itself
depends on the
p^
R^ ^{{^i-p^f + kY]
vibration
p^
^^'^^
In the Galitzin instruments, the damping is adjusted so that the free is on the border line of aperiodicity, or /fc2=4^. The foctor (24) p2 P^ + H.(25)
This
i.e.
is sensibly independent of p, so long as p is large compared with .Jfi, so long as the period of the tremors is short compared with that of an
undamped
free vibration.
In the instruments referred to, the record is made, however, by the galvanometric method referred to in Art. 67, in which the indications depend not on the angular displacement d but on the angular velocity dOjdt. A further
factor
is
thus introduced by the consideration of the law of oscillation of the is also damped so as to be on the border line
The
scale on
which the
^'elocity of
the ground
is
recorded
is
{p^
+ ^){p^ +
This varies very slowly for values of p- in the neighbourhood of ^(/x/x'), for which it is a maximum. In practice the undamped periods of the galvanometer and seismograph are adjusted as nearly as possible to equality,
so that
/x
/i'.
96.
The
Spherical Pendulum.
The effect of friction on the small oscillations of the sphericiil The equations of pendulum (Art. 29) is easily ascertained.
motion have the forms
iPx
J
dx
d'-u
dy
,,
288
DYNAMICS
;
[XII
if k-
and
<
4yu,
the solution
is
= e~^^^ {A
If
cos nt
+B
sin nt),
we choose the
if
origin of
oc,
at an instant
= 0; and
The
we make the
axis of y pass through the position occupies after an interval ^ir/n, we have
B = 0.
The
X
particle
-=
be'^^^sinnt
(3)
ellipse
may
therefore be said to
move
in
an
which
radii, it is
positions the time of passing from one of these to the other will
be
less,
than
^ttJii,
revolution.
There
is
exactly
^-rr/n,
set
may be supposed
elliptic spiral.
The
If a
actual path
may be
regarded as a kind of
= b, we
The problem
pendulum
is
motion
if
An
interesting variation
obtained
we
suppose the bowl to rotate with constant angular velocity w about a vertical If we take fixed horizontal axes of x, y as before, axis through its centre.
with the origin at the lowest point, the component velocities of a point
of the bowl will
relative to the
{x,
y)
be -coy,
co.r,
respectively.
The
velocities of a particle
bowl
will therefore
i7
+ co?/,
y-u>x
(4)
Hence, assuming that the friction varies as the relative velocity, we have
x= iT?x where
if
/ (i:
+ 6)?/),
y=
rfiy
- Jc {y - ax),
(5)
(6)
n-=gja^
The
is
usually
best conducted in terms of imaginary quantities, but for the present purpose
we may
We
assume
(7)
x = rcoii{\t + e),
v/
96]
where
r is a function of
t
DISSIPATIVE FORCES
to be detonnineil.
If
289
sulwtitutc in (5)
we
wo
find
+ ^T + (2_x2),-=o,
2\r + k{\-m)r =
(8)
(9)
Eliminating
r,
we
find
X2(\2_,i2)
+ J^.2(X2_^2) =
X=,
(10)
The
approximately,
if
we
we have
^j^^
We
x=Ce~''^GOH{nt + (),
e),
(13) (14)
and
where
= ^k(l--j,
= U-(l + -j
(15)
Since the differential equations are linear, these results can be superposed.
The formula) (13) and (14) represent circular \ibrations of gradually varying amplitude, the directions of revolution being opposite in the two cases. If a><n, the amplitude in each case diminishes exponentially. But if co>n,
the sign of v
sense
is is
The
particle then
works
its
way outwards
1),
cos-'-^.
The
bowl
when
accordingly
now
unstable.
It has already
to be modified
when
been indicated (Art. 33) that the criterion of stability has The argument given relative equilibrium is in question.
the equation of relative energy (Art. 33
(10)),
on
p. 87, applied to
shews
r-imco2(.r2-i-/)
(16)
* If
no new
the imaginary solutions were examined it would be found that they lend to The fact that the formulse (13) and (14) involve four arbitrary results.
e, e'
constants C, C",
T,.
is
complete.
T).
19
290
must be a minimum. lowest point we have
If z
DYNAMICS
[XII
x'^-\-'f=^'iaz,
F-J?2(A'2+y2) = ^(^_,^2^)3
This will be positive, and the lowest position accordingly stable, only
If 6 be the
(18)
is
easily
cofiB=g/a>^a.
this expression
is
minimum when
when
it exists,
relative equilibrium,
therefore stable.
97.
The
found to give
This law
case of a
is
support.
In the
body moving through the air, for example, a mass of where u is the velocity, is (so to speak) overtaken in the time Bt, and an average velocity proportional The motnentuni given to the aii-, to u is communicated to it. and accordingly lost to the body, is therefore proportional to u-, per unit time*. This argument is defective in that it assumes the flow of air relative to the body to have the same geometrical distribution for all velocities, but it avails to shew that under
air proportional to uBt,
may
follow
Assuming the
to
law,
we
du
dt^-^"''
Hence
If
ti
du -^'' Tx =
J
,,.
(i>
u^ dt
-jt
= ^,
or
-^
kt-\-A
(2) ^
u^ for
= 0, we
have
A = 1/uo,
1
whence
(3) ^ ^
^,=
*
^J^ +kuQt
prop, iv (scholium).
Newton, Principia,
lib. ii,
) ,
96-98]
DISSIPATIVE FORCES
291
/c,
log ^
?i
= ^u' + 5
and therefore
for
= Mo, we
by
have
(5)
Eliminating
u, oi-
integi-ation of (3),
we
find
a;
= Tlog(l + ku^t)
(0)
u does not vanish for any finite; value is on the present hypothesis no limit to the space described. The law ceases however to have a
It appears from (5) that
ultimately as
u,
rather than as
u".
The
in
coefficient
is
viz.
the distance
l/e.
Denoting
this length
by
a,
we have
x^a\og(l + '^]
98.
Case of a Constant Propelling Force.
(7)
In the case of a body subject to a constant propelling force, as well as to a resistance varying as the square of the velocity, we have
^=/-te'.
The terminal
velocity,
or
^-/-^"=
is
(1)
when the
acceleration vanishes,
given by
(2)
kV'=f,
whence
^, =
(3)
Hence
du
ft
V'-u'dt
V"
we have
V
and
('>)
A = 0,
u=
Ftanh'^,
192
292
tending to the limit
DYNAMICS
[XII
for
t,
-*
oo
Putting u
= dxjdt,
and
inte-
we have
V^
-^ log cosh
\i
x=
ft
(6)
for
x=
= 0,
The second
^=27^^F'^^'
which may of course be derived from (5) and
If
(6).
we put f=g,
of a
the investigation
rest,
may be taken
t
to illustrate
the
fall
body from
under gravity.
starting of a steamer.
we have
= U-^^'^,
nearly,
and therefore
x= F^-^'log2,
where the
speed.
last
(8)
lost
in getting
up
The time
F//.log2.
%i
is positive.
If
F be
(2),.
we have
|=_/(r' +
Hence
dii
=).
^=_/(F' +
,
,.).
...(10)
T'
or, if
+
^
ii'dt
V"
ft tan-i^=-<j^+4;
,
V~
(11)
1^0
for
= 0,
tan-^ = tan-^-4
(12)
98]
DISSIPATIVE FORCES
Again, fi-om the second of equutions (10),
293
log(F^ +
If
a;
^')
-^ +
(
yi
(13)
an(
for
u=
u^
Ave
have
B = log
F*
+ Uq-),
^=2^-log-p^^.
(l'^)
When
we have u = 0, and
therefore
= ^tan-^^,
II
^.
= ^_log(l +
F*
7/
2\
(15)
^^,J
going at
In the case of a steamer whose engines are reversed when full speed, we have u,, = V. The time required to stop
is
the steamer
therefore
4^'
time
is
^^^^
this
^=
^log2
(17)
Ex.
In the case of a particle projected vertically upwards with velocity in (14) thus is found by putting m =
;
it,,,
A = ^'log(l+^f;),
^9
(18)
is,
by
(15),
= -tan-i^ V 9
is
(19)
The time
(^i)
given by
(6)
thus
t,
'
1 (\
(
+ ^!)t" /
The
is
thus
y2-^
by
(18).
- FHmo''
'
'
294
DYNAMICS
the ratio Mo/
[XII
When
V is
small,
we
find
and
approximately.
,,.|(l-j^,),
= %(l-|^,),
(23)
99.
