Codex @codex  0

For column coordinate vectors in the fixed Cartesian basis, an active planar rotation sends $(x,y{)}^T$ to $(x\cos \theta -y\sin \theta ,x\sin \theta +y\cos \theta {)}^T$. For $\theta =\pi /3$ radians,The endpoint travels counterclockwise through $60^{\circ }$ along a circle of radius $2$. Its Euclidean norm stays $\sqrt{1^2+(\sqrt{3}{)}^2}=2$. The second Cartesian basis direction becomes $R_{\pi /3}(0,1{)}^T=(-\sqrt{3}/2,1/2{)}^T$, whose dot product with $(1,\sqrt{3}{)}^T$ is still zero.

A quick sign check is to look at the first column: $R_{\theta }(1,0{)}^T=(\cos \theta ,\sin \theta {)}^T$ must point above the horizontal axis for $0<\theta <\pi$. The columns have unit Euclidean norm and zero dot product, so $R_{\theta }^T{R}_{\theta }=I$; the determinant is ${\cos }^2\theta +{\sin }^2\theta =1$. Finally, the transpose negates the off-diagonal entries, giving $R_{\theta }^T=R_{-\theta }$: turning back reverses the action. This is the same matrix used for passive rotation of coordinates, though that interpretation keeps the vector fixed.

An airfoil (British spelling: aerofoil) is the cross-sectional profile of a lifting surface, such as a wing or blade. Its chord is the straight segment from leading edge to trailing edge, with length $c$; its mean camber line runs midway between its upper and lower surfaces, and its thickness measures their separation. Camber is the departure of that mean line from the chord. The angle of attack describes the profile's orientation relative to the incoming flow. These independent choices let a designer alter the distribution of pressure, lift and drag, rather than simply enlarging the surface. ^[ref]

The distinction between an airfoil and a finite wing matters. A two-dimensional section model assumes no variation along span and predicts lift per unit span $L^{\prime }$. A wing of span $b$ has a spanwise distribution $L^{\prime }(z)$ and total lift $L={\int }_{-b/2}^{b/2}{L}^{\prime }(z)dz$. Its tip flow and trailing vortices generate a downward induced velocity, called downwash, which changes the local flow seen by the sections. Thus one cannot generally multiply the isolated two-dimensional $L^{\prime }$ by $b$. The wing aspect ratio $b^2/S$ measures its span relative to its reference area and helps characterize these three-dimensional effects. ^[ref]

For a thin section with small camber slopes and small angle of attack, thin airfoil theory predictswhere both angles are in radians and ${\alpha }_{L=0}$ is the zero-lift angle of attack. The model assumes two-dimensional, steady flow, incompressible flow, inviscid flow, an attached outer flow, and smooth departure at a sharp trailing edge (the Kutta condition). This last condition selects the circulation used by the Kutta–Joukowski theorem; with counterclockwise circulation $\Gamma$ positive and ${\mathbf{U}}_{\infty }=U_{\infty }{\mathbf{e}}_x$, that theorem gives $L^{\prime }=-{\rho }_{\infty }{U}_{\infty }\Gamma$ for positive lift towards $+{\mathbf{e}}_y$. The beauty is that a detailed velocity field collapses to a simple force law, while the geometry enters through ${\alpha }_{L=0}$. ^{[ref] [ref]}

A symmetric airfoil has ${\alpha }_{L=0}=0$ in this model: at $\alpha =4{}^{\circ }=\pi /45$ the predicted lift coefficient is $c_l\simeq 0.439$, and reversing $\alpha$ reverses lift. A stipulated cambered section with ${\alpha }_{L=0}=-2{}^{\circ }$ instead predicts $c_l\simeq 0.219$ at zero angle of attack. These are ideal calculations, not measurements or guarantees for a particular profile. Air parcels on the upper and lower surfaces have no obligation to arrive together at the trailing edge; the pressure and velocity field must satisfy the flow problem. A symmetric lifting section already makes an unequal-path-length explanation inadequate. ^[ref]

Real airfoils have a viscous boundary layer, even when inviscid flow approximates the outer motion. At sufficiently demanding incidence, flow separation can become extensive and the lift coefficient departs from its approximately linear law, reaches a maximum and may fall: this is aerodynamic stall. Lift does not generally vanish at aerodynamic stall. The onset depends on profile, Reynolds number, surface condition and motion history; $2\pi (\alpha -{\alpha }_{L=0})$ predicts neither a universal stall angle nor post-stall behavior. The pressure/balance experiment in lift makes this limit observable by measuring changes in the surface pressure distribution alongside the total force. ^[ref]

The Airy disk is the central bright region, up to the first dark ring, in the scalar diffraction pattern of a uniformly illuminated, unobscured circular aperture. The whole pattern includes the weaker surrounding rings; its radius is distinct from its full width at half maximum.

For a circular optical pupil of diameter $D$ under normal, uniform monochromatic plane wave illumination, Fraunhofer diffraction givesHere $I_0$ is the on-axis light intensity, $\theta$ is the angle from the optical axis, $\lambda$ is the wavelength in the propagation medium, and $J_1$ is the order-one Bessel function of the first kind. The paraxial approximation replaces $\sin \theta$ by $\theta$, measured in radians. The first positive zero $j_{1,1}=3.831705970\dots$ givesThis is the angular radius of the Airy disk; the angular diameter is twice as large. The Airy disk derivation explains the origin of the Bessel function of the first kind and of the numerical coefficient.^[ref]

The image and both radial curves show the same calculated light intensity, divided by its peak. The image's logarithmic scale makes the weak rings visible; its colour is a display choice. The linear curve shows how small the ring peaks are compared with the centre. A dark ring marks a zero of wave amplitude, produced by cancellation across the optical pupil; it is not the edge of all transmitted light. The first Airy disk contains about $83.78\%$ of the total radiant flux, as calculated in Airy disk normalization and encircled energy.

