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STiCM
Select / Special Topics in Classical Mechanics
P. C. Deshmukh
Department of Physics
Indian Institute of Technology Madras
Chennai 600036
STiCM Lecture 15:
Unit 5 : Non-Inertial Frame of Reference
Real effects of pseudo-forces!
1
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Unit 5: Inertial and non-inertial reference frames.
Moving coordinate systems. Pseudo forces.
Inertial and non-inertial reference frames.
Deterministic cause-effect relations in inertial frame,
and their modifications in a non-inertial frame.
Gaspard Gustave de Coriolis
1792 - 1843
Real Effects of Pseudo Forces!
Six Flags over Georgia PCD_STiCM
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Learning goals:
Understand “Newton’s laws hold only in an inertial frame”.
Distinction between an inertial and a non-inertial frame is linked
to what we consider as a fundamental physical force/interaction.
Electromagnetic/electroweak, nuclear, gravity) /
pseudo-force (centrifugal, Coriolis etc.) / Friction
We shall learn to interpret the ‘real effects of pseudo-forces’ in
terms of Newtonian method. Re-activate ‘causality’ in non-
inertial frame of reference!
3
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Deterministic cause-effect relation in
inertial frame,
and its adaptation in a non-inertial frame!
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The law of inertia enables us
recognize an inertial frame of
reference as one in which
motion is self-sustaining,
determined entirely by initial
conditions alone. PCD_STiCM
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Just where is the inertial frame?
Newton envisaged the inertial
frame to be
located in
deep space,
amidst
distant stars. PCD_STiCM
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Kabhi kabhi mere dil mein, Khayaal aata hein…..
Tu ab se pahile, sitaron mein bas rahi thi kahin,
Tujhe jamin pe, bulaya gaya hei mere liye….
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Galilean relativity
'(( )) cr u tr tt
( )r t
OI
O’
XI
X’
Y’
Z’
ZI
YI '( )r t
'c
drd
dd t
r
tu
Time t is the same in the
red frame and
in the blue frame.
' I cO O u t
F
F’
constant
2
2
2
2
'd
dt
d
d
rr
t
First derivative
with respect to
time is different!
Second derivative with respect to time
is, however, very much the same!
So what? Remember Galileo?
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Galilean relativity
( )r t
OI
O’
XI
X’
Y’
Z’
ZI
YI '( )r t
Essentially the same ‘cause’ explains the ‘effect’
(acceleration) according to the same ‘principle of causality’.
' I cO O u t
Laws of Mechanics : same in all INERTIAL FRAMES.
F
F’
‘Acceleration’, which
measures departure
from ‘equilibrium’ is
essentially the same
in the two frames of
reference.
constant
F ma ' 'ma F
2
2
2
2
'd
dt
d
d
rr
t
'aa
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Galilean relativity
• A frame of reference moving with respect to
an inertial frame of reference at constant
velocity is also an inertial frame.
• The same force explains the
linear response (effect/acceleration is
linearly proportional to the cause/interaction)
relationship in all inertial frames.
' ' F ma ma F
F ma
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Galileo’s experiments that led him to
the law of inertia.
11
Galileo Galilee 1564 - 1642
I Law
is proportional
Linear
to the
Response.
Principle of causality.
Effect C
m
aus
F
e
a
II Law PCD_STiCM
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Linear ResponseF ma
Weight = Mass acceleration due to gravity
W mg
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Is lifting a cow easier on the Moon ?
Lunatic exercise!
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Another lunatic exercise!
Evgraf Semenovich Sorokin (born as Kostroma Province)
1821-1892.
Russian artist and teacher, a master of historical, religious and genre paintings.
Ian Usmovets Stopping an Angry Bull (1849)
Is it easier to stop a charging bull on the Moon ?
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What do we mean by a CAUSE ?
CAUSE is that physical agency
which generates an EFFECT !
EFFECT: departure from equilibrium
CAUSE: ‘forCE’ ‘intErACtion’ fundamental interaction Electromagnetic, gravitational nuclear weak/strong
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Galilean
relativity
• A frame of reference moving with respect to
an inertial frame of reference at constant
velocity is also an inertial frame.
