NHT3068: Mecânica Clássica I UFABC Lista 01 (Marcos Donizeti Rodrigues Sampaio) v2

1. If 𝒓(𝑡) = (3𝑡 2 − 4)𝒊 + 𝑡 3 𝒋 + (𝑡 + 3)𝒌, where {𝒊, 𝒋, 𝒌} is a constant standard basis, find 𝒓̇ and 𝒓̈ . Deduce the time
derivative of 𝒓 × 𝒓̇ .

Solution

Denoting 𝒓(𝑡) as
𝒓(𝑡) = (3𝑡 2 − 4, 𝑡 3 , 𝑡 + 3)
its time derivative is given by
d
𝒓̇ (𝑡) = (3𝑡 2 − 4, 𝑡 3 , 𝑡 + 3) = (6𝑡, 3𝑡 2 , 1)
d𝑡
while its second time derivative is
d d
𝒓̈ (𝑡) = 𝒓̇ (𝑡) = (6𝑡, 3𝑡 2 , 1) = (6,6𝑡, 0) .
d𝑡 d𝑡
On the other hand, the vector product 𝒓 × 𝒓̇ is given by
𝒊 𝒋 𝒌
𝒓 × 𝒓̇ = |(3𝑡 2 − 4) 𝑡 3 (𝑡 + 3)|
6𝑡 3𝑡 2 1
𝑡3 (𝑡 + 3) (𝑡 + 3) (3𝑡 2 − 4) (3𝑡 2 − 4) 𝑡 3
= (| 2 |,| |,| |)
3𝑡 1 1 6𝑡 6𝑡 3𝑡 2
= (𝑡 3 ⋅ 1 − (𝑡 + 3) ⋅ 3𝑡 2 , (𝑡 + 3) ⋅ 6𝑡 − (3𝑡 2 − 4) ⋅ 1, (3𝑡 2 − 4) ⋅ 3𝑡 2 − 𝑡 3 ⋅ 6𝑡)
= (−2𝑡 3 − 9𝑡 2 , 3𝑡 2 + 18𝑡 + 4, 3𝑡 4 − 12𝑡 2 )
such that its time derivative is
d d
(𝒓 × 𝒓̇ ) = (−2𝑡 3 − 9𝑡 2 , 3𝑡 2 + 18𝑡 + 4, 3𝑡 4 − 12𝑡 2 )
d𝑡 d𝑡
= (−6𝑡 2 − 18𝑡, 6𝑡 + 18, 12𝑡 3 − 24𝑡) .

Fernando Freitas Alves fernando.freitas@aluno.ufabc.edu.br 02/04/18 – pág. 1/11

NHT3068: Mecânica Clássica I UFABC Lista 01 (Marcos Donizeti Rodrigues Sampaio) v2

2. Find the unit tangent vector, the unit normal vector and the curvature of the helix 𝑥 = 𝑎 cos 𝜃, 𝑦 = 𝑎 sin 𝜃, 𝑧 = 𝑏𝜃
at the point with parameter 𝜃.

Solution

Defining the helix as

𝜸(𝜃) ≜ (𝑥, 𝑦, 𝑧) = (𝑎 cos 𝜃 , 𝑎 sin 𝜃 , 𝑏𝜃),
its tangent vector 𝒕 at the point 𝜃 is
d𝜸 d𝑥 d𝑦 d𝑧
𝒕(𝜃) ≜ 𝜸′ (𝜃) ≡ =( , , )
d𝜃 d𝜃 d𝜃 d𝜃
= (−𝑎 sin 𝜃 , 𝑎 cos 𝜃 , 𝑏)
It is important to note that the derivative of 𝜸(𝜃) is defined as
d𝜸 Δ𝜸
≜ lim
d𝜃 Δ𝜃→0 Δ𝜃
Δ𝜸 ‖Δ𝜸‖
= lim ⋅ lim
Δ𝜃→0 ‖Δ𝜸‖ Δ𝜃→0 Δ𝜃

