Ground Rules. PC1221 Fundamentals of Physics I. Coordinate Systems. Cartesian Coordinate System. Lectures 5 and 6 Vectors.

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1 PC1221 Fundamentals of Phsics I Lectures 5 and 6 Vectors Dr Ta Seng Chuan 1 Ground ules Switch off our handphone and pager Switch off our laptop computer and keep it No talking while lecture is going on No gossiping while the lecture is going on aise our hand if ou have question to ask Be on time for lecture Be on time to come back from the recess break to continue the lecture Bring our lecturenotes to lecture 2 Coordinate Sstems Cartesian Coordinate Sstem Used to describe the position of a point in space Coordinate sstem consists of a fied reference point called the origin, (0, 0) for 2-directional frame, and (0, 0, 0) for 3-directional frame specific aes with scales and labels Also called rectangular coordinate sstem -ais and -ais intersect at the origin Points are labeled (,) 3 4

2 Polar Coordinate Sstem Origin and reference line are noted Point is distance r from the origin in the direction of angle θ, counter-clock-wise (ccw) from reference line Points are labeled (r,θ) Polar to Cartesian Coordinates Based on a right triangle formed b r and θ = r cos θ = r sin θ 5 6 Cartesian to Polar Coordinates Eample r is the hpotenuse and θ an angle tanθ = r = θ must be ccw from positive ais for these equations to be valid hpotenuse adjacent opposite 7 The Cartesian coordinates of a point in the plane are (,) = (-3.50, -2.50) m, as shown in the figure. Find the polar coordinates of this point. Solution: r = + = ( 3.50 m) + ( 2.50 m) = 4.30 m 2.50 m tanθ = = = m θ = 216 8

3 Vectors and Scalars A scalar quantit is completel specified b a single value with an appropriate unit and has no direction. A vector quantit is completel described b a number with appropriate units plus a direction. Vector Notation When handwritten, use an arrow: When printed, will be in bold print: A When dealing with just the magnitude of a vector in print, an italic letter will be used: A or A The magnitude of the vector has phsical units The magnitude of a vector is alwas a positive number A r 9 10 Vector Eample Equalit of Two Vectors A particle travels from A to B along the path shown b the dotted red line This is the distance traveled and is a scalar The displacement is the solid line from A to B The displacement is independent of the path taken between the two points Displacement is a vector 11 Two vectors are equal if the have the same magnitude and the same direction A = B if A = B and the point along parallel lines All of the vectors shown are equal 12

4 Adding Vectors When adding vectors, their directions must be taken into account Units must be the same Graphical Methods Use scale drawings Algebraic Methods More convenient Adding Vectors Graphicall Continue drawing the vectors tip-to-tail The resultant is drawn from the origin of A to the end of the last vector Measure the length of and its angle Use the scale factor to convert length to actual magnitude Adding Vectors Graphicall, cont When ou have man vectors, just keep repeating the process until all are included The resultant is still drawn from the origin of the first vector to the end of the last vector Adding Vectors, ules When two vectors are added, the sum is independent of the order of the addition. This is the commutative law of addition A + B = B + A 15 16

5 Adding Vectors, ules cont. When adding three or more vectors, their sum is independent of the wa in which the individual vectors are grouped This is called the Associative Propert of Addition (A + B) + C = A + (B + C) Adding Vectors, ules final When adding vectors, all of the vectors must have the same units All of the vectors must be of the same tpe of quantit For eample, ou cannot add a displacement to a velocit Negative of a Vector The negative of a vector is defined as the vector that, when added to the original vector, gives a resultant of zero epresented as A A + (-A) = 0 The negative of the vector will have the same magnitude, but point in the opposite direction Subtracting Vectors Special case of vector addition If A B, then use A+(-B) Continue with standard vector addition procedure 19 20

6 Multipling or Dividing a Vector b a Scalar Components of a Vector The result of the multiplication or division is a vector The magnitude of the vector is multiplied or divided b the scalar If the scalar is positive, the direction of the result is the same as of the original vector If the scalar is negative, the direction of the result is opposite that of the original vector 21 A component is a part It is useful to use rectangular components These are the projections of the vector along the -ais and -ais 22 Vector Component Terminolog Components of a Vector, 2 A and A are the component vectors of A The are vectors and follow all the rules for vectors A and A are scalars, and will be referred to as the components of A The -component of a vector is its projection along the -ais The -component of a vector is its projection along the -ais Then, A = A cos Ө A = A sin Ө A = A + A 23 24

7 Components of a Vector, 3 Components of a Vector, 4 The -component is moved to the end of the -component This is due to the fact that an vector can be moved parallel to itself without being affected This completes the triangle 25 The previous equations are valid onl if θ is measured with respect to the -ais The components are the legs of the right triangle whose hpotenuse is A A A= A + A and θ = tan A 26 Components of a Vector, final The components can be positive or negative and will have the same units as the original vector The signs of the components will depend on the angle Unit Vectors A unit vector is a dimensionless vector with a magnitude of eactl 1. Unit vectors are used to specif a direction and have no other phsical significance 27 28