• The same force explains the
linear response (effect/acceleration is
linearly proportional to the cause/interaction)
relationship in all inertial frames.
• “An inertial frame is one in which Newton’s
laws hold”
' ' F ma ma F
F ma
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Physics in an accelerated frame of
reference.
What happens to the (Cause, Effect)
relationship?
What happens to the Principle of
Causality / Determinism?
Galilean relativity Time t is the same in the
red frame
and
in the green, double-primed frame.
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2
( ) " ''( )
1( ) ''( )
2i
r t OO r t
r t u t f t r t
( )r t
"( )r t
O
O’’
X
X’’
Y’’
Z’’
Z
Y
21' '
2iOO u t f t
Galilean relativity
F
F”
1
( ) 2 ''( )2
i
d dr t u f t r t
dt dt
( ) + ''( )d d d d
r t f r tdt dt dt dt
: constantf
constant acceleration . f
"a a PCD_STiCM
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pseudoF F F
19
"a a f
( )r t
''( )r t
O
O’’
X
X’’
Y’’
Z’’
Z
Y
"
"
"
a a f
ma ma mf
F ma m f
21' ' v
2 OO t f t
‘Real’/’Physical’
force/interaction
Galilean relativity
F
F”
( ) ''( ) d d d d
r t r t fdt dt dt dt
"a a
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( )r t''( )r t
O
O’’
X
X’’
Y’’
Z’’
Z
Y
" "F ma ma mf
21' '
2iOO u t f t
Galilean relativity
F
F”
Same cause-effect relationship
does not explain the dynamics.
pseudoF F F
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( )r t''( )r t
O
O’’
X
X’’
Y’’
Z’’
Z
Y
Laws of Mechanics are not the same
in a FRAME OF REFERENCE that is
accelerated with respect to an inertial
frame.
21' '
2iOO u t f t
Galilean relativity
F
F”
pseudoF F F
The force/interaction
which explained the
acceleration in the
inertial frame does
not account for the
acceleration in the
accelerated frame of
reference.
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Time t is the same in the
red frame and in the green, double-primed frame.
Galilean relativity
/
"
" real physical pseudo
ma
F F F
Real effects of pseudo-forces!
pseudoF F F
P. Chaitanya Das, G. Srinivasa Murthy, Gopal Pandurangan
and P.C. Deshmukh
Resonance, Vol. 9, Number 6, 74-85 (2004)
http://www.ias.ac.in/resonance/June2004/pdf/June2004Classroom1.pdf
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Deterministic / cause-effect / relation holds only in an
inertial frame of reference.
This relation inspires in our minds an intuitive
perception of a fundamental interaction / force (EM,
Gravity, Nuclear strong/weak).
Adaptation of causality in a non-inertial frame requires
‘inventing’ interactions that do not exist.
– for these ‘fictitious forces’, Newton’s laws are of
course not designed to work! PCD_STiCM
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RELATED ISSUES:
Weightlessness
What is Einstein’s weight
in an elevator accelerated
upward/downward?
Sergei Bubka (Ukrainian: Сергій Бубка) (born December 4,
1963) is a retired Ukrainian pole vaulter. He represented the
Soviet Union before its dissolution in 1991. He is widely
regarded as the best pole vaulter ever.
Reference: http://www.bookrags.com/Sergei_Bubka
Galilean relativity: Time t is the same in all frames of references.
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http://www.stabhoch.com/bildserien/20030825_Isinbajeva_465/bildreihe.html
What enables the pole vaulting
champion, Yelena Isinbayeva, twist
her body in flight and clear great
heights?
2008 Olympics champion: 5.05meters PCD_STiCM
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We will take a Break…
…… Any questions ?
Next L16 : Non-Inertial Frame of Reference
‘cause’, where there isn’t one!
Real effects of pseudo-forces! PCD_STiCM
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STiCM
Select / Special Topics in Classical Mechanics
P. C. Deshmukh
Department of Physics
Indian Institute of Technology Madras
Chennai 600036
STiCM Lecture 16: Unit 5
Non-Inertial Frame of Reference
‘cause’, where there isn’t one!