Δ𝜸 Δ𝜸
= ‖ lim ‖ ⋅ lim
Δ𝜃→0 Δ𝜃 Δ𝜃→0 |Δ𝜸|

= ‖𝜸′ (𝜃)‖ ⋅ ̂𝒕(𝜃),

where we define the unit tangent vector
Δ𝜸
𝒕̂(𝜃) ≜ lim .
Δ𝜃→0 |Δ𝜸|

This mean that this last can be calculated by

𝒕(𝜃) 𝜸′ (𝜃) 1
𝒕̂(𝜃) ≡ = ′ = (−𝑎 sin 𝜃 , 𝑎 cos 𝜃 , 𝑏)
‖𝒕(𝜃)‖ ‖𝜸 (𝜃)‖ √𝑎 2 sin2 𝜃 + 𝑎 2 cos2 𝜃 + 𝑏2
1
= (−𝑎 sin 𝜃 , 𝑎 cos 𝜃 , 𝑏)
√𝑎 2 + 𝑏2
𝑎 sin 𝜃 𝑎 cos 𝜃 𝑏
= (− , , )
√𝑎 2 + 𝑏2 √𝑎 2 + 𝑏2 √𝑎 2 + 𝑏2
On the other hand, the normal vector 𝒏(𝜃) as to be perpendicular to the tangent, which means it is calculate by
the derivative
d𝒕̂ 𝑎 cos 𝜃 𝑎 sin 𝜃
𝒏(𝜃) ≜ ̂𝒕′ (𝜃) ≡ = (− ,− , 0)
d𝜃 2
√𝑎 + 𝑏 2 √𝑎 2 + 𝑏2
such that the unit normal vector is defined as
𝒏(𝜃) ̂𝒕′ (𝜃) √𝑎 2 + 𝑏2 𝑎 cos 𝜃 𝑎 sin 𝜃
̂ (𝜃) ≡
𝒏 = ′ = (− ,− , 0)
̂
‖𝒏(𝜃)‖ ‖𝒕 (𝜃)‖ √𝑎 cos 𝜃 + 𝑎 sin 𝜃
2 2 2 2 2
√𝑎 + 𝑏 2 √𝑎 2 + 𝑏2

√𝑎 2 + 𝑏2 𝑎 cos 𝜃 𝑎 sin 𝜃
= (− ,− ,0)
𝑎
√𝑎 2 + 𝑏2 √𝑎 2 + 𝑏2

= (− cos 𝜃 , − sin 𝜃 , 0) .

Fernando Freitas Alves fernando.freitas@aluno.ufabc.edu.br 02/04/18 – pág. 2/11

NHT3068: Mecânica Clássica I UFABC Lista 01 (Marcos Donizeti Rodrigues Sampaio) v2

Finally, the helix curvature 𝜅 is determined from the parametrization of the normal vector with an arc length 𝑠
measured in 𝜃 from a point 𝑎 to another point 𝑏 and defined as
𝑏
𝑠 ≡ 𝑠(𝜃) ≜ ∫ ‖𝜸′ (𝜃)‖d𝜃
𝑎