Eflfect
of Resistance on Projectiles.
on the motion of a projectile
is
The general
effect of resistance
easily understood if
we
Since
v^/p,
the diminution of v implies an increased curvature. The path is therefore continually deflected inwards from the parabolic course
which
it
resistance,
would proceed to describe if there were no further and the motion tends ultimately to become vertical,
'
instantaneous parabola
we
= t^^,
9
(1)
where
>|r
is
Hence,
T=
t
Bl
2Bv
-"-
(2)
Putting Bv
^fBt,
where
/ is
we have
^dl_ 2f idt~~ V
For example,
if
^y
(4)
f=kv',
-j -jI
we have
whence
at
=
l
2kv
2k ^,
at
(5)
= Ge~"^',
(6)
The particular case of a resistance varying as the velocity can be solved completely, by means of the Cartesian equations, which
98-99]
DISSIPATIVE FORCES
295
With the
usual axes
and
vertical),
we have
,
d-x
ds dx ^=-A^OOsVr = -A^
J .
O)
,
d-y
ds
(ill
The
first
of these gives
li
x=0,
dxjdt
= Uq,
for
t=Q, we have
^
C= Vq, D =
Uo/k,
whence
(^10)
= |(l-e-),
as in Art. 92 (8).
dy
we
is
dy/dt
= gjk
hence,
l = -f+^'-"
Integrating again,
*'^'
we have
2/
= -f-f
^
^-^'
+ ^'
C'
(l'^>
If y
= 0,
dyldt
= Vo,
y
for
0,
we
find
= glk + v
D'
C'/k.
Hence
-f + f?-)o--") \k k
^'
<i4)
""-
UoV g
is
^^''
'
where
V is
an asymptote to
i\\v })ath.
It should be remarked, however, that this investigation has merely an illustrative value, since the linear law of resistance is far from being valid in the case of a projectile.
296
DYNAMICS
[XII
The hypothesis
velocity
is
now
are
cos
- =
Since dx/dt
A;y-
i/r,
- = g
kv^sinylr
(16)
= v cos
i/r,
may be
written
(17)
X X
-kv^-ks,
whence
or
if Wo
logi;
ks
-^
const.,
i;=<o6~**,
(18)
s
0.
It
is
easily
equivalent to
(6).
it is
To
We
p,
=q
P
^
cos
(19) (20)
(21)
Putting
= i; sec
P
\/r
i<oe-^'*seci/r,
l_d^y
= &-^'t
we
find
^ = _iLe*
we may
replace s
(22)
If
we
is
nearly horizontal,
by x, the Thus
difference being of
P. = -^,e^' axUqIntegrating,
(23)
we
find
t'-m-/'"^^
(^*>
99-100]
If
DISSIPATIVE FORCES
that y
297
i.s
we assume
= 0, dyldx=
a,
tuna, whcic a
of couree
assumed
to be small, for
x= 0,
.
we have
^ = ^t/ + tan
and the equation
7/
B= -rf^_^
is
(2(j)
It has been already noticed (Art. 97) that k=l/a, where a is the distance within which a particle subject only to the resistance
If
x bo small
= x tan t.
x^
- ^
ar'
(27)
The
first two terms of this series give the parabolic path which would be described in the absence of resistance.
lOO.
The general
of a resisting
medium on
mean
the motion of
It
was
to
distance
due
given by
8a
a
2v8v
n-ar
'
,^
where n
is
the
velocity.
Putting 8v
f8t, where
2vf
n-a
.
(2)
^ = -(l + J^^f
The
orbit therefore continually contracts.
in the
(3)
The change
mean motion
dn
-jl
is
given by
.
dt
Svf_ =
na-
r,
(*)
298
DYNAMICS
[XII
The mean
beii^g
kinetic
-di='^
The
total energy, of course, continually diminishes.
(^>
EXAMPLES. XXI.
1.
A particle
is
Prove that
>/(
if
the resistance
+ !).
2. If ,^1, j;2, x's be the scale readings of three consecutive points of rest of a damped galvanometer needle, prove that the equilibrium reading is
If the
damping be
slight,
is
equal to
apijroximately.
3.
and
\el()city,
the hodograph
is
a straight
line.
4.
If chords
circle,
down
each, in a
medium whose
resistance vai'ies
as the velocity,
5.
the same.
particle
axis is vertical
and vertex
downwards.
Prove that
in addition to gravity it
still
be subject to a resistance
be isochronoxis.
Shew
maximum when
if X'2/4/i
approximately,
7.
be small.
is
x= -- e~-'''^
cos nt
e^'^'^
e""^^''
sin nt
e^''*f{t)
cos
ittdt,
where
8.
u = ^{fi-^k'^).
Prove that
if k'^
= 4fi
is
100]
EXAMPLES
299
Prove that in the wise of rectilinear motion sulyeot only to a ii'.sistanco 9. varying as the square of the velocity the niwui retanlation in any iiiUM'val of time is equal to the geometric nittui of the retiirdations at the beginning and
end of the
10.
interval.
body moves
in a
if
the velocity.
Prove that
where a
required
is
is
small, the
mean value
if
foi-ce
?<,,,
greater than
in
is
incr&i.sed in
+|a-.
where
if
/3
is
small, the
mean
time)
is
the siime as
given distance
particle
is
projected
vertically
If the velocity of
a height of 100
ft.,
what
will
[96'4
ft.]
13. A ship of IT tons is steaming at full speed (F knots), under a power If; prove that the thrust of the screw is
hor.se-
145.r/Ftons.
Prove that
if
shij) will
be brought to rest
in
in '2/ fi-
.sees.,
2iiii'r-v/rft.
Work
tlic
[45
.sec.
G7'. ft.]
A particle
as the distance,
and
2/L-a)
e-2*<'=
(I
2i-b)
e^K
?
What form
t;U<e if
is infinite
300
15.
If a
particle,
DYNAMICS
[XIl
resistance
ku + k'u",
prove that the space described before
it
comes
to rest
is
plog(l+|^o
16. If the retardation be
equal to
/cx^,
prove that
where A, B, Care constants; and determine the constants, having given that
.v=Xo, x = u,^, for
17.
t
= 0.
moving horizontally pierces in succession thi'ce screens Assuming that the resistance varies as the cube
is
bullet
equal to the
screens.
mean
first
and third
first
Also that
second,
velocities are
screen to the
and
final
2a
respectively.
18.
and
2a
Prove that
in
a
2
this point
1\
must be
less
than
+ ^2)^
^
8
19.
t<i ti
and the
initial retardation is /.
described in time
t is
20.
which brings
it
to rest
in a time t;
is
/;
21.
projectile,
where u
.r,
is
CHAPTER
XIII
have n '(iegroes of fR'u( loin' when n independent variables are necessary and sufficient to specify thr
positions of its various parts.
called,
in
generalized
sense,
the
'coordinates' of the
Thus
thi'
may be
by its latitude and longitude; the configuration of the double pendulum in Fig. 64 (Art. 68) is specified by the angles 6, the position of a rigid body moveable in two dimensions may be defined as in Art. 63 by the two coordinates of its mass-centre and the angle through Avhich it has been turned frt)m soukstandard position and so on.
<f)
;
;
The theory
there
is
of
Since
proceed to systems of greater freedom, the equation no longer sufficient, and a further appeal to dynamiIn the case of systems having cal principles becomes necessary. Uvo degi-ees of freedom, especially when the motion is in two dimensions, the principle of angular momentum can sometimes btmade to furnish the additional information required, in a form frci'
of energy
is
When we
We
this
j)rii-
As a
further example
case of a particK-
moving
th'
forces except
tloes
no work, the
302
velocity v
is
DYNAMICS
constant.
[XIII
momentum
of the
result about this the distance of the particle from the analytically, let r denote axis, and ^ the angle which the direction of motion makes with
axis
is
constant.
To express the
The
velocity
may
components
about the
vcos(f),
vsincf),
along
this
circle,
moment
Hence, since v
r cos
(f)
is
constant,
(1)
first order, to
= const
This
is,
virtually, a differential
equation of the
deter-
mine
the path.
</>
Since cos
is
in
For instance, if the surface resemble an ellipsoid of revolution, and if the particle cross the equator (whose radius is a, say) at an angle a, we have
lower limit to the value of
r cos
= a cos a,
(2)
and the path therefore lies between two a cos a which it alternately touches.
Since there
It has
is
no force on the particle except in the direction must be the direction of the resultant accelerathis resultant lies It follows that the
it
straightest
'
path possible to
it
on the surface,
Geometry
describes a 'geodesic'
Ex: A particle is slightly disturbed from motion along the equator of a convex surface of revolution.