Real effects of pseudo-forces!
27
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What will be the shape of a tiny little
amount of a liquid in a closed (sealed) beaker
when this ‘liquid-in-a-beaker’ system is
(a) on earth
(b) orbiting in a satellite around the earth.
http://www.lerc.nasa.gov/WWW/K-12/airplane/state.html
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In a liquid the molecular forces are weaker than in a solid.
A liquid takes the shape of its container with a free surface in a
gravitational field.
Regardless of gravity, a liquid has a fixed volume.
Intra/Inter molecular forces provide the
concave or the convex meniscus to the
liquid. These interactions become
dramatically consequential in
microgravity.
Other than GRAVITY, are there other interactions that
could influence the shape of the liquid’s free surface?
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The actual shape an amount of liquid will take in a
closed container in microgravity depends on
whether the adhesive, or the cohesive, forces are
strong.
Accordingly, the liquid may form a
floating ball inside, or stick to the
inner walls of the container and leave
a cavity inside! PCD_STiCM
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You can have zero-
gravity experience
by booking your
zero-gravity flight!
http://www.gozerog.com/
Flight ticket (one adult) :
little over $5k
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On Earth, gravity-driven
buoyant convection
causes a candle flame to
be teardrop-shaped and
carries soot to the flame's
tip, making it yellow.
http://www.grc.nasa.gov/WWW/RT/RT1996/6000/
6726f.htm
In microgravity, where
convective flows are
absent, the flame is
spherical, soot-free, and
blue.
http://science.nasa.gov/headlines/y2000/ast12ma
y_1.htm 29/09/09
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“Microgravity” ?
1 2
2
m mG
rThere is no ‘insulation’ from gravity!
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Observations in a rotating frame of
reference.
Galilean relativity
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OI OR
XI XR
ZR
ZI
YI
Time t is the same in both the frames Galilean relativity
FI
FR
YR
The green axis OC
is some arbitrary
axis about which
FR is rotating.
P
Clearly, the coordinates/components of
the point P in the inertial frame of
reference are different from those in the
rotating frame of reference.
C
O
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We shall ignore translational motion of
the new frame relative to the inertial
frame FI.
We have already considered that.
We can always superpose the two
(translational and rotating) motions.
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OI OR
XI XR
ZR
ZI
YI
Galilean relativity
F
FR
YR
P
First, we consider the position
vector of a particle at rest in the
rotating frame.
I R
d d
dt dt
C
Clearly, its time-derivative in the rotating frame is zero, but
not so in the inertial frame.
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d d
dt dtR I
b b
( )b t
( )b t dt
Circle of radius n
The particle seen at
‘rest’ in the rotating
frame would appear to
have moved to a new
location as seen by an
observer in FI.
sinb
d
b
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41
Time t is the same in
the red frame
and in the purple,
rotating, frame.
Galilean relativity
The time-derivative is
different in the rotating frame.
I R
d d
dt dt
NOTE!
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42
Often, one uses the term
‘SPACE-FIXED FRAME OF REFERENCE’ for FI, and
‘BODY-FIXED FRAME OF REFERENCE’ for FR.
We shall develop our analysis for an arbitrary vector ,
the only condition being that it is itself not a time-
derivative in the rotating frame of some another vector.
b
R
d vector q exists such that
dt
d0 in the rotating frame F .
dt
d: What is ?
dt
R
R
I
No q b
b
Question b
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43
( siˆˆ
ˆˆn )( )b d
n bdb
n b
ˆ( ) ( ) | |db b t dt b t db u
( )b t
( )b t dt
n
These two terms are equal and hence cancel.
ˆdb d n b
I
db b
dt
db
sinb
b
ˆ.
ˆ
ˆˆ ˆ
nwhere
bu
n b
( sin )( )db b d
ˆˆ( , )n b d
d
sinb
ˆsince
db dt b
dn
dt
db
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44
I
db b
dt
I R
d d
dt dt
Remember! The vector itself did
not have any time-dependence in
the rotating frame.