𝑏
d𝑥 2 d𝑦 2 d𝑧 2
= ∫ √( ) + ( ) + ( ) d𝜃
𝑎 d𝜃 d𝜃 d𝜃

𝑥(𝑏)
d𝑦 2 d𝑧 2
=∫ √1 + ( ) + ( ) d𝑥 ,
𝑥(𝑎) d𝑥 d𝑥

i.e., given the unit tangent vector in 𝑠 written as

d𝜸
̂𝒕(𝑠) ≡ ,
d𝑠
the respective unit normal vector is written as
d𝒕̂
𝒏(𝑠) = ‖ ‖ 𝒏̂ (𝑠) = 𝜅(𝑠)𝒏
̂(𝑠) .
d𝑠
There, we defined the curvature 𝜅 as its norm, i.e.,
d𝒕̂
𝜅(𝑠) ≜ ‖𝒏(𝑠)‖ ≡ ‖ ‖
d𝑠
such that the unit normal vector can be written, in terms of 𝑠, as
̂(𝑠) = 𝑟(𝑠)𝒏(𝑠)
𝒏
where we define 𝑟(𝑠) as the radius of curvature 𝛾 at the distance 𝑠, given by
1
𝑟(𝑠) ≜ .
𝜅(𝑠)
Therefore, from the definition of curvature we can derivate its calculation by
d𝒕̂ ‖d𝒕̂⁄d𝜃 ‖ ‖d𝒕̂⁄d𝜃 ‖
𝜅(𝑠) = ‖ ‖= =
d𝑠 |d𝑠 ⁄d𝜃| 2 2 2
√(d𝑥 ) + (d𝑦 ) + ( d𝑧 )
d𝜃 d𝜃 d𝜃

‖𝒕̂′ (𝜃)‖
=
‖𝜸′ (𝜃)‖
‖𝒏(𝜃)‖
= .
‖𝒕(𝜃)‖
Thus, knowing for the helix 𝜸 from before that the norm of its tangent vector is

‖𝒕(𝜃)‖ = √𝑎 2 + 𝑏2
and that the norm of its normal vector is
𝑎
‖𝒏(𝜃)‖ = ,
√𝑎 2 + 𝑏2
we can determine its curvature by
𝑎 1 𝑎
𝜅(𝜃) = ⋅ = .
√𝑎 2 + 𝑏2 √𝑎 2 + 𝑏2 𝑎2 + 𝑏2

Fernando Freitas Alves fernando.freitas@aluno.ufabc.edu.br 02/04/18 – pág. 3/11

NHT3068: Mecânica Clássica I UFABC Lista 01 (Marcos Donizeti Rodrigues Sampaio) v2

3. Find the unit tangent vector, the unit normal vector and the curvature of the parabola 𝑥 = 𝑎𝑝 2 , 𝑦 = 2𝑎𝑝, 𝑧 = 0
at the point with parameter 𝑝.

Solution

As seen in exercise 2, defining the parabola as

𝜸(𝑝) ≜ (𝑥, 𝑦, 𝑧) = (𝑎𝑝 2 , 2𝑎𝑝, 0),
its tangent vector at the point 𝑝 is
𝒕(𝑝) ≜ 𝜸′ (𝑝) = (2𝑎𝑝, 2𝑎, 0) ,
its unit tangent vector is
𝒕(𝑝) 1
𝒕̂(𝑝) ≜ = (2𝑎𝑝, 2𝑎, 0)
‖𝒕(𝑝)‖ √4𝑎 2 𝑝2 + 4𝑎 2

1
= (2𝑎𝑝, 2𝑎, 0)
2𝑎√1 + 𝑝 2

𝑝 1
= ( , , 0) ,
√1 + 𝑝 √1 + 𝑝 2
2

its normal vector is

2𝑝
√1 + 𝑝 2 − 𝑝 ⋅
2√1 + 𝑝 2 2𝑝
𝒏(𝑝) ≜ ̂𝒕′ (𝑝) = ,− ,0
1+ 𝑝2 2(1 + 𝑝 2 )3⁄2
( )
1 𝑝
=( ⁄
,− , 0),
(1 + 𝑝 )
2 3 2 (1 + 𝑝 2 )3⁄2
its unit normal vector is
𝒏(𝑝) 1 1 𝑝
̂ (𝑝) ≜
𝒏 = ( ,− , 0)
‖𝒏(𝑝)‖ (1 + 𝑝 )
2 3 ⁄ 2 (1 + 𝑝 2 )3⁄2
1 𝑝2
√ +
(1 + 𝑝 )
2 3 (1 + 𝑝 2 )3

(1 + 𝑝 2 )3⁄2 1 𝑝
= ( ,− ,0)
√1 + 𝑝 2 (1 + 𝑝 2 )3⁄2 (1 + 𝑝 2 )3⁄2

1 𝑝
= ( ,− , 0) ,
√1 + 𝑝 2 √1 + 𝑝 2

and its curvature we can derivate its calculation by

‖𝒏(𝑝)‖ √1 + 𝑝 2 1
𝜅(𝑝) = = ⋅
‖𝒕(𝑝)‖ (1 + 𝑝 2 )3⁄2
2𝑎√1 + 𝑝 2

1
= .
2𝑎(1 + 𝑝 2 )3⁄2

Fernando Freitas Alves fernando.freitas@aluno.ufabc.edu.br 02/04/18 – pág. 4/11

NHT3068: Mecânica Clássica I UFABC Lista 01 (Marcos Donizeti Rodrigues Sampaio) v2