If z denote distance
of this circle,
from the plane of the equatorial circle, a the radius and p the radius of curvature of the meridian at the equator,
we have
if z
be small.
It follows that r
r,
(^)
in
comparison with
z.
If 6
101-102]
303
a constant, by the
Also
(6)
= r- + r^B- + z^ = +
z:-
-r,
if f^
be neglected.
Substituting from
(3),
we ha\c
a^
a- \
2paJ
pa J
(6)
ap]3roximately.
Hence, putting
h = a^a>,
(7)
we have
whence
'z^-\
22=const.,
(8)
P
in
(9)
The
27
A.
.(10)
iT^{p/a), approximately,
symmetry
\>e 26,
we
That
is,
102.
There are a number of questions relating spherical surface which can be treated
in a similar manner.
motion on a
The
position of a point
on such
a surface
may be
specified
by two
and azimuth on
the
angular
fixed point
Z on
Fig. 93.
along a great
and by
yjr
the
angle which the plane of this great circle makes with a fixed plane alone be slightly varied, the point P describt's through OZ. If
is
ZP
804
whilst
if
a/t
DYNAMICS
alone be varied,
0,
[XIII
circle
Byfr.
of
radius
a sin
and
therefore
The
the
component
great circle
velocities
of
to
ZP
are therefore
a^ at
respectively.
and
asin^-^,
at
(1)
The square
of the velocity of
is
therefore
Again, the second of the components (1) has alone a moment about OZ, and since the distance of P from this axis is a sin 6,
the
moment
in question
is
=-'^f
It
(3)
may be added
that
it
if
we regard the
?'
as variable,
and denote
accordingly by
we
are
whatever in space by able to If r alone be the three spherical polar coordinates r, 6, yfr. varied, the displacement of P is denoted by 5r, and the radial
'
velocity
is
therefore
dt
w
we have
investigated
is
are
(ly-'dj-^^-)'
The moment
of the velocity about
()
OZ
is
''-'^f
Ex.
()
of a particle constrained to
If the axis
is
if
OZ coincide
ma^ca sin^
*S'
momentum
we have
6,
where
is
velocity of rotation.
Hence
T- {nia^co sin2 d)
= S .a sin
^,
(7)
102-108]
whence
or
if
805
(8) '
(9)
dB
, ,
at
iK)le.
For
in.stance,
a train travelling southwards in the northern heniisiiliere exerts a ])re.s.suR'! 2?ni;co cos Q westwai'ds on the rails, owing to its tendency to retain its angular momentum about the polar axis unchanged*. The ratio of this latenil
pressure to the weight of the train
is
S = 2o)2a V .COS(9 = wa mg g
.
.If
r-r-
,^
144 wa
.COS^,
>^
'
(10) ^
'
^^ ^
'
-^
where the
fi'action vjaxi is
is
of coui-se
103.
The
Spherical Pendulum.
An important application of the preceding formulae is to the theory of the spherical pendulum, or of the motion of a particle
(under gravity) on a smooth spherical surface.
If a be the length of the string (or the radius of the sphere),
and
if
the axis
OZ
+
of the
spherical
coordinates be
is
directed
vertically
^ma^
1)
sin-
^-77= const. =
//,
say
(2
Eliminating
dy{r/dt,
we have
-,-
\atj
Differentiating,
sm-a
-^^25
="- cos
a
ddjdt,
const
(3)
and dividing by
d-6
dth- cos
sni'^
we obtain
g
a
,.
With a view
to
to a future reference,
we note
that this
is
equivalent
-TT-
sni ^ cos ^
dt^
*
-^ = \dtj
-^
sin ^
is
winds.
20
306
It
is
DYNAMICS
evident that
if
[XIIl
must be a
vertical circle.
If
we
exclude this case, there will be an upper and a lower limit to the
value of 6
;
moreover
it is
as in the theory of apse-lines of central orbits (Art. 88), that the path is symmetrical Avith respect to the meridian plane through
any point where the direction of motion is horizontal. The path therefore lies between two horizontal circles which it alternately
touches at equal intervals of azimuth.
If the
conical
two limiting circles coincide, we have the case of the pendulum. Since 6 is then constant, we have from (5)
'd\'
dt )
_
a cos 6'
in
(5).
disturbed, the limiting circles will slightly separate, and the path
will
If
we
write
^,
=a+
(7)
where f is supposed small, we have, on substituting in (4) and retaining only the first power of ^,
(PP
dt^
provided ^
11
is,
h^
sin" a
^ cos a f ^
.
,^.
,
(8) ^
^
,,.,
g - sin a
.
sin" a
(9)
This
circle
by
(4),
of angular
By
hypothesis,
it
is
very nearly
fulfilled
and by a
exactly
slight
(cf.
adjustment of
If
the value of a
may be
fulfilled
Art. 87).
we
put
<o'=
a cos a
&>-
-^,
sin" a,
(10) (11)
we have
A-
^+(l + 3cos-^a)ft)-=^=0
(12)
103]
307
The period
is
tlu-reforc
ft)
\/(l
,7Y- .,-
3cos'a)
.,
(13) ' ^
and
(10),
-^ =
(ft
(U)
maximum
<>f
is
V(H-3cos-^a)
This
small
Ex.
particle
'^^
may be
it
angle
if
the inclination
Art. 29.
be
is ^tt,
nearly, as already
thifs
known from
As a
variation on
question
we may consider
the niotiun of a
is verticcil.
We denote by
have then
We
Id)
r-=4az,
if
= rrj2a,
The
''^4
kinetic energy
is
therefore
+ rW)^hni(\ +
mar4a
^a)
'"'
'
'17)
is
,
^
"^^^=
^)
We have,
then.
('^^)"r2 +
and
r2(9-
'|-
= const.,
19)
r^e
= k,
r20)
Eliminating
6,
we have
+
whence, by differentiation,
4a^)'^
+ r^ + 2^=^""^'
''^
'^^)
may
must be
satisfied
by
(23)
202
308
If
o)
DYNAMICS
be the angular velocity in this
circle,
[XllI
therefore
(24)
a^=gl2a
This
is
independent of the
To
circle,
we put
r=rQ + x,
(25)
.%\
in (22), small.
which
is
assumed to be
We get
(l+'^):vJ^^.r+l-x=Q 461-=/
\
Tq*
2a
(26)
or,
(23),
(
If
'^S)'^+?-
r^-
<^'> (28)
we
write
= 'iazo,
2(7
'-
this
becomes
x-\
x=0
(zq
(29)
The period
of a simple
is
+ a),
Motion of a Particle.
Lagrange's
In the preceding examples the elimination of unknown reactions was easy because advantage could be taken of special
features in the problems considered.
In other
is
cases,
and
especially
of degrees of freedom
of
some
for
The problem
solved,
for all,
attacked, and
by Lagrange f.
He shewed
by the expressions
when
known
be
the
to
unknown
reactions, can
written
down
at
reference
This
is
103-104]
:^0!)
In obtaining Lagrange's equatii)ns we shall limit ourselves to This suffices for the treatment
of a number of interesting questions, and avoids the necessity for an elaborate system of notation. At the same time the manner in which the results can be extended to the general case will ])i'
easily perceived.
Further,
particle.
we
consider in the
6,
first
We
denote by
ordinates,
which specify
its
position.
coordinates (rectangular or oblique) in a plane, or the .spherical coordinates of Art. 103, or any two quantities which are convenient
for specifying the
position
in
a particular problem.
The
dif-
ferential coefficients 6,
time
may
in
velocities
'
of the particle.
If,
<^ is
any
= a8d
(1)
in some definite direction, where the coefficient a will in gmtral depend on the position from which the displacement is made, and alone be varied the therefore on the values of ^, c^. Similarly, if
(f>
displacement will be
8s,^^B(f),
(2)
in
If both
\ariations
coexist,
the
magnitude by
(3)
where
e is
and
Bs...
The
therefore given by
9</>
+ /3-0=>
\\<'
(4)
Hence
to
denote the
where
('->)
( (i
The
coefficients
6.
d).
They
may be
310
[XIII
We
have, then,
.
dx
dx
'
dy
dy
dz
dz
,^
Hence
It
is
by
(6).
Z) be the
force acting
on the
X,
tny=Y,
riiz
= Z.
(10)
is
equivalent to resolving in
Ssj.
(11),
/
.
we note
.
that
dx\
d dx
^^^^
total.