8 Unit Vectors, cont. The smbols î, ĵ, and kˆ represent unit vectors The form a set of mutuall perpendicular vectors 29 Unit Vectors in Vector Notation A is the same as A î and A is the same as A ĵ etc. The complete vector can be epressed as If A is 3-directional, it is epressed as A = A ˆi+ A ˆj + Akˆ z 30 Adding Vectors Using Unit Vectors Using = A + B Then ( A ˆ ˆ) ( ˆ ˆ A B B ) = i+ j + i+ j ( A ) ˆ B ( A B) = + i+ + ˆj = + Adding Vectors with Unit Vectors and so = A + B and = A + B = + θ = tan

9 Adding Vectors Using Unit Vectors Three Directions Using = A + B ( A ˆ ˆ ˆ ) ( ˆ ˆ ˆ A Az B B Bz ) = i+ j+ k + i+ j+ k = + ˆi+ + ˆj+ + kˆ ( A B ) ( A B ) ( A B ) z z = = z z = A + B, = A + B and z = A z + B z = + + θ = tan? z etc. 33 Angle of Vector in 3-D z z Ө = cos -1 Ө Ө z Ө Ө = cos -1 = + + θ = tan Ө z = cos z z 34 Eample. The helicopter view in Figure shows two men pulling on a stubborn donke. Find (a) the single force that is equivalent to the two forces shown, and (b) the counter force that the donke would have to appl in order to naturalize the two men. The forces are measured in units of newtons (abbreviated N). Answer: (a) F= F + F 1 2 F= 120cos ( 60.0 ) iˆ+ 120sin ( 60.0 ) ˆj 80.0cos ( 75.0 ) iˆ+ 80.0sin ( 75.0 ) ˆj F= 60.0 iˆ+ 104ˆj 20.7 iˆ+ 77.3ˆj= 39.3 iˆ+ 181 ˆj N 2 2 F = = 185 N θ = tan = ( ) (b) Let F 3 be the counter force from the donke 3 ˆ ˆ ( ) F = F= 39.3 i 181 j N 35 Eample: A hiker begins a trip b first walking 25.0 km southeast from her car. She stops and sets up her tent for the night. On the second da, she walks 40.0 km in a direction 60.0 north of east, at which point she discovers a forest ranger s tower. (A) Determine the components of the hiker s displacement for each da. Solution: We can categorize this problem as an addition of two vectors. 25 km 40 km 36

10 Net, we analze this problem b using our new knowledge of vector components. Displacement A has a magnitude of 25.0 km and is 25 km directed 45.0 below the positive ais. The components are: A = Acos( 45.0 ) = (25.0 km)(0.707) = 17.7 km A = Asin( 45.0 ) = (25.0 km)( 0.707) = 17.7 km The negative value of A indicates that the hiker walks in the negative direction on the first da. The signs of A and A also are evident from the figure above. 37 The second displacement B 40 km has a magnitude of 40.0 km and is 60.0 north of east. Its components are: B = Bcos60.0 = (40.0 km)(0.500) = 20.0 km B = Bsin 60.0 = (40.0 km)(0.866) = 34.6 km 38 (B) Determine the components of the hiker s resultant displacement for the trip. Find an epression for in terms of unit vectors. Solution: The resultant displacement for the trip = A + B has components given b Equation 3.15: = A + B = 17.7 km km = 37.7 km = A + B = km km = 16.9 km In unit-vector form, we can write the total displacement as = (37.7 î ĵ) km Using Equations for and Θ, we find 16.9 that the vector has a magnitude of 41.3 km and is directed 24.1 north of east. = θ = tan 40

11 Eample. A ferr boat transports tourists among three islands. It sails from the first island to the second island, 4.76 km awa, in a direction 37.0 north of east. It then sails from the second island to the third island in a direction 69.0 west of north. Finall it returns to the first island, sailing in a direction 28.0 east of south. Calculate the distance between (a) the second and third islands (b) the first and third islands. Answer: Let A be the distance between islands (2) and (3). Let B be the distance between islands (1) and (3). For the components, we have: 4.76 cos 37 A sin 69 + B sin 28 = 0 i.e., A B = B = A B = A --- (i) For the components, we have: 4.76 sin 37 + A cos 69 - B cos 28 = 0 i.e., A B = (ii) B substituting (i) into (ii), we have A ( A) = A A = A = 10 A = 7.14 km B A 69 C km 2 N B substituting the value of A into (i), we have B = (7.14) = 6.11 km 41 E Eample. A ferr boat transports tourists among three islands. It sails from the first island to the second island, 4.76 km awa, in a direction 37.0 north of east. It then sails from the second island to the third island in a direction 69.0 west of north. Finall it returns to the first island, sailing in a direction 28.0 east of south. Calculate the distance between (a) the second and third islands (b) the first and third islands. Answer: This can also be solved b using sine rule: and/or cosine rule learnt in Mathematics: But I will be happier if ou will use the concepts of vector components to solve this problem as I am teaching ou phsics. b A C c a B 42