4. Constant acceleration formulae A particle 𝑃 moves along the 𝑥-axis with constant acceleration 𝑎 in the positive
𝑥-direction. Initially 𝑃 is at the origin and is moving with velocity 𝑢 in the positive 𝑥-direction. Show that the
velocity 𝑣 and displacement 𝑥 of 𝑃 at time 𝑡 are given by

1
𝑣 = 𝑢 + 𝑎𝑡, 𝑥 = 𝑢𝑡 + 𝑎𝑡 2 .
2

and deduce that

𝑣 2 = 𝑢2 + 2𝑎𝑥.

In a standing quarter mile test, the Suzuki Bandit 1200 motorcycle covered the quarter mile (from rest) in
11.4 seconds and crossed the finish line doing 116 miles per hour. Are these figures consistent with the assumption
of constant acceleration?

Solution

By the definition of velocity

d𝑥
𝑣≜
d𝑡
and acceleration,
d2 𝑥 d𝑣
𝑎≜ = ,
d𝑡 2 d𝑡
if this last is constant, by separations of variables, we have
𝑣(𝑡) 𝑡
∫ d𝓋 = 𝑎 ∫ d𝜏.
𝑣(0) 0

Defining the velocity 𝑣 at the initial time 𝑡 = 0 as

𝑣(0) ≡ 𝑢,
we have the following solution for the velocity of the particle 𝑃 over time:
𝑣(𝑡) = 𝑢 + 𝑎𝑡 . █
Furthermore, solving now for the first equation,
𝑥(𝑡) 𝑡
∫ d𝑥 = ∫ 𝑣(𝜏)d𝜏
𝑥(0) 0

and defining the displacement 𝑥 at the initial time 𝑡 = 0 as

𝑥(0) ≡ 0,
we obtain the following solution for the displacement of the particle 𝑃 over time:
1
𝑥(𝑡) = 𝑢𝑡 + 𝑎𝑡 2 . █
2
Therefore, removing the time dependency by combining 𝑣 and 𝑥 expressions from the substitution of 𝑡, as in
𝑣 2 = (𝑢 + 𝑎𝑡)2 = 𝑢2 + 2𝑢𝑎𝑡 + 𝑎 2 𝑡 2
1
= 𝑢2 + 2𝑎 (𝑢𝑡 + 𝑎𝑡 2 )
⏟ 2
𝑥

Fernando Freitas Alves fernando.freitas@aluno.ufabc.edu.br 02/04/18 – pág. 5/11

NHT3068: Mecânica Clássica I UFABC Lista 01 (Marcos Donizeti Rodrigues Sampaio) v2

from the velocity solution into the displacement solution, by substituting the displacement solution into that
expression, we end up with the following relationship

𝑣 2 = 𝑢2 + 2𝑎𝑥 , █
known as Torricelli’s equation named after the Italian physicist and mathematician, Evangelista Torricelli.
If the motorcycle covered 250 mi in 11.4 s from rest and crossed the finish line doing 116 mph, we can say
that
𝑥 = 0,25 mi = 1,320 ft, 𝑡 = 11.4 s, 𝑢 = 0, and 𝑣 = 116 mph ≈ 170 ft⁄s,
on one hand, by the velocity solution, leads to a constant acceleration of
𝑣 − 𝑢 (170 ft⁄s)
𝑎1 = ≈ ≈ 14.9 ft⁄s2 ,
𝑡 (11.4 s)
and on another hand, by the displacement solution, of
2(𝑥 − 𝑢𝑡) 2 ⋅ (1,320 ft)
𝑎2 = = ≈ 20.3 ft⁄s2 ,
𝑡2 (11.4 s)2
or even (but not necessary), by Torricelli’s equation, of
𝑣 2 − 𝑢2 (170 ft⁄s)2
𝑎3 = = ≈ 10.9 mi⁄h2 .
2𝑥 2 ⋅ (1,320 ft)
As these values are different, the assumption of constant acceleration is not consistent with this problem.