''dd~dtVdd)~''dtdd'
where the differentiations with respect to (7) we have
?^=^-^,
dd dd
t
are
Now
from
(13)
^ ^
dtdd
d0"-^ded<j>^
dd
104]
ence (12)
<)l'
FHKEDOM
'\\\
may
hv written
312
DYNAMICS
So
far the forces
[Xlll
X, Y, Z, and consequently 0, ^, are subject They may be functions of the position, of But in the case of a the velocity, and explicitly also of the time. particle moving in a conservative field, and subject to no extraneous forces, the work done on it in a small displacement is equal to the decrement of the potential energy, whence
to
no
restrictions.
Bhd +
<I>S0
= - SF= B(fi
|-J8^
- |^S<^
(21)
^''>
forms
dd~
d(j)
dO
' \^
(23)
.
ddT_dT^_dV
dtd(}>
d<^'
An
dT
dd'
dT
d<l>'
may be
obtained as follows.
The impulse
given by
(24)
mx = X',
If
my=Y',
mz=Z'
de
'
X'^~+Y'^ + Z'
d(f)
d(f>
hand may be called the generalized 'components of impulse'; and the equivalent expressions on the left may by an obvious dynamical analogy be called the 'components of momentum.' Denoting them by \ /x, so that
right
104-105]
313
d\
or, in
may be dT .,
written
da
field,
dT
105.
The
will
Applications.
significance of the terminology which has been intrtitluctd be best understood from the study of a few examples.
we have
T=^\m{f' +
by Art. 86
(1), (2).
r~d-),
(1)
of luoincntuin
are therefore
^T
^:
mr,
dT
mr-v
dr
CD
dd
The former
the
of these
is
momentum
of the
moment
If
of
momentum
(in
origin.
R8r +
R,
the latter being the
SrBd,
force are accordingly
dh
Sr,
moment
The equations
d I'd'. dt[dr
Since
these reduce to
r~,-
^-f=R, im-'''=rS.
f^T
-^
= mrd\
/?.,
dT
g^
= 0,
<'>
m{i^-r6-')
in agi-eement
R,
7^
(^"^)
*"'.
'>
with Art. 86
(7), (8).
314
Again
in the case of
DYNAMICS
[XIII
(7)
ma'^B,
-^ = mais
sin-
6 yjr
(8)
The former
of these expressions
the angular
momentum
about
momentum
about the
OZ (Fig.
S be
93).
If R,
and
yfr,
respectively, the
work done
in a small displacement is
RaSe+Sa sin
so that the generalized
eSyjr,
(9)
components of
force are
Ra
respectively.
and Sasind,
(10)
The equations
.-
ddT dT = ^ Ra,
dtdo
Ol'
ddT
r
dT
dyp-
^ = Sa sni
.
8,
^^^^ (11)
de
dtdyp-
ma
- sin
6*
cos
dyjr"-)
= R,
sm
-J^
if
-f
(ma
at
sin- e^ir) ^
= S.
if
.(12)
OZ coincide
vertical,
R mg sin 0,
sin
6,
S = 0,
sin e cos
dyjr-=-^
sin-
e^ = h,
(13
as in Art. 103.
Ex.
is
A particle
is
w about a
vertical
Putting
R= -mgain 6,
\//
= w,
in (12),
we have
a
^'-w'-sin<9cos<9= -^sin(9
(U)
This shews that the particle can be in relative equilibrium in the position 6= a, provided
sin a
I
(a-
cos
a~~]=0
(15)
105-106]
I'
KK K
315
siiia
(),
J)
whilst
if
(o^a>g there
is
a second sohition
co>ia=g/(o-a
(17)
we put
(18)
8irstitutin<,' in
d=a
+ $,
where a
(14)
is
a solution of
(15),
and ^
is
supposed to he small.
we
find
i'+r-cosa-wThe
=
7r
cos 2a 1^
if
(19)
position a =
is
always unstable, as we should expect. case of the intermediate position given by (17),
is
^'
When
>g, we
have, in the
+ 6)2sin2a.
^=
(20)
it
about
it is
(o.sin
a
jiarticle
is
m
given
liy
The
lateral pressure
the
Systems
of
Double
Freedom.
We
By
z of any one
we
We
for
addition
we deduce
(
..dx
.dy
dz\
^ fy^^
all
,v^^ ^7^^\
r)>
316
DYNAMICS
Since the kinetic energy of the system
is
[XIII
the
sum
of the
kinetic
Art.
energies
of
its
various
particles,
the investigation
is
of
equivalent to
where
T now
viz.
= ^(Ad-+2He(j) + B4%
where
.(4)
A = 1m
H=:ll
dd)
?)x
[del
[ddj
dz dz
.(5)
dx
dydy
B = 1m
d(pj
dzV\o(pJ
d<j>)
'
Hence
T is
generalized
case,
velocities' 6, 0,
are, in
any given
known
functions of
of (2), if
we put
e=i
<^
Y^_x
dy
dz
ddj
.(6)
dd^
dd'^
= 1[X
^+
d(f)
y'^ + Z
d<j)
d<f>
the expression
will represent
(d8d
+ (^8(f>
all
(7)
the
may
neglect
all forces,
or rods, or the
The equations
same forms
dt dd
dd
.(8)
ddT_dT
dt as in Art. 104.
d(j)
$,
d(})
106]
317
If the system
f(jrces,
conscrvntixc, and
it'
we have
Sd+i^B4> = -8V,
(il)
where
have
F is
Since this
i.e.
is
of the configuration of
system,
of the varia]>lt's 6, 0,
we
d(f>'
become
d^^J_dT__dV
dt dd
de~
d(f)
de'\
''
dT_dT__dV
dt d(^ Ex.
1.
^^^^
d(f)
To form the
(p. 129).
tlic
double itonduluin
of Fig. 39
A
may
mass
was supposed
to
hang from a
particle m!
hangs from m by a string of length I'. For greater generality we imagine the strings to l)e replaced by light rods, capable of e.vciting
Let
6,
(j)
vertical.
The
on
velocity of
is
to r, at
respectively
compounded of its velocity relative to These two components are at right angles of m itself. their amounts are l'^, 16 and their directions are inclined
W.
That
of m'
is
an angle (^-6.
2
T= mm + m
is
{/^'-^
oii'g {I
\)
The
potential energy
V=
The
- mgl
cos 6
cos 6
1'
cos
cf))
(13)
{{m+m')
m+
m'll'^ cos
((^
(<^
- 6)
''14)
= -{m + m')glsni 6,
If we add these equations together we obtain a result which exprcs.s&s that is increasing at a rate (vpial t.. the the total angular momentum about moment of gravity about 0.
Ex.
2.
The
pendulum
is
liai-dly
more complicated.
kinetic energy
318
of the
DYNAMICS
upper body
is
[XIII
its
iMk-6-
mass-centre
is hnK^cf)^
m at
G' would he
Hence
for the
whole system
{b'^
+ K-)<p%
...(16)
(f))
(17)
The equations
same type as
in (14), (15),
two axes represented by 0, 0' in Fig. 64 be vertical instead no effect on the motion. An interesting and comparatively simple problem of steady motion here suggests itself, but it is convenient, with a view to this, to make a slight change in the variables,
Ex.
3.
If the
writing
= ^ +X
This makes
(18)
+ 2m (ab cos x +
The
equations are therefore
^''
+ <'^)^X + "^
i^''^
+ '^')x^
(19)
(20)
+ 0^ + (6Hc-)x} + a6^(^+x)sinx =
(21)
The equation
constancy of angular
momentum
is
about the
The question
of steady
motion
is,
the angle
?
x, viz.
the inclination of 00', O'G in Fig. 64, constant, and x accordingly zero easily seen from (20) and (21), that this will not be the case unless
It is
i"X = 0,
i.e.
(22)
eithei-
or
rr
must
is
To
we
will suppose, in
the
first place,
that x
^^
small.
Writing
^
= a,+i,
we
(23)
where ^
order in
is
x, x, x, ^,
{Mk'^
(24)
(25)
106]
If
:>1!>
we eliminate
we
find, after
a
^"
little
reduction,
\JIl--{K'-
+ h-) + mK-a-\ +
[ J//{-2
+ /
\ia
+ by'+ K-[]a-<ibx = 0.
is
...(26)
That type
axis
is
is
[MIchxb
+ mahi^ia + bf + K-]]
is
'
w
is
''^''
The
1y
deriv(>d
putting k = a,
k=0
the period
then
To
is
we should
write
x^^' + x'j
^^^^
miis.s-cciitre
small.
