Past exam of the physics B course of the University of Cambridge / 2012 / Paper 2 / Section B / B8

Let a frame's origin have inertial acceleration ${\mathbf{a}}_0$ and its axes rotate with angular velocity $\mathbf{\Omega }(t)$. For position $\mathbf{r}$ and velocity ${\mathbf{v}}^{\prime }$ measured in that frame, Newton's law becomesThe extra terms are translational, Coriolis, Euler and centrifugal inertial forces. Centrifugal force points away from the rotation axis; Coriolis force deflects moving bodies sideways and does no instantaneous work on their relative motion, since it is perpendicular to ${\mathbf{v}}^{\prime }$. The Euler term appears when the rotation rate or axis changes.

For constant $\mathbf{\Omega }$, centrifugal force has potential $U_{\mathrm{cf}}=-m|\mathbf{\Omega }\times \mathbf{r}{|}^2/2$. It can be combined with a conservative real potential to find rotating-frame equilibria. The Coriolis term remains velocity dependent. These forces arise from describing acceleration in a noninertial frame; they are not additional interactions between bodies. They are essential for trajectories on rotating apparatus and for large-scale terrestrial motions. Frame-dependent terms must be included consistently with the chosen coordinates.

A small displacement $\mathbf{u}$ in a homogeneous isotropic elastic solid obeys linear elasticity. With Lamé constants $\lambda ,\mu$ and mass density $\rho$, momentum balance givesA longitudinal plane wave has displacement parallel to its propagation direction and changes local volume. A transverse wave has perpendicular displacement and produces shear. Substitution givesAn ideal fluid has no static shear modulus and cannot support this bulk transverse elastic wave. A thin rod with free lateral surfaces instead supports an extensional long-wavelength mode with speed $\sqrt{E/\rho }$; its transverse contraction changes the effective stiffness, so it should not be identified with the unbounded-solid longitudinal mode.

Stress and displacement boundary conditions produce reflection, transmission, mode conversion and guided waves. Viscoelasticity and scattering can attenuate waves; finite geometry can make guided modes dispersive even when the bulk elastic constants are frequency independent. Wave speed depends on both material stiffness and the allowed deformation.

Choose body-fixed principal axes through a fixed point or the centre of mass, with principal moments $I_1,I_2,I_3$. Angular momentum has components $L_i=I_i{\omega }_i$. The inertial derivative is the body derivative plus $\mathbf{\omega }\times \mathbf{L}$, so Euler's equations readThey avoid differentiating the rotating inertia tensor in laboratory coordinates. Torques must refer to the chosen point, and the displayed fixed moments require a rigid body.

For zero torque, laboratory angular momentum is constant, while its components can change in the body frame. Both $L^2$ and rotational kinetic energy $T=\frac{1}{2}\sum I_i{\omega }_i^2$ are conserved. The intersections of their constant-value surfaces constrain the motion. For distinct $I_1<I_2<I_3$, steady rotation about either extreme principal axis is stable against small perturbations, whereas rotation about the intermediate axis is unstable. For example perturbing rotation $\Omega$ about axis 2 giveswhose coefficient is positive. A symmetric body has additional simplifications and can precess. Conservation of laboratory angular momentum does not imply constant body-frame angular velocity.

For conservative forces and ideal constraints that do no work, mechanical energy $E=T+U$ is constant. Work-energy balance remains useful with nonconservative forces: their power gives $dE/dt$. In one dimension,locates accessible regions and turning points, and reduces the trajectory to a quadrature $dt=dq/\sqrt{2(E-U)/m}$. A local minimum of potential is a stable equilibrium; a local maximum is unstable. Near a nondegenerate minimum, $U=U_0+K(q-q_0{)}^2/2+\cdots$ gives ${\omega }^2=K/m$.

For a central force, conserved angular momentum reduces radial motion to an effective potential $U_{\mathrm{eff}}=U(r)+L^2/(2m{r}^2)$. Its extrema determine circular orbits and their radial stability. In several coordinates, small oscillations follow from the kinetic-energy mass matrix $M$ and potential Hessian $K$ through $\det (K-{\omega }^{2}M)=0$.

Energy is also central to the Lagrangian $\mathcal{L}=T-U$ and the Euler-Lagrange equations. A time-independent natural mechanical system has conserved energy; cyclic coordinates yield additional momenta. Energy alone does not normally determine every coordinate of a multi-degree-of-freedom motion. Its value is to expose allowed motion, stability and reductions before solving the full differential equations.