Fernando Freitas Alves fernando.freitas@aluno.ufabc.edu.br 02/04/18 – pág. 6/11

NHT3068: Mecânica Clássica I UFABC Lista 01 (Marcos Donizeti Rodrigues Sampaio) v2

5. An insect flies on a spiral trajectory such that its polar coordinates at time 𝑡 are given by

𝑟 = 𝑏𝑒 Ω𝑡 , 𝜃 = Ω𝑡.

where 𝑏 and Ω are positive constants. Find the velocity and acceleration vectors of the insect at time 𝑡, and show
that the angle between these vectors is always 𝜋⁄4.

Solution

Definition the trajectory vectors of the insect at time 𝑡 in polar coordinates as

𝒓(𝑡) ≜ 𝑟𝒓̂ = 𝑏𝑒 Ω𝑡 𝒓̂
̂ = Ω𝑡𝜽
𝜽(𝑡) ≜ 𝜃𝜽 ̂
̂ ) from the rectangular coordinates (𝒊̂, 𝒋̂) with the
and knowing that we can define local polar coordinates (𝒓̂, 𝜽
transformation
̂
d𝜽
𝒓̂ = cos 𝜃 𝒊̂ + sin 𝜃 𝒋̂ = −
d𝜃
d𝒓̂
̂ = − sin 𝜃 𝒊̂ + cos 𝜃 𝒋̂ =
𝜽 ,
d𝜃
the velocity vector 𝒗 of the insect at time 𝑡 is given by
d
𝒗(𝑡) ≜ 𝒓̇ (𝑡) = (𝑟𝒓̂)
d𝑡
d𝑟 d𝒓̂
= 𝒓̂ + 𝑟
d𝑡 d𝑡
d𝜃 d𝒓̂
= 𝑟̇ 𝒓̂ + 𝑟
d𝑡 d𝜃
= 𝑟̇ 𝒓̂ + 𝑟𝜃̇𝜽̂

≡ (𝑟̇ , 𝑟𝜃̇),
which, by substituting the given norms, results in
̂)
𝒗(𝑡) = Ω𝑏𝑒 Ω𝑡 (𝒓̂ + 𝜽
≡ (𝑟Ω, 𝑟Ω) .

Consequently, the acceleration vector 𝒂(𝑡) is given by

d
𝒂(𝑡) ≜ 𝒗̇ (𝑡) = (𝑟̇ 𝒓̂ + 𝑟𝜃̇𝜽
̂)
d𝑡
d𝑟̇ d𝒓̂ d𝑟 d𝜃̇ ̂
d𝜽
=( 𝒓̂ + 𝑟̇ ) + ( 𝜃̇𝜽
̂+𝑟 ̂ + 𝑟𝜃̇ )
𝜽
d𝑡 d𝑡 d𝑡 d𝑡 d𝑡
d𝜃 d𝒓̂ ̂
d𝜃 d𝜽
= (𝑟̈ 𝒓̂ + 𝑟̇ ) + (𝑟̇ 𝜃̇𝜽
̂ + 𝑟𝜃̈𝜽
̂ + 𝑟𝜃̇ )
d𝑡 d𝜃 d𝑡 d𝜃
= (𝑟̈ − 𝑟𝜃̇ 2 )𝒓̂ + (𝑟𝜃̈ + 2𝑟̇ 𝜃̇)𝜽
̂

≡ (𝑟̈ − 𝑟𝜃̇ 2 , 𝑟𝜃̈ + 2𝑟̇ 𝜃̇),

which results in
̂
𝒂(𝑡) = 2Ω2 𝑏𝑒 Ω𝑡 𝜽
2
≡ (0,2Ω 𝑟) .