The
sign of the last term in the equation corresponding to (26) would he reversed,
is
now
unstalile.
3, tlie
be
to
angular coordinate, the angular velocity of the outer one will be given by
its
u)a
= {b a) (^
</))
.(29)
and
its
<^
a ^
.(30)
Hence
have
if
its axis,
we
M {h-aYe-^+.)fK^(^^ e-^-^'
on
its axis,
(31)
we
iiave
V=-Mg{b-a)cose,
as before.
(32)
(l^^\^.^Z-)e =
0,
(33)
(6-)(l+:^)^-;'?^=-i7i"^,
whence, eliminating 0, we find
(^
.(34)
-)(l +
'
.(35)
320
The period
of oscillation
is
DYNAMICS
[XIII
''('-'''O+zOT*')'
and
is
,
('">
If
we put
/=x
we
fall
(15).
107.
Energy.
Momentum.
may
Impulse.
The equation
of energy
equations as follows.
We
have
dtdd
ddJ
\dtd(j)
8<^/
d/xdT
Since
.dT\
(dT
dT
..
dT
dT.\
we have
.^^
T is
6, 0,
e-A + <h~ =
and the right-hand member of
2i\
(2)
dT
dt
dT
dt
dT
dt
The equations
(8) of Art.
^=^ +
parts of the system.
If the system be conservative,
forces,
cI>,^,
(3)
shewing that the kinetic energy is at any instant increasing at a rate equal to that at which work is being done on the various
and
if
the right-hand
member
of (3)
is
equal to
d V/di, by
(4)
T+
If
F=const
we write X=
?-^,
^=
the
this
^
name may be seen
(5)
the quantities \,
fi
are called
for
it
generalized 'components of
as
in
momentum.'
Art. 104, or
The reason
we may justify
106-107]
321
instant
hav-,
we
at aii\-
tiiiu- t,
wc
to,
(^
f^
J
dT
dd>
.(6)
dTj'dcf),
since they
depend on the
finite,
velocities
only,
are
essentially
and therefore
:
whilst
dTjdcj),
are
zero
in
imagined
process.
The
would be required
rest.
Ex.
line at
I.
of Art. 68
is
struck,
when
at rest in
its
.stable position,
would be
^.r,
respectively.
Hence
tlie
dT
where the value of
BT
,_.
B-r^""'
4^^"'
<^
^'^
is
= 0.
Thus
,,
mab9 + m
Hence
as
^ = 0,
i.e.
{h^
+ k^) = f c
(initially) at rest, if
(0)
x=b + K'lb,
is
known from
Art. 71.
(jf
If the
length 2b,
wo
liavc
M=m,
and we
tind
a = 2b,
/(,-
= A^*-,
k-=;\'-,
:io,
,^.iM^(.._|,).j
L. D.
21
322
The
velocity of the point struck
DYNAMICS
is
[XIII
ad+x(j) =
^J2b'^-3bx + 2x')
is
(11)
Ex. 2. A rhombus ABCI), fornied of four equal jointed rods, an impulse ^ at ^4, in the direction AC.
struck by
some
Let X be the coordinate of the centre G of the rhombus, measured from "We will suppose that the mass-centre of fixed point in the line AC.
is
each rod
gyration about
let 2a be the length of each, k its radius of and 26 the angle ABC. The formula for the kinetic
;
energy
is
2T=3fx^+M{K^ + a^)6%
is the total mass. where at done by a finite force
(12)
is
^ 2a
sin
6,
the work
in a small displacement
would be
X{8x-2aGosd8d).
The
generalized components of impulse are therefore ^
6.
Hence
(13)
3Lb = i,
M{K^- + a^")d=-2a$cosid
The
initial velocity of
is
therefore
(14)
x-2a.o.ed = [l + ^^^^,-y^^;
and the energy generated
is
1/,
This
is
4a2cos2^\^2
greater than
(cf.
if
i-atio
given by the
second factor
Art. 108).
108.
Writing
General Theorems.
T^-^{A6-+2Hd(i> +
BJ>'),
(1) (2)
we have
\ = Ad +
Hcl),
fi
= Hd + B^
6', ^',
have
XO'
/j,(j)'
=\'d +
fx'ff)
(3)
ABO'
H{6'<j)+ecf>')
B(i>(i)'
(4)
If
we put
0,
fi = 0,
^= ~
(5)
107-108]
82IJ
The
6,
(f)
interpretation of this
are
of the
magnitudes, or
lines,
is simplest when thr two counliiiatcs same geometrical character, e.g. both linear both angles. Thus if both be of the nature of
the two
momenta
will
forces,
and we may put A. = = 6'. Hence the in which case velocity of one type due to an impulse of the second type is equal to the velocity of the second type due to an impulse of the
type.
first
AB, BC,
freely jointed at B,
free to
turn about
as a fixed
point.
For simplicity we will suppose the bars to be in a straight line. The two coordinates may be taken to be the displacements, at right angles to the lengths, of any two points P, Q of the system. The theorem then asserts that the velocity of Q due to an impulse at P is equal to the velocity at P due to an equal imptdse at Q. Again, if we use angular coordinates, the theorem shews that the angular velocity of BG due to an impulsive couple applied U) AB
is
AB
due
to
an equal couple
applied to BC.
of different kinds,
we
infer that if
point
of
AB
generates an
BC
cod
Another important theorem relates to the effect of constraints on the amount of energy generated when a mechanical .system is
started in different ways.
If in (1)
we
(p
in
terms of 6 and
/i,
from
(2),
we
find
2r=^A-Jf;V,+/^\
where the
coefficient of 6- is necessarily positive.
()
to
an impulse
fx.
is
if
0, i.e. it is greater than if prevent the coordinate 6 from varying (cf Art. 78, Ex. 1 and
2).
Again,
if
324
DYNAMICS
if
[xin
a con-
an impulse of the type 6 alone, the energy is less than straining impulse of the other type had been operative.
By
number
of degrees of
freedom
but we
(Delaunay's Theorem*.)
greater
energy than
had been
energy than
if it
may be
In a system with one degree of freedom, the kinetic energy expressed in either of the forms
T=^_oLe-
= ^X'la,
(7)
where a
therefore
is
come
109.
by ^
may be
satisfied
= 0,
(^
we must have
9j:=o
as
is
^-^=0
(1)
otherwise known.
to determine
the values of
^ corresponding
to
the various
potential energy
is
To
we may suppose
Hence, in investi6,
<f),
as well
This theorem
(1840),
and Bertrand
names of Euler, Lagrange, Delaunay The maximum property was definitely established
by Delaunay.
t Sir
W. Thomson,
108-109]
S25
The terms
0, are omitted,
rfdiu-c to
tH
dt dd
=0,
dd
dt
d(f>
=0
7',
(2)
d^
viz.
T=^(Ae' + '2Hecf) +
may be
(8)
treated as constants, and equal to the vahies which thi-v have in the equilibrium configuration, since the resulting errors
V may
be supposed expanded,
foi-
small
in the form
V=
the terms of the
satisfied
V,
+ ^ (((6' -{
The
'
2hd(f>
b(l>"~)
...,
(4) (1)
first
must bf
be called
by ^=0, ^
= 0.
may
the
'
coefficients of stability
if
of the system.
of the first order, the t'ljuatious
Hence,
(2)
become
Ad +
H'(b
+ aO +
h(f)
=
=
0,]
Hd +
To
solve these,
B4>
he
h(f>
o.\
we assume
(f)
Ccos{nt-he),
e),
(0)
where
(J,
Jc,
are constants.
The equations
{n'A-a) + (:irH-h)k =
(n'H-h) + (ivB-b)hEliminating
k,
0:
we have
n^-A-a,
I
n-H-h,
I
n'H-h =0, IV B -b
(S)
which
is
a quadratic in
w-.
The
a solution of the equations (5) provided n satisfies (8), and provided the coefficient k be determini'd in accordaiu-e with eitliei- of
the equations
(7;.
326
DYNAMICS
Since the expression (3) for
[XIII
is
essentially positive,
whatever
the values of
relations
6,
(j),
^>0, B>0,
Hence,
if
if
AB-H'>0
its
(9)
we put
nP
=+
h^.
go in
sign
is
+
its
we put
is
n^ = a/ A
whilst if Ave
put
n^ = 0,
sign
that of ab
n^,
The two
that
an
equation in
Moreover,
a/ A
evident
unequal unless
n'^
= b/B.