If has a time dependence in the rotating frame,
the following operator equivalence would follow:
I R
d db b b
dt dt
Operator
Equivalence:
b
b
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45
R
R
I RI
d dr
dt dt
dr r
dt
d
d
d
t
dt
r r
2 2
2 2
R RI R
d d dr r r r
dt dt d
d
dt t
r
I R
dd
dt dt
Operating twice:
I R
d dr r r
dt dt
Multiplying by mass ‘m’, we shall get quantities
that have dimensions of ‘force’. PCD_STiCM
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46
2 2
2 2 2
m
RR I R
d d d dm r m r m r m r
dt dt dt dt
r
2 m R I
R
dF F F m r r
dt
‘Coriolis force’ ‘Centrifugal force’
Gaspard Gustave de Coriolis term 1792 - 1843
‘Leap second’ term
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47
We will take a Break…
…… Any questions ? [email protected]
Next L17 : Coriolis Deflection
Foucault Pendulum
Cyclonic storm’s direction
Real Effects of Pseudo-forces!
2 m R I
R
dF F F m r r
dt
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STiCM
Select / Special Topics in Classical Mechanics
P. C. Deshmukh
Department of Physics
Indian Institute of Technology Madras
Chennai 600036
STiCM Lecture 17: Unit 5
Non-Inertial Frame of Reference
‘cause’, when there really isn’t one!
Real Effects of Pseudo-forces!
48
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2 m R I
R
dF F F m r r
dt
49
2 2
2 2 2
m
RR I R
d d d dm r m r m r m r
dt dt dt dt
r
‘Coriolis force’ ‘Centrifugal force’ ‘Leap second’ term
Pseudoforce in the rotating frame
‘force’ / ‘fundamental interaction’
in the inertial frame
Real Effects of Pseudoforces !
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50
Why are Leap Seconds Used?
The time taken by the earth to do one rotation differs from
day to day and from year to year.
The Earth was slower than atomic clocks by 0.16 seconds in
2005;
by 0.30 seconds in 2006;
by 0.31 seconds in 2007;
and by 0.32 seconds in 2008.
It was only 0.02 seconds slower in 2001.
http://www.timeanddate.com/time/leapseconds.html ; 14th October, 2009 PCD_STiCM
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51
The atomic clocks can be reset to add an extra second,
known as the leap second, to synchronize the atomic
clocks with the Earth's observed rotation.
The most accurate and stable time comes from atomic
clocks but for navigation and astronomy purposes, but it is
the atomic time that is synchronized with the Earth’s
rotation.
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52
The International Earth Rotation and Reference System
Service (IERS) decides when to introduce a leap second in
UTC (Coordinated Universal Time).
On one average day, the difference between atomic clocks
and Earth's rotation is around 0.002 seconds, or around 1
second every 1.5 years.
http://www.timeanddate.com/time/leapseconds.html ; 14th October, 2009
‘Leap second’ term
IERS announced on July 4, 2008, that a leap second would
be added at 23:59:60 (or near midnight) UTC on December
31, 2008. This was the 24th leap second to be added
since the first leap second was added in 1972.
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53
Let us consider 3 ‘definitions’ of the ‘vertical’
[1] ‘vertical’ is defined by the radial line
from the center of the earth to a point
on the earth’s surface
[2] ‘vertical’ is defined by a ‘plumb line’
suspended at the point
under consideration.
[3] ‘vertical’ is defined by the space
curve along which a chalk
falls, if you let it go! PCD_STiCM
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54
3 ‘definitions’ of the ‘vertical’
2 2
2 2 2
m
RR I R
d d d dm r m r m r m r
dt dt dt dt
r
PCD_STiCM
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55 http://commons.wikimedia.org/wiki/File:Globespin.gif
7.2921159 × 10−5
radians per second
R
dm r
dt
2 2
2 2 2
m
RR I R
d d d dm r m r m r m r
dt dt dt dt
r
PCD_STiCM
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56
Earth and moon seen from MARS
First image of Earth & Moon,
ever taken from another planet,
from Mars,
by MGS,
on 8 May 2003 at 13:00 GMT.
http://space.about.com/od/pictures/ig/Earth-Pictures-Gallery/Earth-and-Moon-as-
viewed-from-.htm
MARS GLOBAL SURVEYOR
http://mars8.jpl.nasa.gov/mgs/
PCD_STiCM
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57
The moon is attracted toward the earth
due to their mutual gravitational
attraction.