Fernando Freitas Alves fernando.freitas@aluno.ufabc.edu.br 02/04/18 – pág. 7/11

NHT3068: Mecânica Clássica I UFABC Lista 01 (Marcos Donizeti Rodrigues Sampaio) v2

The angle between these vectors is determined by

𝒗(𝑡) ⋅ 𝒂(𝑡)
𝜑(𝑡) = cos −1 ( )
‖𝒗(𝑡)‖‖𝒂(𝑡)‖

𝑟Ω ⋅ 2Ω2 𝑟
= cos −1 ( )
√2𝑟Ω ⋅ 2Ω2 𝑟

√2
= cos −1
2
𝜋
=
4
for any time 𝑡. █

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NHT3068: Mecânica Clássica I UFABC Lista 01 (Marcos Donizeti Rodrigues Sampaio) v2

6. A bee flies on a trajectory such that its polar coordinates at time 𝑡 are given by

𝑏𝑡 𝑡
𝑟= (2𝜏 − 𝑡), 𝜃= (0 ≤ 𝑡 ≤ 2𝜏),
𝜏2 𝜏

where 𝑏 and 𝜏 are positive constants. Find the velocity vector of the bee at time 𝑡.

Show that the least speed achieved by the bee is 𝑏⁄𝜏. Find the acceleration of the bee at this instant.

Solution

Similar to exercise 5, defining the bee trajectory vectors at time 𝑡 in polar coordinates as
𝑏𝑡
𝒓(𝑡) ≜ 𝑟𝒓̂ = (2𝜏 − 𝑡)𝒓̂
𝜏2
𝑡
̂= 𝜽
𝜽(𝑡) ≜ 𝜃𝜽 ̂ (0 ≤ 𝑡 ≤ 2𝜏)
𝜏
the velocity vector is given by

2𝑏 𝑏𝑡
𝒗(𝑡) = (𝑟̇ , 𝑟𝜃̇) = 2
̂
(𝜏 − 𝑡)𝒓̂ + 3 (2𝜏 − 𝑡)𝜽
𝜏 𝜏

such that the least speed achieved that happens at 𝑡 = 𝑡 ∗ is calculated by

d d2
‖𝒗(𝑡 ∗ )‖ = 0 and ‖𝒗(𝑡 ∗ )‖ < 0
d𝑡 d𝑡 2
or, equivalently,
d d2
‖𝒗(𝑡 ∗ )‖2 = 0 and ‖𝒗(𝑡 ∗ )‖2 < 0.
d𝑡 d𝑡 2
Knowing that
d d 4𝑏2 𝑏2 𝑡2
‖𝒗(𝑡)‖2 = [ 4 (𝜏 − 𝑡)2 + 6 (2𝜏 − 𝑡)2 ]
d𝑡 d𝑡 𝜏 𝜏
𝑏2 2𝑡 2−
2𝑡 2
= [−8(𝜏 − 𝑡) + (2𝜏 − 𝑡) (2𝜏 − 𝑡)]
𝜏4 𝜏2 𝜏2
4𝑏2
= (𝑡 − 𝜏)(𝑡 2 − 2𝜏𝑡 + 2𝜏 2 ),
𝜏6
the first condition (d‖𝒗(𝑡 ∗ )‖2 ⁄d𝑡 = 0) has the single real solution
𝑡 ∗ = 𝜏,
Since the term 𝑡 2 − 2𝜏𝑡 + 2𝜏 2 ≻ 0 for all 𝑡 real because 0 ≤ 𝑡 ≤ 2𝜏, for 𝜖 infinitesimal we have that
d 2 d d 2 d
‖𝒗((1 − 𝜖)𝑡 ∗ )‖ < ‖𝒗(𝑡 ∗ )‖2 and ‖𝒗((1 + 𝜖)𝑡 ∗ )‖ > ‖𝒗(𝑡 ∗ )‖2 ,
d𝑡 d𝑡 d𝑡 d𝑡
which shows that d‖𝒗(𝑡 ∗ )‖⁄d𝑡 is minimum because its derivative is always increasing. Therefore, there is no need
to evaluate the second condition (d2 ‖𝒗(𝑡 ∗ )‖2 ⁄d𝑡 2 < 0).
Hence, the least speed is
𝑏 𝑏
𝒗∗ ≜ 𝒗(𝑡 ∗ ) = ̂
𝜽 with norm 𝑣 ∗ ≜ 𝑣(𝑡 ∗ ) = . █
𝜏 𝜏

