MVR 6TT Analysis and Equations
MVR 6TT Analysis and Equations
A3/;
$ 4.1 =8240>.:
FDo O )k2
1 2 1 2 1 2
| f 8 f B l 8 l _r\Q r=oJr\Av
1 2 1 2
O >
M1 = |f1 ||l1 | sin θ1 , M2 = |f2 ||l2 | sin θ2 . (2)
sQy//<z[;|T!w
M1 = |f1 ||l1 | sin θ1 = |f2 ||l2 | sin θ2 = M2 . (3)
o\sWÆXB r v\K> i
mi ri ×
dvi Xr × f
=r ×f +i i i ij . (6)
dt j6=i
1
J\)WÆ X |QA i =8 >
N
X
mi ri ×
dvi X
=
N
ri × fi
+ XXr × f
N
i ij . (7)
i=1 dt i=1 i=1 j6=i
, > N X N X
X 1X
ri × fij = (ri − rj ) × fij . (9)
2 i=1 j6=i
V$=8P
i j ij
KWt>Zj
i=1 i=1
=A v × v
i i =0
N N N N
! !
X dvi X d d X d X
mi ri × = mi (ri × vi ) = ri × (mi vi ) = ri × pi . (11)
dt dt dt i=1 dt i=1
d X N XN
!
=M .
dt i=1
ri × pi = ri × fi
(12)
S
i=1
N
X N
X
L≡ (13) ri × pi , M ≡ ri × fi
d
dt
L=M .
(14)
2
Owr` Z4$ _ mQX! Z ^=T
< 4.1: |y/v/<Q1: r9s
L = m1 r1 × v1 + m2 r2 × v2 (16)
4^= =A
v1 (t = 0) = v2 (t = 0) = 0, (17)
> L ≡ 0
< 4.2: VNb 4$bn_[ d" O r k f K
i i >
r × f = 0.
i i (18)
4
uSÆ$l g o
v 3 = 2v03 , (25)
HZ
v = 21/3 v0 , (26)
6N
r = 2−1/3 r0 . (27)
6N` ^= l
mvr = mv0 r0 . (30)
9 s g 2
m v0 r0 mv02 r02
T (r) = − =− . (31)
r r r3
9 sJ ;M )W (28) ~6 T !w
mv02 r02
dW = T (r) dr = − dr. (32)
r3
K> > Z
mv02 r02 1 mv02 r02
W =− dr + C = + C. (33)
r3 2 r2
=A | r = r Q W = 0 > C = − mv 9 s t>
0
1
2
2
0
1 mv02 r02 1 2
W = − mv0 . (34)
2 r2 2
t ℄ Z | r = r /2 Q
0
1/3
1 1 1
W = mv02 r02 · 22/3 − mv02 = mv02 41/3 − 1 . (35)
2 2 2
5
< 4.5(69B 113 E+< 1): EmQ` θ Qg l Q<b
m ? Q (.x [ D \= Q <n_ r M 8 Q <` L N1J
Eg2L/!& L
7Q<n_ f mg 8Op T =A T Z" oA r
k
>+ 9 s \ ~` \v W
M = l × mg = mgl sin θeτ . (36)
L = l × mv. (37)
dL
= M = l × mg. (39)
dt
>
|L | = L − L = m v l − L = f d.