Will there be
an eventual
collision?
If so, when?
If not, why not?
attraction
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58
[2] How does a centrifuge work ?
[3] Do the
centripetal and the centrifugal
forces constitute an
‘action - reaction’
pair of Newton’s 3rd law?
[1] When travelling in a car/bus, you experience
what you call as a ‘centrifugal force’.
Which physical agency exerts it ?
Is there a corresponding force of reaction?
PCD_STiCM
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59
‘Coriolis force’ ‘Centrifugal force’ ‘Leap second’ term
2 mR I
R
dF F F m r r
dt
“ Foo-Koh”
The plane of oscillation of
the Foucault pendulum is
seen to rotate due to the
Coriolis effect.
The plane rotates
through one full rotation
in 24 hours at poles, and
in ~33.94 hours at a
latitude of 450 (Latitude of
Paris is ~490).
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60
Gaspard Gustave de
Coriolis
1792 - 1843 Jean Bernard Léon
Foucault
1819 - 1868 PCD_STiCM
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61
We often ignore
the ‘leap
second’ and the
centrifugal term.
2 2
2 2
2
m
R I
R
R
d dm r m r
dt dt
dm r
dt
dm r
dt
r
Pseudo Forces PCD_STiCM
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62
2
2 2
ˆ ˆ ˆ
ˆ ˆ ˆsin sin
centrifugal rF m r m re e e
m re e m r e
0 00.1 at latitude of 45
ˆre
vˆ ˆ
ze e
vˆ ˆ (along 'local vertical')ze e
PCD_STiCM
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63
Terrestrial equatorial radius is 6378 km.
Polar radius is 6357 km.
at North Pole2
0 at Equator
goes to at South Pole2
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64
ˆre
vˆ ˆ
ze e
ˆye
v
North
ˆ ˆ ('local vertical')
ˆ ˆ
ˆ ˆ ˆ ˆ
z
y
x East y z
e e
e e
e e e e
ˆ ˆ ˆ ˆx East y ze e e e
2 Coriolis
R
dF m r
dt
ˆ ˆ ˆ ˆ y y z ze e e e
at North Pole2
0 at Equator
ˆ ˆ, ,North ye e PCD_STiCM
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65
vˆ ˆ
ze e
ˆye
v
North
ˆ ˆ ('local vertical')
ˆ ˆ
ˆ ˆ ˆ ˆ
z
y
x East y z
e e
e e
e e e e
2 Coriolis
R
dF m r
dt
ˆ ˆ ˆ ˆ y y z ze e e e
at North Pole2
0 at Equator
goes to at South Pole2
cos is + in both N- and S-
hemispheres
ˆ ˆ, ,North ye e
PCD_STiCM
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66
2
Coriolis
R
dF m r
dt
Coriolis deflection of an
object in ‘free’ ‘fall’ at a
point on earth’s surface:
ˆ ˆ ˆ ˆ y y z ze e e e
ˆv v ( )R R z
R
dr e
dt
ˆ ˆ ˆ ˆ ˆ2 v ( )
ˆ ˆ ˆ2 2 cos
Coriolis y y z z R z
y x East
F m e e e e e
m e e m e
0 (
0
2
( )
)
2
N hemisphere
S hemisphere
Coriolis deflection: toward
East in both the Northern &
the Southern Hemispheres
cos is + in both N- and S-hemispheresPCD_STiCM
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67
Western
North Pacific
http://agora.ex.nii.ac.jp/digital-typhoon/start_som_wnp.html.en
Coriolis
1792 - 1843
Western
South Pacific
ˆ ˆ ˆ ˆ y y z ze e e e2
Coriolis
R
dF m r
dt
PCD_STiCM
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68
http://www.youtube.com/watch?v=ZvLYrZ3vgio&NR=1
This Nanyuki tourist
attraction is not due to
Coriolis effect
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69
PCD_STiCM
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70
2 Astronauts in a Space Ship
X
Y
Rotating
R = 10m
= 0.15 rad/sec
v = (0,5) m/sec
A
B
http://www.physics.iitm.ac.in/~labs/amp/homepage/dasandmurthy.htm
Please read the paper at the following internet weblink:
Real
Effects of
Pseudo
Forces
PCD_STiCM
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71
R = 10m
= 0.95 rad/sec
v = (-10.0325,2.755) m/s
Force = Rate of change of momentum What interaction is making the instantaneous momentum change?
