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8.01
W02D1 Fall 2006
Coordinate System
Coordinate system: used to describe the position
of a point in space and consists of
1. An origin as the
reference point
2. A set of coordinate
axes with scales and
labels
3. Choice of positive
direction for each axis
4. Choice of unit vectors
at each point in space Cartesian Coordinate System
Vector
A vector is a quantity
that has both
direction and
magnitude. Let a
vector be denoted
r by
the symbol A r
The magnitude of A
r
is denoted by | A | A
Vector Addition
r r
Let A and B rbe two
r rvectors. Define a
new vector C A B ,the “vector
r r
addition” of A and B by the geometric
construction shown in either figure
Summary: Vector Properties
Addition of Vectors
r r r r
1. Commutativity ABBA
r r r r r r
2. Associativity ( A B) C A (B C)
r r r r r r
3. Identity Element for Vector Addition 0 such that A 0 0 A A
r r
r r
4. Inverse Element for Vector Addition A such that A A 0
r r r r
A Ax A y Az
Unit Vectors and Components
The idea of
multiplication by real
numbers allows us to
define a set of unit
vectors at each point
in space (öi, öj, k)
ö
with |öi | 1, | öj| 1, | kö | 1
Components:
r
A ( Ax ,Ay ,Az )
r r r r
A x Ax öi, A y Ay öj, ö
A z Az k A Ax öi Ay öj Az k
ö
Vector Decomposition in Two
Dimensions
Consider
r a vector
A ( Ax ,Ay ,0)
x- and y components:
Ax Acos( ), Ay Asin( )
Magnitude: A Ax2 Ay2
Ay Asin( )
Direction: tan( )
Ax Acos( )
tan 1 ( Ay / Ax )
Vector Addition
A A cos( A ) î Asin( A ) ĵ
B B cos( B ) î Bsin( B ) ĵ
r r r
Vector Sum: C A B
Components
Cx Ax Bx , C y Ay By
Cx C cos(C ) A cos( A ) B cos( B )
Cy C sin(C ) Asin( A ) Bsin( B )
r
C ( Ax Bx ) öi ( Ay By ) öj C cos(C ) öi C sin(C ) öj
Example: Displacement Vector
At 2 am one morning a person runs 250 m along
the infinite corridor at MIT from Mass Ave to the
end of Building 8, turns right at the end of the
corridor and runs 178 m to the end of Building 2,
and then turns right and runs 30 m down the hall.
Magnitude:
r
r ((178 m)2 (220 m)2 )1/ 2 283 m
Direction:
r r
tan (( r) y / ( r) x )
1
Ftotal F1 F2
Notation: The force acting on body 1 due to the r
interaction between body 1 and body 2 is denoted by F12
g 9.80665 m s2
Empirical Force Law: Hooke’s
Law
• Consider a mass m attached to a spring
• Hooke’s law: | F | k l
1) keq = k
2) keq = k/2
3) keq = 2k
r
F1,2 force on 1 due to interaction between 1 and 2
r r
F1,2 F2,1
•Action-reaction pair of forces cannot act on same
body; they act on different bodies.
Force Laws: Contact Forces
Between Surfaces
•The contact force between two surfaces is
denoted by the vector
r total r
Fsurface,hand C
•Normal Force: Component of the contact
force perpendicular to surface and is
denoted by r r
normal
Fsurface,hand N
fk k N
T ( x) Fleft,right ( x) Fright,left ( x)
Concept Question: Tension in
Rope
You are trying to pull a rock resting on the ground with a
heavy rope (the rope has non-zero mass). Just before the
rock slips and starts to move, the magnitude of the tension
in the rope is
Ftotal F1 F2 ... 0
Measuring Forces: Statics
The science of statics
investigates how the forces
can act is such a way, and is
not concerned with the
motions produced by the
individual forces. With this in
mind, we can measure forces
using a statics procedure.
We shall choose a spring
that satisfies Hooke’s Law for
spring forces between 0.2 N
and 10 N.
Linear Calibration of Scale
apply a standard force by suspending
a body of mass 0.102 kg
gravitation force acting on body is mg
= 1.0 N
spring stretches and exerts a force
pulling the body up
r r
Fspring Fgrav
mark off 1 N on the scale at the
position of the reference point on
spring
A second body of twice the mass is
now suspended from the spring and
we label the position of the reference
point by 2.0 N . Continue scale
linearly.
Force Measurements
Attach an unknown body to the spring and measure the
spring force.
Use Newton’s Third Law, deduce the force that the spring
exerts on the body.
We are measuring the force with which the spring pulls
the body, which is equal by Newton’ s Third Law to the
force with which the body pulls the spring.
Concept of System: Reduction
• Modeling complicated interaction of objects
by isolated a subset (possible one object)
of the objects as the system
2. Choose set of independent unit vectors and draw them on free body diagram.
4. Use free body diagram to add vector components to find vector decomposition of the
total force which is equal to zero (static equilibrium)
r
F Fx î Fy ĵ Fz k̂ 0
T T T T
5. Set each component of the total force equal to zero, for example the x-component of the
total force is zero
Fx T F1,x T F2,x T
Methodology for Newton’s 2nd Law:
Statics
I. Understand – get a conceptual grasp of the problem
... 0
öi : F F
x 1 x 2
... 0
öj : F F
y1 y 2
... 0
kö : Fz 1 Fz 2
II. Devise a Plan - (con’t)
Apply vector decomposition to each force in the
free body diagram:
Fi ( Fx )i ˆi ( Fy )i ˆj ( Fz )i kˆ
ˆj : F total F F ...
y y 1 y 2
ˆk : F total F F ...
z z 1 z 2
II. Devise a Plan (con’t)
Analyze whether you can solve the system of
equations
• Common problems and missing conditions.
• Action-reaction pairs.
Hints:
• Substitute in numbers
1.2 x
2.x
3.x/2
4.0
5.Not sure