q q
2 2 2 2 2 2
k ⊥ (41) ⊥
= s
dLk
= Lk φ̇ eτ = M = mgl sin θ eτ . (42)
dt
6
S φ nm` B J Em Q } S$`AQX~d
v v
φ̇ = = . (43)
R l sin θ
9 st> j Ql &1= v
= o v <F$W* l
v2 v2
m =m = T sin θ, mg = T cos θ, (45)
R l sin θ
HZ
v2 mg
m = sin θ. (46)
l sin θ cos θ
= s l g s s
gl gl
v= sin2 θ = sin θ. (47)
cos θ cos θ
\o y G L \v W>
k
s
mgl2 sin2 θ cos θ 1 q
Lk = = mgl2 sin2 θ = ml sin θ gl cos θ. (48)
v gl sin θ
~U?L(o
0
7Akh O ,Æ$L(f:2: r
M = Mk = −(m1 − m2 )gl cos θ, (49)
;` K
L = Lk = (m1 + m2 )l2 ωk. (50)
7
'sb` >
dL d h i
= (m1 + m2 )l2 ω k = M = −(m1 − m2 )gl cos θk, (51)
dt dt
HZ
dω
(m1 + m2 )l2 = −(m1 − m2 )gl cos θ. (52)
dt
= s
dω dω dθ dω m1 − m2 g
= = −ω =− cos θ. (53)
dt dθ dt dθ m1 + m2 l
K> >
Z Z
1 m1 − m2 g m1 − m2 g
ω dω = ω 2 = cos θ dθ + C = sin θ + C. (54)
2 m1 + m2 l m1 + m2 l
9 s >
1 2 m1 − m2 g 1 m1 − m2 g h
ω = sin θ + ω02 − . (56)
2 m1 + m2 l 2 m1 + m2 l l
| yy R ?L(oQ 1= ω = 0 θ = −θ S0 O~v ω0
o℄=W& o
0
1 2 m1 − m2 gh
ω0 = 2 , (57)
2 m1 + m2 l2
HZ s
2 m1 − m2
ω0 = gh. (58)
l m1 + m2
< 4.7(69B 117 E+< 6): f/xE,D4 " \h4= `j ω )
k ,K>4b m < u " O o -o O I r = αθ 2LH
5ZJ4l <A O ` L Z4$^=\=<n_TS
` F 8o F
7=A
θ r
8
>
L = mr 2 θ̇ = f d. (60)
= s
dθ L 1
= . (61)
=A r = αθ , >
dt m r2
dr dθ αL 1
=α = . (62)
8 e ~ d >
dt dt m r2
= F 8 F
θ r C&1Z r θ
d2 θ dθ̇ dr d αL 1 dr L 1 αL 1 L2 1
2
= = 2
= −2 = −2α , (63)
dt dr dt dr m r dt m r3 m r2 m2 r 5
6N
d2 r d2 θ 2
2L 1
= α = −2α . (64)
J Ql F 8 JE,bQ
dt2 dt2 m2 r 5
θ Fr >
F′ = F + mω 2 r − 2m~ω × v′ , (65)
HZ
Fθ′ = Fθ − 2mωvr′ , Fr′ = Fr + mω 2 r + 2mωvθ′ . (66)
l
dt m r 2 r
oKs*
!2
2
dr dθ
m 2
−r = Fr′ = Fr + mω 2 r + 2mωvθ′ . (68)
dt dt
9 s !2
d2 r dθ
Fr = m 2 − r − mω 2 r − 2mωvθ′
dt dt
" #
L2 1 L2 1 L1
= m −2α 2 5 − r 2 4 − mω 2 r − 2mω
2
m r m r mr
" ! #
2ωL L2 2α2 1
= − mω 2 r + + 1+ 2 . (69)
r m r r3
9
< 4.8(69B 121 E+< 7): b|Æ$baA0An!KR
u 2a NJ t = 0 Q R ℄ GAo " r \8
j v \= t > 0 Q Æ$b[Xu d A n VQRb" O `j
ω(t) 8`Uj β(t)
7=AJ t > 0 QÆ$b_ xoJf/!K%qwGj\H
2qZi oA O x [ (a, vt) 8 (−a, −vt) R[Xu
q √
d= (2a)2 + (2vt)2 = 2 a2 + v 2 t2 . (70)
1 b 1 A O `j~6{4z[
a a a
ωr = v cos θ = v =v = v√ 2 (71)
r d/2 a + v 2 t2
v =s
a av
ω(t) = v 2
= 2 . (72)
r a + v 2 t2
\1AQX t = ~ >
av · (2v 2 t) 2av 3 t
β(t) = ω̇(t) = − = − . (73)
(a2 + v 2 t2 )2 (a2 + v 2 t2 )2
L-IGD=*M+H0
$ 4.3
J C }+p4bJ>" e H
℄ Z s Qb` ;Z4$^= 9 sb_'J4$-
/!&H 9 s ~6JS$/!&?4$Mx [ u * o
>F l
! !
d2 r d2 θ
m − r θ̇2 = f (r), m 2ṙθ̇ + r 2 = 0. (74)
dt2 dt
$)W~6 T !w
1d 2
m r θ̇ = 0. (75)
r dt
9 s >
r 2 θ̇ = r(r θ̇) = rvθ = fd = mrvm θ
=
L
m
. (76)
10
S_ _ 4Z4 t .X` ^= 5
J Iz4$ l o~6 T !w
d2 r 2 dṙ m2 r 4 θ̇2
f (r) = m − mr θ̇ = m −
dt2 dt mr 3
2
dṙ dr L dṙ L2 m dṙ 2 L2
= m − = m ṙ − = − (77)
dr dt mr 3 dr mr 3 2 dr mr 3
= s Z Z Z
m 2 L2
dṙ − dr = f (r)dr + C. (78)
2 mr 3
K> t>
1 2 1 L2
2
mṙ +
2 mr 2
+ U(r) = f d. (79)
j7 ṙ = v 6N
r
L2 m2 r 4 θ̇2
= = m(r θ̇)2 = mvθ2 , (80)
mr 2 mr 2
KW~6 T !