Very fundamental question!!
The answer determines
our notion of a
‘fundamental interaction’
P. Chaitanya Das, G.
Srinivasa Murthy,
Gopal Pandurangan
and P.C. Deshmukh
'The real effects of
pseudo-forces',
Resonance, Vol.
9, Number 6, 74-
85(2004) (http://www.ias.ac.in/resonance/June2004/pdf/June2004Classroom1.pdf) PCD_STiCM
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72
What will be the effect
on rockets?
On ICBMs? 17th May, 2010 AGNI II
‘Missile Woman of India’
Dr. Tessy Thomas
PCD_STiCM
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73
http://daphne.palomar.edu/pdeen/Animations/34_Coriolis.swf
Distance at equator: ~111 Kms. per longitude degree
2
Coriolis
R
dF m r
dt
ˆ ˆ ˆ ˆ y y z ze e e e
ˆ ˆ ˆ( ) ( ) (West) z y xe e e
PCD_STiCM
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74
We will take a Break…
…… Any questions ? [email protected]
Next L18 : Coriolis Deflection
Foucault Pendulum
Real Effects of Pseudo-forces!
2 m R I
R
dF F F m r r
dt
PCD_STiCM
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STiCM
Select / Special Topics in Classical Mechanics
P. C. Deshmukh
Department of Physics
Indian Institute of Technology Madras
Chennai 600036
STiCM Lecture 18: Unit 5
‘EFFECT’, when there isn’t a cause!
‘CAUSE’, when there really isn’t one!
Real Effects of Pseudo-forces!
Foucault Pendulum
75
PCD_STiCM
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76
Physical
Oceanography
of the Baltic Sea
Matti
Leppäranta,
Kai Myrberg Springer-Praxis
(2009)
Circulating
current in
the Baltic
sea (1969?)
2 mR I
R
dF F F m r r
dt
Sweden
Denmark
Germany
Poland
Finland
PCD_STiCM
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77
Calculate Coriolis
deflection of a plane
flying from Srinagar to
Thiruvananthapuram ?
3550 kms
Plane speed:
850 kms/hr
ˆ ˆ ˆ ˆ y y z ze e e e
2R
dm r
dt
Kolkata to Mumbai ?
Plane speed:
850 kms/hr
PCD_STiCM
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78
Coriolis effect
– only for Physicists? Electronics engineers?
Computer science engineers?
Aerospace engineers?
Ocean Engineering?
Any navigation system on earth….. GPS in cellphones! PCD_STiCM
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79
Choose such that is along the local
‘up/vertical’ direction (which is not along due to the
centrifugal term).
Use a Cartesian coordinate system with reference to a
point on the earth’s surface.
ˆ ˆ ˆ, ,x y ze e e ˆze
ˆre
Choose such that it is orthogonal to , and points
toward the North-pole seen from the point on the earth’s
surface under consideration.
ˆye ˆ
ze
Finally, choose , which will give us the
direction of the local ‘East’ at that point.
x y zˆ ˆ ˆ e e e
ˆ ˆ, z rHowever e is very nearly the same as e
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80
ˆre
vˆ ˆ
ze e
ˆye
v
North
ˆ ˆ ('local vertical')
ˆ ˆ
ˆ ˆ ˆ ˆ
z
y
x East y z
e e
e e
e e e e
ˆ ˆ ˆ ˆx East y ze e e e
2 Coriolis
R
dF m r
dt
ˆ ˆ ˆ ˆ y y z ze e e e
at N Pole2
0 at Equator
at S Pole2
ˆ ˆ, ,North ye e
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81
Caution! We use a mix of three coordinate systems!