?i^
It
should be
equal to the
(8) that
common
it
follows from
must then
be equal to h/H.
The
conditions for
- = A = J^.
and
it
(10)
We
i.e.
Again,
if
if
Fo in (4)
is
essentially positive,
V be a minimum
we have
(11)
a>0,
The two values
than the
gi-eater,
6>0,
ab-h->0
less
quantities a/ A, b/B.
If,
configuration
be a
maximum
a6-/r>0,
in the
equilibrium
<0,
6<0,
(12)
and both values of ??- are negative. The form (6) is then imaginary, and is to be replaced by one involving real exponentials (cf Art. 32).
If
ab
n- is
h'
<
equilibrium, and
w",
one value of
we have
6
(^
.(13)
109]
.S27
where the vahies of 6*1, Co, ej, given by either of the relations
n^ inserted.
is
/,.
/,,,
arc
(7),
with the
rt'sjx-ctivc
tliis
values of
sohition
general.
Suppose
that,
by the introduction of a
the coordinate
is
made
<l>=kd
(14)
The system
is
now reduced
T=^{A+2Hk + Bk^d\
(15)
(IG)
VThe
is
Vo
= l(a+2hk + bk')0'
period
(27r//;)
mode
therefore given
by
'^'~
.,_
a+2hk-\-bk^
A^2Hk^Bk^'
by Art.
65.
course that the solution involves real exponentials, and that the
constrained
mode
is
Since
the
value
in
(15)
is
essentially
positive,
the
denominator in (17) cannot vanish. The fraction is therefore finite for all values of k, and must have a maximum and a
minimum
and
value.
n"
To
{A
find these,
we
+ 2Hk + Bk-) =
n'(H + Bk) =
+
+
'Ihk
-t bk-,
(18)
= 0. We
obtain
(19)
bk:
and combining
this
also,
///
(A
+ Hk) =
a 4
(20)
if
we eliminate
k,
we
find
/i-
quadratic
Moreover,
*
V Fo
For example,
be restricted to
in the case
the jjurticle
may
move
position.
328
positive,
DYNAMICS
by (17); whilst
If
if it
is
[XIII
is
both negative.
Vq
maximum
of Vibration.
first
ascertaining whether a
mode
possible
which each of the independent coordinates ^, ^ harmonic function of the time, with the same
phase
;
a simple-
period
and
and we found that (in the case of stability) there are two
such modes.
of the system of the system
Each of these
;
is
called a
'
normal mode
'
of vibration
its
period
its
is
and
<f>
type
amplitudes of
6,
The
modes are
6]),
=
and
6
C'l
cos {iht
+ +
ej),
(f>
C.,
cos (nd
e.),
(f>
(1)
(2)
arbitrarj^
6,)
We
amplitudes
have seen that by superposition of these, with C'l, C2, and phases e^, e^, the most general motion of the system, consequent on a small disturbance, can be represented.
When
and the various particles keep step with one another, passing simultaneously through their respective equilibrium positions.
The
To
verify these
component displacements of a particle whose mean position is we have, On account of the assumed smallness of 6, (cc, y, z). in the first mode,
cf),
6 =
dx ^
dec
-t'
dO"
-^
^-j; (^
8(/)^
W
(da-
dx\
C'l
'
^
-f-
L-j
-I- A.-1
^-7 "^'dcfij
cos {n4
6j),
'^-%'-H*
^
J-f+*'l|)^'
(dz
,
"''''("'
+^')'^
.(3)
dz
dz
dz\
^,
'
109-110]
320
Ix-iiig
The ratios 8x 81/ Bz are seen to be fixed for each particle. independent of the time and of the absolute amplitude (7,
We
109
that
the
normal
is
motles
are
stationary for
i.e.
if
the system be
'
mode
normal
unaltered, to the
As an example,
a smooth bowl
we may
(Art. 29).
refer again to
in
27r sJ{Rlg),
is
where
R
or
is
This
maximum
minimum when
The
variety of ways.
There
is
is
mode then
involves
We
(A
+ Hk\) = + hk^
?io-.
.(4)
If
and add
Bk.k^i
to the
first,
[A+H (k, +
[A+H {k, +
/.,)
+h
-\-
(k,
+ A%) +
+
/.,)
hkjc,.
.(5)
+ Bkjc.?i =
if
(/.-,
+ bk,k,.
.((J
We
and
infer,
by subtraction, that
we must have
A + H(k, +
a
k.?>+Bk,k,
k,)
h{k,
hkjc,
= =
0,
(7)
(S)
Hence
if
we put
= qi +
simplified forms
q^.,
<f>
= k,q, + kjj.,,
(9)
the expressions for the kinetic and potential energies take the
T=^(A,q-^ + A4r),
(10)
(11)
'
330
where
A,
DYNAMICS
[XIII
= A + 2Hk, + Bk;\
a^
A. =
a. =
A+ 2Hk, + Bk^\
a
.(12)
and
2hk,
+ hk\-,
+ 2hh +
and
(8).
'
hki
(13)
respectively,
q^q.,,
q^q.,,
(7),
The new
are
variables
q^
q^
normal coordinates
of the system*.
+ a,q,=
;
0,
Aoq,
+ aoq, = 0,
(14)
= aj/^i,
k,
n^-
ao/Ao
(15)
n-
We
coincide,
The
then
e),
(f)
Ccos(nt +
C cos {nt +
e'),
(16)
where
C,
C,
e,
An
.
example
Ex.
1
.
is
pendulum
(Art. 29).
If
work required
shewn
in the figure is
{>/
* Analytically,
is
modes and normal coordinates problem of finding the pair of diameters which are conjugate
A .c2
(IX-
-)-
2H'.t;/
B\j-
= con st
llixy
hy-
= const.,
and ascertaining the forms which the equations assume when referred to these diameters. Since the former of the two conies is an ellipse, the common conjugate
diameters are real, as
may
becomes a
circle.
110-111]
approximately.
331
T=hm{r' + 7j^),
the equations
(2)
(1!))
.(20)
in
(13).
The
shew that
normal
fact,
we have
'*
Writing, in
(21)
(22)
'-'f +6+5)"'}
in
'-''
mU + -u = 0,
a
are as determined by Art. 44 (17).
+ p(-- + j)v=0 \a 0/
in
(24)
the other w =
Kv. 2. In the case of the double pendulum of Fig. 39 with the approximations above explained,
(p. 129),
we have,
VThe
Vo
(25)
(26)
formula? (2) of Art. 109 then give, after discarding unnecessary factors,
{m+m')
I'S
} }
(27)
that Article
written
= ie,
= ld + rcp
in
(28)
The doul)le pendulum of Fig. 64 can be treated manner, and the results compared with those obtained
exactly
tlie
same
in Art. 68.
111.
If,
Forced Oscillations.
with a slight change from our previous notation, we denote the components of extraneous force acting <>n a conby , servative system, Lagrange's equations become
ddT
,
dr =
de
dV
de
1-0,
^
dtde
dtd4>
^,^
d4>
d<f>
''
332
DYNAMICS
[XIII
Ad +
H'd+
As
that
in Arts.
13,
H(i)
Bij)
+ +
ae
h(f)
,]
(^)
he + b<p =*j
is
67,
<I>
where the
disturbing forces 0,
Assuming, then,
and
we
are satisfied
by
the
.ssumption that
vided
(p"-A
.(3)
These determine
in terms of @,
thus
^
( p'H - A) (P - (p'-B - 6) e
A{p^)
(p'-H 9=
^
'[
.(4)
- h)
(H)
(p^A
-a)^
xt::^ Mp"-)
a,
h,
J
ifHli
p-B h
where
(p-)
= p-A
p-H -
(5)
Since,
motion of
The amplitudes,
relative
as
absolute,
of the
different
In particular, the
A(p^)
i.e.
= 0,
(8).
(6)
when the
To obtain
we should have
On
free
r4.
There
is
prescribed variation
Ill]
.S38
other type
is
absent.
same type, whilst extraneous force Thus we may have tht' equations
Q>,
(f tlir
Ae + H'(f>+(t6 + h(^ =
H'B-^
(7)
(8)
B^ + iiO +
t,
b(f>
= (p,
is
where
cf)
is
given as a function of
<l>
ecjuation serves
necessary to maintain
An
example
axis.
compound pendulum,
motion of the
())cc
due
to a prescribed
Thus
if
cos pt,
(9)
we
{p'A
or
- a) d + (p'H - h)
^
^
<f)
= 0,
(10)
p^H = - p^A a^ 2j
li
,
</>'
(11) ^
^
It will
be
Ex.