1 2
2
1
m vr + vθ2 + U(r) = mv 2 + U(r) =
2
f d. (81)
SZMx [ '^= \v W
uK! ~ ~6z Z'^= CZ` ^= SSKÆ
Z* 4 t K H z[ T s K ~6\ u S o
_W Iki* gv4$twSS v
L2
fTi"Y'A_|` ℄ L < L < L >F 2 nX
"Y'> JSSQl "Y' N: Y' U(r) ffT:J42
2mr 2 1 2 3
L2
8 j 4$>Y'5d
2mr 2
e L2
U(r) = + U(r). (82)
2mr 2
1$J 2 &oS0v J+pbJoH Q; Y F u 3
~6z| brJ ' E > 0 Qf/ E B Ue (r) >j>4$^ i
* u )W
1 2
mv = E − Ue (r) (83)
2 r
11
! 2 $ ( U(r) = − '!
L2
2mr 2
GM m
r
{ZVH U (r) $lZ 4 nX>4$Mx℄%OUZA$4$'
e
^ r p >
1
e
∂ U (r ) 1
> 0. (84)
∂r
9sb_ f (r ) = −Ue (r ) < 0 Z4$^u X
′
9sb\D
H | J r p >
1 1
12
! 3 )#Æ '!
= s g o s
dr 2E M L2
vr = = + 2G − . (89)
dt m r m2 r 2
|Q
L
vθ = r θ̇ = (90)
mr
j 9s >
s
dr dr 1 dr 1 dr L L dr 2E M L2
= θ̇ = (r θ̇) = = = + 2G − . (91)
dt dθ r dθ r dθ mr mr 2 dθ m r m2 r 2
2qZi
s
dr mr 2 2E M L2
= + 2G −
dθ L m r m2 r 2
v
u !2 ! !2
u GMm2 2EL2 1 GMm2
2t
= r 1+ 2 2 3 − − . (92)
L2 G M m r L2
1 GMm2 2EL2
= , ǫ2 = 1 + , (93)
p L2 G2 M 2 m3
KKW~6!w v
u !2 !2
dr u ǫ 1 1
2t
=r − − , (94)
dθ p r p
HZ v
u !2 !2
1 dr d 1 u t ǫ 1 1
= − = − − . (95)
r 2 dθ dθ r p r p
14
1
r
=t ~6k4 ` \K!)Ww
v
u !2 !2
dt u ǫ 1
− =t − t− . (96)
dθ p p
=K>
Z d t− 1 Z
p
− r 2 = dθ + C. (97)
2
ǫ 1
p
− t− p
HZ
1
t− p
arccos ǫ = θ + C. (98)
9 s g
p
1 1 ǫ
− = cos(θ + C), (99)
r p p
HZ
1 1 + ǫ cos(θ + C)
= . (100)
r p
? } d>
p
r= . (101)
1 + ǫ cos(θ + C)
SZ4$ t > lA 2Z ~6 C = 0 S0 | θ = 0 Q
r = r 9 s t>>
l p
r= . (102)
1 + ǫ cos θ
S>Pe:&1 ℄ U6{
(1) | E > 0 Q >
s
2EL2
ǫ= 1+ > 1. (103)
G2 M 2 m3
15
℄{ E < 0 : s Q yw2 4E b
C
ǫ= =e (104)
A
8E." ^ 8 >
C 2 = A2 − B 2 . (105)
1 2 GMm 1 GMm
mv1 − = mv22 − (106)
2 A−C 2 A+C
6N` ^=/
L1 = L2 . (107)
=A L = r × p J g hÆ >
L1 = mr1 v1 = m(A − C)v1 = L2 = mr2 v2 = m(A + C)v2 . (108)
= s g s s
A+C GM A−C GM
v1 = , v2 = . (109)
B A B A
Jh p >
L3 = r(mv3 ) sin φ = mv3 (A sin φ) = mv3 B. (110)
9 s >
L3 = mv3 B = L1 = m(A − C)v1 . (111)
= s g s s
A−C A2 − C 2 GM GM
v3 = v1 = = . (112)
B B2 A A
16
~y0I ~6 u y0
dS L
= (113)
dt 2m
oK>
Z Z
L L
dS = S = dt + C1 = t + C1 . (114)
2m 2m
| t = T Q S = πAB yG>