1. A cartesian coordinate system as defined in the previous
slide.
2. A spherical polar coordinate system whose ‘polar’ angle is
defined with respect to the axis of the earth’s rotation
rather than with respect to the cartesian z-axis which is
oriented along the local ‘vertical’.
3. Cylindrical polar coordinate system whose radial unit
vector is along the radial outward direction with reference
to the earth’s axis of rotation.
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82
Just follow the 6 steps
indicated in the next
slide, exactly in the order
given!
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83
ˆcf cfF F e
ˆ ˆy Northe e
ˆre
ve
ˆe
he
2
gF
vˆ ˆ zChoose e e
x y z
East
ˆ ˆ ˆ
ˆ
e e e
e
Note that:
ˆ 0
ˆ ˆ( , )
g cf h
h
F F e
e e
Earth’s
rotation axis
1. Note earth’s axis of rotation.
ˆcf cfF F e
v rˆ ˆ .e e
2. Recognize that
3. Recognize that
4. Choose
5. Choose
6. Now,
Northˆ ˆ , pointing toward North.ye e
x y z Eastˆ ˆ ˆ ˆ e e e e
vˆ ˆ .ze e
v v
h
ˆ ˆ
ˆ ˆ
ertical
horizontal
e e
e e
The ‘vertical’ is not along the radial line, nor
along the axis of earth’s rotation!
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ˆye ˆ
ze
: latitude
x y zˆ ˆ ˆ v +v vx y z
R
dr e e e
dt
2 - m
R I
R
dF F F m r r
dt
ˆ ˆ ˆ ˆ y y z ze e e e
Velocity of the object in
ROTATING FRAME
x y zˆ ˆ ˆ ˆ ˆ ˆ ˆ2 v +v vCoriolis y y z z x y zF m e e e e e e e
84
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ˆye ˆ
ze
: latitude
z y x xˆ ˆ ˆ2 cos v sin v sin v ( cos v )
Coriolis x y zma m e e e
x y zˆ ˆ ˆ ˆ ˆ2 cos sin v + v vCoriolis y z x y zF m e e e e e
85
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How will the plane of
oscillation of the pendulum
look to an observer at the
N pole, but standing
disconnected with the
earth?
86
Pendulum at the N pole
The observer is at the N
pole.
How will
the plane
of
oscillation
of the
pendulum
look to an
observer at
the N
pole?
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How will the plane of
oscillation of the pendulum
look to an observer at the
N pole, but standing
disconnected with the
earth?
87
The observer is at the S
pole.
How will
the plane
of
oscillation
of the
pendulum
look to an
observer at
the S
pole?
Pendulum at the S pole
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How will the plane of
oscillation of the pendulum
look to an observer at the
N pole, but standing
disconnected with the
earth?
88
What if the pendulum is at an intermediate latitude?
How will
the plane
of
oscillation
of the
pendulum
look to an
observer at
that
latitude?
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89
W.B.Somerville
Q.Jl. Royal
Astronomical Soc.
(1972) 13 40-62
Northern edge of
the floor of the
room is closer to
the earth’s axis than
the Southern edge.
Northern
edge of
the floor
moves
eastward
slower
than the
Southern
edge.
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90
http://www.youtube.com/watch?v=nB2SXLYwKkM
video compilation of a Foucault pendulum in action
at the Houston Museum of Natural Science.