Fernando Freitas Alves fernando.freitas@aluno.ufabc.edu.br 02/04/18 – pág. 9/11

NHT3068: Mecânica Clássica I UFABC Lista 01 (Marcos Donizeti Rodrigues Sampaio) v2

Knowing that the acceleration vector of the bee is

𝑏
𝒗̇ (𝑡) = 𝒂(𝑡) = (𝑟̈ − 𝑟𝜃̇ 2 , 𝑟𝜃̈ + 2𝑟̇ 𝜃̇) = ̂]
[(𝑡 2 − 2𝜏𝑡 − 2𝜏 2 )𝜏𝒓̂ + (4𝜏 − 4𝑡)𝜽
𝜏3
that, at the time 𝑡 ∗ that the speed is least, the acceleration is equal to
3𝑏 3𝑏
𝒂∗ = 𝒂(𝑡 ∗ ) = − 𝒓̂ with norm 𝑎 ∗ ≜ 𝑎(𝑡 ∗ ) = − .
𝜏2 𝜏2

Fernando Freitas Alves fernando.freitas@aluno.ufabc.edu.br 02/04/18 – pág. 10/11

NHT3068: Mecânica Clássica I UFABC Lista 01 (Marcos Donizeti Rodrigues Sampaio) v2

7. The figure below shows a straight rigid link of length a whose ends contain pins 𝑃, 𝑄 that are constrained to move
along the axes 𝑂𝑋, 𝑂𝑌. The displacement 𝑥 of the pin 𝑃 at time 𝑡 is prescribed to be 𝑥 = 𝑏 sin(Ω𝑡), where 𝑏 and
Ω are positive constants with 𝑏 < 𝑎. Find the angular velocity 𝜔 and the speed of the centre 𝐶 of the link at time 𝑡.

Y
Q

C
ω
θ P
X
O x

Solution

The angular velocity 𝜔 and the speed 𝑣 of the centre 𝐶 of the link at time 𝑡 have to be derived from the given
variables: 𝑎, 𝑏, and Ω.
Knowing that we can relate 𝜔 with the drawn position 𝜃 by
𝜔 = −𝜃̇,
and that trigonometrically
𝑥 = 𝑎 cos 𝜃,
using the definition 𝑥 = 𝑏 sin(Ω𝑡), we have that
𝑥̇ = −𝜃̇𝑎 sin 𝜃 ≡ Ω𝑏 cos(Ω𝑡)
𝜔𝑎 sin 𝜃 = Ω𝑏 cos(Ω𝑡)
Ω𝑏 cos(Ω𝑡)
𝜔=
𝑎 sin 𝜃
Ω𝑏 cos(Ω𝑡)
=
𝑎√1 − cos2 𝜃
Ω𝑏 cos(Ω𝑡)
=
𝑎√1 − 𝑥 2 /𝑎 2
Ω𝑏 cos(Ω𝑡)
= .
√𝑎 2 − 𝑏2 sin2 (Ω𝑡)

The speed of the centre, in turn, is

𝑣 = √𝑥̇ 𝑐2 + 𝑦̇𝑐2
where
1 1
𝑥𝑐 = 𝑎 cos 𝜃 ⇒ 𝑥̇ 𝑐 = − 𝜃̇𝑎 sin 𝜃
2 2
1 1
𝑦𝑐 = 𝑎 sin 𝜃 ⇒ 𝑦̇𝑐 = 𝜃̇𝑎 cos 𝜃
2 2
Therefore,
1 Ω𝑎𝑏|cos(Ω𝑡)|
𝑣= 𝑎|𝜃̇ | = .
2 2√𝑎 2 − 𝑏2 sin2 (Ω𝑡)

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