2mS 2mπAB 2mπAB
T = = =
L L3 mv3 B
s
2πA A 2π
= = 2πA =√ A3/2 . (116)
v3 GM GM
Æ X ?/>
4π 2 3
T2 = A. (117)
GM
sOy0I
A3
T 2
=
GM
4π 2
= f d. (118)
17
KZr 3AC6NMj H2 - K7oA< b Q
, r 3' 9 s >
1 2 GMm
E1 = mvm,1 − = 0. (121)
2 r1
1 2 1 1
∆E1 = E1 − E0 = mvm,1 − mv12 = m(vm,1
2
− v12 ). (122)
2 2 2
o v 2
m,1 \ v M,1 = vm,1 − u ((120 W) y G ^=W (119) u
(M + m)v1 = M(vm,1 − u) + mvm,1 = (M + m)vm,1 − Mu. (123)
= s g
M
vm,1 = v1 + u. (124)
M +m
\[ y G ∆E \v W> >
" 2 #
1 M
∆E1 = v1 + u − v12
2 M +m
" #
1 M M2 2 Mm mM 2
= m 2 uv1 + 2
u = uv1 + 2
u2 . (125)
2 M +m (M + m) M +m 2(M + m)
| JF p >
Mm mM 2
∆E2 = E2 − E0 = uv2 + u2 . (126)
M +m 2(M + m)2
9 s
Mm
∆E2 − ∆E1 = E2 − E1 = u(v2 − v1 ). (127)
M +m
u` ^= \v W
mv1 r1 = mv1 (A − C) = mv2 r2 = mv2 (A + C) (128)
18
o >
v2 < v1 . (129)
9 s)W
E2 < E1 = 0 (130)
j 2qZiJFM>r 3\D<vEH
< 4.11(69B 134 E+< 16): VNp/ "%#: $W
F = −GMmr α . (131)
HZ
v2 A−C
= . (133)
v1 A+C
's* JSÆ p ℄ >
v12 v22
man,1 = m = GMm(A − C)α , man,2 = m = GMm(A + C)α . (134)
ρ1 ρ2
=A ρ 1 = ρ2 4$ U ℄
v22 (A + C)α
= . (135)
v12 (A − C)α
usl g
(A + C)2+α = (A − C)2+α . (137)
19
=A A 6= 0 8 C 6= 0 ,1C s W j W'1=
2 + α = 0, (138)
HZ α = −2
Ew$ v {%#J 1 8 3 pH sQ >` ^
= \v W
mv1 A = mv3 B, (139)
6N* l
v12 B2
man,1 = m = GMmAα , ρ1 = , (140)
ρ1 A
8
v32 A2
man,3 = m = GMmB α , ρ3 = . (141)
ρ3 B
= s
v3 A v32 B α−3
= , = α−3 , (142)
v1 B v12 A
HZ
A2 B α−3
= . (143)
B2 Aα−3
g
Aα−1 = B α−1 . (144)
=A A 6= B z 1UKW j W'>
α − 1 = 0. (145)
2qZi
α = 1. (146)
L2 GMm L2 GMm
E= 2
− = 2
− . (147)
2ml1 l1 2ml2 l2
20
= s g
L2 L2
l12 E = − GMml1 , l22 E = − GMml2 . (148)
ÆWY>
2m 2m
HZ
(l1 + l2 )E = 2AE = −GMm. (150)
9 s >
GMm
E=− . (151)
S4)W f ><
2A
L2 L2
(l12 + l22 )E = − GMm(l1 + l2 ) = − GMm(2A). (152)
m m
9 s >
h i
L2 = (l12 + l22 )E + 2AGMm m
h i
= (l1 + l2 )2 E − 2l1 l2 E + 2AGMm m
h i
= (2A)2 E − 2(A − C)(A + C)E + 2AGMm m
h i
= 4A2 E − 2(A2 − C 2 )E + 2AGMm m
h i
= 4A2 E − 2B 2 E + 2AGMm m
2GMm 2
= (4A − 2B ) − + 2AGMm m
2A
GMm 2
= −2AGMm + B + 2AGMm m
A
GMm2 2
= B . (153)
A
9 s t> s
GM
L= mB. (154)
21