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Foucault Pendulum
S
mg
2 - m
R I
R
dF F F m r r
dt
2 - m
R
R
dmr mg S F m r r
dt
ˆ ˆ ˆ ˆ ˆ ˆ( ) ( ) ( )x x y y z zS e e S e e S e e S
ˆ ˆ ˆ ˆ y y z ze e e e
ˆS Su
ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ( ) ( ) ( )x x y y z zS S e e u e e u e e u
ˆ ˆ ˆcos cos cosx y zS S e e e
91
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Foucault Pendulum
S
mg
cos 2 cos z sin y
cos 2 sin x
mx S m
my S m
2
R
R
dmr mg S m r
dt
cos 2 sin y
cos 2 sin x
mx mg m
my mg m
S mg
neglect zˆ ˆ ˆcos cos cosx y zS S e e e
z y x xˆ ˆ ˆ2 cos v sin v sin v ( cos v )
Coriolis x y zma m e e e
, motion:x y
92
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Foucault Pendulum
S
mg
2
R
R
dmr mg S m r
dt
cos 2 s y
c
in
ss ino 2 x
x g
y g
sin
ˆS Su neglect z S mg
cos 2 sin y
cos 2 sin x
mx mg m
my mg m
cos 2 y
cos 2 x
x g
y g
93
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Coupled differential
equations
Solve by transforming to new coordinates x’,y’
such that
'cos 'sin
'sin 'cos
x x t y t
y x t y t
cos 2 y
cos 2 x
x g
y g
'sin 'cos
'cos 'sin
x x t y t
y x t y t
2
2
cos 2 'cos 'sin
cos 2 'sin 'cos
x g x t y t
y g x t y t
94
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2
2
cos 2 'cos 'sin
cos 2 'sin 'cos
x g x t y t
y g x t y t
2 2
2 2
cos cos cos 2 'cos 'sin cos
sin cos sin 2 'sin 'cos sin
x t g t x t y t t
y t g t x t y t t
2 2
2 2
cos sin cos cos 2 'cos 'sin cos
cos sin 2 'sin 'cos sin
x t y t g t x t y t t
g t x t y t t
95
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2
cos
Drop
co
ping terms i
s cos sin 0
n
x g t y g t
cos 0
cos 0
x g
y g
2 2
2 2
cos sin cos cos 2 'cos 'sin cos
cos sin 2 'sin 'cos sin
x t y t g t x t y t t
g t x t y t t
96
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2
R
R
dmr mg S m r
dt
Two-dimensional linear
harmonic oscillator
sin
cos 0
cos 0
x g
y g
0
0
xx g
l
yy g
l
Direction cosines of S are:
cos
cos
cos
x
l
y
l
z l
l
97
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Foucault Pendulum
S
mg
2
R
R
dmr mg S m r
dt
In the earth’s rotating frame, the path is that
of an ellipse.
0; 0x y
x g y gl l
2Dropping terms in
cos cos cos sin 0x g t y g t
98
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Foucault Pendulum
S
mg
2
R
R
dmr mg S m r
dt
The ellipse would precess at an angular
speed sin
A number of approximations made!
Detailed analysis is rather involved!
0; 0x y
x g y gl l
2Dropping terms in
cos cos cos sin 0x g t y g t
The “plane” would in fact be a “curved surface”.
99
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The ellipse would precess at an angular
speed
Foucault Pendulum
S
mg
2
R
R
dmr mg S m r
dt
:
sin
latitude
1 2 2
sin
2 24 hours
2 sin sin
Tf
Time Period for the rotation of the
“plane” of oscillation of the Foucault
Pendulum
100
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101
Famous Foucault Pendulum:
- at the Pantheon in Paris, France.
http://www.youtube.com/watch?v=vVg5P6f
rHzY&feature=related
http://www.animations.physics.unsw.edu.a
u/jw/foucault_pendulum.html
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102
1 2 2
sin
2 24 hours
2 sin sin
Tf
2
2
4
4
0
sin
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103
Ernst Mach (1838–1916)
From a portrait by
Enoch Seeman in 1726
Sir Isaac Newton
1643 - 1727 Albert Einstein
1879 – 1955
Newton: Gravity is the result of an attractive interaction
between objects having mass.
Philosophical questions:
What is ‘force’ ? Mass/ Inertial frame? Gravity?
Curvature of Space-Time,
Geometry / Dynamics of Matter / General Theory of Relativity PCD_STiCM
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104
We will take a Break…
…… Any questions ?
Next, Unit 6: Special Theory of Relativity
• In the next Unit, we shall consider
Lorentz Transformations
and Einstein’s
Special Theory of Relativity.
• c: finite!
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