(Art. 67)
Let ^ denote the lateral displacement of the axis of a seismogi'aph from its mean position. The velocity of the mass-centre is, with
sufficient approximation,
^+h0, where 6
is
we
require
it,
is
therefore
(12)
The
V=hKe'-,
(13)
where
is
some constant.
to (7) is therefore
(14)
M(h- + K^)
or
+ Mh$ + Ivd = 0,
e+
n-6=-j,
(15)
'"=S(/^+.-r
'=!+''
("
A = J/^Asni/3,
n^=^!j--'
[li)
'
334
DYNAMICS
[XIIl
EXAMPLES. XXII.
smooth open tube of length a contains a rod which just fills it, masses of the tube and rod are i/, m, respectively. If the tube be set and the in rotation about its centre (which is fixed), in a horizontal plane, with angular velocity wo, find the angular velocity when the rod has left the
1.
tube,
it
i:)eing
initially all
but coincident.
2.
Two masses
When
they vibrate
27r
3.
particle
is
great
compared with ^(^ga). Prove that its path lies between this great circle and a parallel circle whose plane is at a depth 'iga^jv^ below the centre,
approximately.
^
moves on the sui'face of a smooth cone of semi-angle o and vertex downwards. Prove that it can describe a horizontal circle of radius a with angular velocity w provided
4.
particle
whose axis
is vertical
(x}^a=g cot
If this
a.
is
^/3
sin a
5.
Form by
{6).
from the
axis,
and the
6.
A particle
is
constrained
is vertical,
w about the
if
axis,
which
where I is the semi-latusrectum, the particle can be in relative equilibrium in any position, and that if it be disturl)ed from this state, the distance r from the axis will ultimately
the concavity being upwards.
Prove that
(o^=gll,
increase indefinitely.
7.
- r6'^ - r
sin^ 6
ir^.
r [6
- sin
6 cos 6
\i/'-'),
- >, -r r sui 6 at
Id
('''
sin- 6 ^).
EXAMPLES
335
<t
/
8.
is
particle
is
which
free to rotate
When
tliat
is
in
relative
the tube
Prove
if
this
state
is
be slightly
2n:n, where n
sin"-^
given by
a
'
denoting the
moment
Examine the
cases of 7 = 0,
7= x
re.spectively.
J
a
9.
particle
moves on a smooth
surftice
circle of radius h
it
Prove that
of radius a
+ btih\a
with
cos a {a
Prove that
oscillation
if
this
it
is
motion be slightly
Stt/?;, if
about
n-
b sin
(I
^
is
10.
A particle
is
free to
move
in a
smooth
in its
own plane
at a distance
a{>b) from
its centre.
[)ositiun of relati\e
n-
a
;
:
\
11.
sm a
()f
Shew that
two degrees of
freedom
may
be written
12.
Prove that in the notation of Art. 108 the kinetic energy of a system is given, in terms of the component momenta, Ivy
AB-H'
Prove that
if
336
13.
DYNAMICS
[XIII
uniform bar
AB
0, the triangle
OAB
being equilateral.
is
Langs by two strings OA, OB from a fixed point Prove that if one string be cut the
:
13.
Four equal
Prove that the system can rotate in its own plane about the centre 0, without change of form, with any given angular velocity. Also prove that if this state of motion be disturbed the diagonals AC, BD will
a rhombus
A BCD.
still
rotate
with
masses {M) of the particles at A from those {m) of the particles at B and Z>, form Lagrange's equations of motion, in terms of the angle 6 which OA makes with a fixed direction, and the angle (^ wiiich AB makes with AO.
in the preceding Question, the
and C are
difiereut
first
integrals
(J/cos16.
</)
+ wi sin- (p)
bars,
(j))
0- = const.
smoothly jointed together, form a rhombus A BCD, which is supported in a vertical plane at the middle point of AB. The mass-centre of each bar is at its middle point the radius of gyration about
Four equal
this point is k
is
<p
2a.
If 6 be the angle
which
AB
or
DC
vertical,
AD
BC
vertical plane is
M (a2 +
bar.
k"-^) (9-
where J/
is
the mass of a
Form
17.
horizontal bar
its
AB
attached to
strings
and a similar bar CD hangs from AB by two equal AC, BD, of length l'. If the system makes small angular oscillations
ends,
about the vertical through the centres of gravity (which are the middle points) prove that the periods 2n/7i of the two normal modes are given by
the equation
where a
centre.
18.
is
its
be the angular
to the vertical,
pendulum
its
moment
EXAMPLES
of contact with the plane, and the letters
in relation to the
;3:}7
M^
h,
k have their
u.svial
uieaningK
compovmd pendulum.
simple pendulum
Prove that in the case of small oscillations the length of the equivalent is less than if the cylinder were fixed, in tiie ratio
1{l
+ Ma^)k^'
to a string
19.
is
particle
is
attached at
PQ
of Jengtli
[.
The point
/'
a about a tixed point witli tlie constant angular velocity , and the whole motion is in one plane, gravity being neglected. If x ^^ ^^^ angle which PQ makes with OP produced,
to describe a circle of radius
made
prove that
J + --^sm^ =
20.
0.
in
strings of length
From
it
mass m by two strings of length l'. Prove that the periods Ittjit normal modes of oscillation in the vertical plane tln-ough the equilibrium position of the bar are given by
of equal
of the three
and
21.
-^-4^ +?)
The
and the
line
^ !/)"+&' B
V ^ 'm) =
''-
three knife-edges A, 0,
plane,
OG
perpendicular to
AB.
Two
equal masses
A and
.B
by similar
OG=h^
^,
K. Having given that OA = 0B=a., and its radius of gyration about () is prove that, in the case of small oscillations about equilibrium,
helical springs of stiffness
beam
is J/,
{x-^)e + m
{x-
+ f\
y are the incrcmonts
where 6
is
the
and
.r,
of length of the
values.
(2jr/) of tlie thi\H
Prove that, in the preceding Question, the [)ei'iods 22. normal modes of vibration are given by the equations
11^=
,
Kim,
gh\
{( ,
2ma^\
ah
22
APPENDIX
NOTE ON DYNAMICAL PRINCIPLES;
Although
the day
is
long past
when
there could
be any
serious difference of opinion as to whether a particular solution of a dynamical question is or is not correct, the proper formulation of
much
in recent times.
To a student
important thing
is
still
most
system of rules which he can apply without hesitation, and, so far as his mathematical powers will allow, with success, to any
djTiamical question in which he
may be
interested.
From
this
expounding the subject, to take advantage of such prepossessions which he may have as are serviceable, whilst warning him against others which may be misThis is the course which has been attempted in the leading. present work, as in most elementary accounts of the subject.
point of view
it is
legitimate, in
But
if at
there
is
For instance,
asserted, as
an
by any
force will
or
is
not, free
is
by observing whether
its velocity is
Again, by velocity we mean, necessarily, some frame of reference, but what or where nowhere definitely specified.
velocity relathis
frame
is,
APPENj)ix
:W9
he
may
come
to the
virtually,
though not
altogether expressly, employing uuist be essentially sound, since they lead invariably to correct results, but that they have some-
precise
in the text-books.
deeming that
h'
form and presentation are after all secondary matters, perhaps find satisfaction in the reflection that he is
in
may umch
the same case as the great masters of the science, Newton, EuUt,
d'Alembert, Lagrange, Maxwell, Thom&on and Tait (to name only a few), whose expositions, whenever they do not glide hastily over
preliminaries, are all open,
more
to.
lie
The
solely
in
the applications,
may
some
less assailable
The
object of this
Appendix
is
of answrr
to this question.
The standpoint now generally adopted is a purely empirical one. The object of all science, it is held, is to give an account of the way things go on in the world*. Guided by experience we
are able to fi:ame rules which enable us to say with more or less
dignified
nature,'
to our present state of knowledge, and to the degree of skill with which we have succeeded in giving more or less compact ex-
pression to this.
They
fmm
more
by more convenient
oi-
As regards Mechanics
this is expressed
Mechanik sonst
wUnschenswerth, solche Dunkelheiten aus ihr zu entfernen, auch wenn das nur moglich ist durcli eine Einschriinkung ihrer Aufgabc. Aus dieseiu Grunde stelle ich es als die Aufgabe der Mechanik hin, die iu der Natnr vor sich gehendcn Bewegungen zu beschreiben." Mechanik, Leipzig, 1876.
340
Again,
it is
DYNAMICS
to
any
or
phenomenon.
Some
features
are
naturally
more important
more interesting to us than others; by theii- relative simplicity and evident constancy they have the first claim on our attention, whilst those which are apparently accidental and vary from one
occasion to another are ignored, or postponed for later examination.
It follows that for the purposes of such description as
is
possible
some process of abstraction is inevitable if our statements are to be simple and definite. Thus in studying the tlight of a stone through the aii' we replace the body in imagination by a matheThe size and shape of the body, the complicated matical point. spinning motion which it is seen to execute, the internal strains and vibrations which doubtless take place, are all sacrificed in
may be concentrated on those features of the phenomenon which are in the fii-st place At a later stage in our subject, the most interesting to us.
the mental picture in order that attention
is
in
some
details
are
still
omitted.
as artificial as that of
is
a convenient fiction
it
lends to our
statements.
Any scheme
it
of Abstract
be self-consistent,
mathe-
we
nomena
The
posteriori,
by comparison of the
is
which
it
It
to be noticed, more-
Maxwell: "The bodies which we deal with in abstract dynamics are just known to us as the figures in Euclid. They have no properties whatever except those which we explicitly assign to them." Scientijic Papers,
as completely
vol. 2,
p.
779.
The
Article quoted
was written
in 1879.
APPENDIX
since,
;i4l
owing
to
the
complexity of
its
real
It
is
motion, which
from this point of view that the question of rehitivity of is (jften felt to be a stumbling-block on the very
is
to be judged.
By motion we
'
'
mwm
of necessity motion relative to some frame of reference which is conventionally spjken of as fixed.' In the earlier stages of our
*
subject this
may be any
rigid, or
apparently
irieet
When we
do not
fit easily into this view, we have the alternatives, either to modify our assumed laws of motion, or to call to our aid arlventitious
forces, or to
necessary to say that the latter procedure has hitherto been found
be adequate.
In the
first
is
instance
we adopt a system of
rect-
whose directions
by
and
so on.
is
is
a gain in
cherisht-d
necessary accuracy.
our formulae
gested
(it
From the purely kinematic point of view the t of may be any continuous independent variable, sugmay be) by some physical process. But from the
it is
dynamical standpoint
become
.seriously
inadequate on another.
basis
((f
some absolute
time-.scale,
if
which (so
all.
far us
|)rac-
observations go)
tical scale
is
hardly distinguishable,
at
fnnn the
* This system is of course not iiniquel)- determinable. If n Hystt-tn A can 1><' founl answering the requirements, any other system U whicli hns n motion of translation with constant velocity relative to A will serve equally wtll (Arts. 2. 22)
'
342
DYNAMICS
The obviously
a suitable mass-
or inertia-coefficient m,
is
called the
is
momentum.
force
On
the
New-
and
if
we agree
to
measure the
it
by the rate of
vector
change of
equation
momentum which
produces,
we have the
From
real
this
point of view
the equation
is
mere truism
its
as
we
of whole classes of
made with
'
action and reaction,' and the further postulates which are intro'
rigid
i
bodies
but
it is
unnecessary to
tions
In conclusion we would remark that the preceding considerahave been brought forward with a view of placating the
viding
set of
working
ideas.
It is well to recognize,
'
and the limitations, of our by no means desirable that the student should endeavour always to frame his dynamical thoughts and imaginations in terms of the somewhat shadowy images of abstract theory, rather than of the more familiar and concrete notions of force and inertia, which, however crude they may seem to the logician, have been the stock in trade of almost all the great
methods; but
workers in the science.
*
The substance
of this note
is
proprietors.
INDEX
[yV/c numbei's refer to the pages.]
Absolute system of dynamics, 20 Acceleration, 3, 58 in polar coordinates, '25iJ tangential and normal, 98
Earth,
mean
of,
denBity
iSI9
of,
211
mass
Elliptic-harmonic motion, 7t, 255 Elliptic motion about a foeuw, 220, 227
formulae for, 228 Energy, equation of, 43, Hi, 101, 157, 181, 320
linetic, 43, 126, 139, potential, 43, 82
157,
Epicyclic motion, 62, 100 Equations, differential, 9 Equipotential lines, 85 Euler, L., 178, 188, 324
pendulum, 200 Bertrand, J., 324 Bifilar suspension, 164 Borda, J. C, 161 Boscovicb, E. G., 150 Boulliau, I., 233 Boys, C. v., 241
Ballistic
Forced oscillations, 32, 192, 2H2. 331 Fourier, J. B., 47 Free oscillations, 85, 129. 180, 277. 324 Freedom, systems with one decree f, 183 two degrees, 315
Galitzin, Prince B., 196 Gauss, C. F., 32 Generalized coordinates, 309, 315 Geodesic, 302 Gravitation, constant of, 217, 241 law of, 216
Central forces, 247 Centrifugal tension, 145 C.G.S. system, 22 Chain, motion of a, 142, 144, 147 'Cheval-vapeur,' 42 Circular motion, 100 loendulum, 105 Clairaut, A. C, 271 Conservation of energy, 44, 82, 127,
182, 320
of
of,
8,
30.
ItiO
momentum, 121
Gravity
'
Conservative field, 84 Coordinates, generalized, 301, 309, 315 polar, 251 spherical polar, 304 Critical orbits, 261 Cube, law of inverse, 266 Cycloidal pendulum, 110
Hamilton, Sir W. li., 58, 311 Hodograph, 58, 75, 99, 227 Huygens, C, 112, 159
Impact, 123 Impulse, 23, 312
effect on energy, 209 instantaneous, 123, 147, 202 Inertia, coefficients of, 184
D'Alembert,
Damped
C.
Delauuay, C, 324 Density, mean, of earth, 241 Deviation (eastward) of a falling body,
254
law
of.
17
of,
moment, 166
of plumb-line, 102 Differential equations, 9 Dimensions of units, 7, 42 Dirichlet, P. L., 87
150 160 Initial reactions, 200 Instantaneous ellipse, 237 Inverse cube, law of. 200 square, 210
moment
product
of,
'
Joule,
'
42
344
Kater, Capt., 162 Kelvin, Lord, 324 Kepler's Laws, 217, 231, 234 'Kilowatt,' 42 Kinetic energy, 43, 126, 139, 157 theory of gases, 125
DYNAMICS
Power, 41
Principal axes of inertia, 166 Projectiles, 72
Lagrange, J. L., 237, Lagrange's equations, 308, 315 Laws of motion, 17, 20, 69 Lines of force, 85 Lissajous, J. A., 80 Logarithmic decrement, 279
Masses of planets, 218 Maxwell, J. C, 2, 20, 340 Mean motion in elliptic orbit, 222 Moment about an axis, 141
Reactions on fixed axis, 165, 167, 204 Relative motion, 61 Resistance, linear law of, 274 quadratic law of, 290 Resonance, 33, 285, 332 Robins, B., 207 Rotating axes, 88 Rotation about a fixed axis, 155
Segner,
J. A., 166 Seismographs, 192, 286, 333 Ship, oscillations of, 28 Simple-harmonic motion, 24 superposition of, 64 Smooth curve, motion on, 103 surface, motion on, 301 Space-time curves, 1, 12, 26, 279, 282 Spherical pendulum, 79, 305 surface, motion on a, 305 Square, law of inverse, 216 Stability, coefficients of, 187, 325 Stability of equilibrium, 87, 186, 326 of orbits, 257 Stresses in a moving body, 198 Surface, motion on a smooth, 301
Momentum,
generalized, 312, 320 hnear, 121, 137, 141, 150, 152 Moon, distance of, 218 Multiple systems, oscillations of, 196,
324
133, 328
261
263
revolving, 265 Oscillation, centre of, 159 Oscillations, forced, 30, 32, 36, 192, 331 free, 24, 29, 85, 186, 324 of double pendulum, 129 of finite amplitude, 113 torsional, 163
Pendulum,
ballistic,
207
Tait, P. G., 165, 280 Tangential acceleration, 98 Terminal velocity, 276 Thomson and Tait, 311 Torsional oscillations, 163 Two bodies, problem of, 219 Two degrees of freedom, systems 301
of,
Blackburn's, 79
circular, 105
Units,
6,
17,
22,
46
compound, 158
cycloidal, 110
double, 129, 196, 317, 321 horizontal, 159, 194 Kater's, 161 simple, 29 spherical, 79, 305, 314 Percussion, centre of, 204, 206 Perturbations, 237 Polar coordinates, 251, 313 Potential energy, 43, 82
Wave on
Young,
T., 32
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