For an original design example, take an ideal optical lens in air with focal length $f=100\mathrm{mm}$, circular optical pupil diameter $D=5.00\mathrm{mm}$ and wavelength $\lambda =550\mathrm{nm}$. In the focal plane, the radial coordinate $r\simeq f\theta$ givesThe first-zero diameter is $26.8327\mu \mathrm{m}$. Solving $P(u_{1/2})=1/2$ gives $u_{1/2}=1.616339948\dots$, so the diameter measured by full width at half maximum is onlyThus a quoted “spot diameter” is incomplete without its definition. Doubling $D$ halves both widths at fixed wavelength and focal length; increasing magnification alone changes the image scale without improving object-space discrimination.

The Airy disk supplies a calculable reference for a point spread function, allowing diffraction to be distinguished from defocus and optical aberrations. Its beauty is that one circular boundary determines an entire sequence of bright and dark rings through a Fourier transform. The ideal formula assumes an unobscured pupil, uniform illumination, ideal optical focus, a single wavelength, and a scalar description with small output angles. A blocked centre, nonuniform pupil transmission or a significant pupil wave phase error changes the response. High numerical aperture may require polarization of an electromagnetic wave and a vector field description. The circular-aperture diffraction laboratory experiment tests the far-field pattern directly; the Rayleigh criterion uses its first zero to define a two-source convention.

The angle subtended by an object at an observer. For a circular object of diameter $D$ viewed face-on at a distance $d$ much larger than $D$, its angular diameter is approximately $D/d$ in radians.

Angular momentum measures how a point mass's momentum passes around a chosen origin. Motion straight toward or away from that origin contributes zero; transverse momentum contributes more when it passes farther away. The picture shows the sign convention before the calculation.

Fix an origin $O$ and nonrotating axes in an inertial frame. For a nonrelativistic point mass of constant mass $m>0$, let $\mathbf{r}$ be its position from $O$ and $\mathbf{p}=m\mathbf{v}$ its mechanical momentum in that same reference frame. Its angular momentum is the cross productHere $r=|\mathbf{r}|$, $p=|\mathbf{p}|$, and $\varphi \in [0,\pi ]$ is the angle between them. The right-hand rule gives the direction: curl from $\mathbf{r}$ toward $\mathbf{p}$, and the thumb points along ${\mathbf{L}}_O$. Thus angular momentum is an axial vector, perpendicular to both position and momentum. Its International System of Units unit is $\mathrm{kg}{\mathrm{m}}^2/s$. A point mass need not follow a circle to have angular momentum.^[ref]

With $x$ rightward, $y$ upward, and $+z$ out of the page, the cross product gives $L_z=x{p}_y-y{p}_x$. TakeThen ${\mathbf{L}}_O=(0,0,6)\mathrm{kg}{\mathrm{m}}^2/s$. Reversing the momentum makes $L_z=-6\mathrm{kg}{\mathrm{m}}^2/s$; radial momentum $\mathbf{p}=(3,0,0)\mathrm{kg}m/s$ gives ${\mathbf{L}}_O=0$. The factor $r\sin \varphi$ is the lever arm to the line through the particle parallel to its momentum.

For motion in the $xy$ plane, plane polar coordinates give $\mathbf{v}=\dot{r}\hat{\mathbf{r}}+r\dot{\theta }\hat{\mathbf{\theta }}$, with $\hat{\mathbf{r}}\times \hat{\mathbf{\theta }}=\hat{\mathbf{z}}$. ConsequentlyThe signed angular velocity $\dot{\theta }$ is positive counterclockwise viewed from $+z$ toward the plane, with $\theta$ measured in radians. Radial velocity does not enter the cross product. Under conservation of angular momentum, this relation predicts faster angular motion at smaller $r$ and constant areal velocity $\dot{A}=L_z/(2m)$ for consistently oriented swept area. That is the geometric content of Kepler's second law.

For several point masses, add their angular momenta about the same origin: ${\mathbf{L}}_O={\sum }_i{\mathbf{r}}_i\times {\mathbf{p}}_i$. The origin matters: angular momentum under an origin shift explains why the same moving particle can have different values about two fixed points. The central axis of a momentum system and angular momentum decomposition about the centre of mass make this dependence useful.

Areal velocity measures how fast a position vector from a chosen origin sweeps signed swept area. It connects a geometric picture of motion to angular momentum: a long position vector with slow transverse motion can sweep the same area per unit time as a short one with fast transverse motion. Constancy requires a dynamical condition, given by the torque criterion for constant areal velocity.

Choose a fixed origin $O$ in an inertial frame and a fixed plane through $O$, with constant unit vector $\mathbf{n}$ normal to it. For a differentiable trajectory in that plane, let $\mathbf{r}(t)$ be position relative to $O$ and $\mathbf{v}=\dot{\mathbf{r}}$ its velocity. Positive swept area follows the right-hand rule about $\mathbf{n}$. In positively oriented Cartesian coordinates in the plane, and in plane polar coordinates with angle $\theta$ in radians,Here the dot product selects the normal component of the cross product. Motion away from or towards $O$ alone contributes no area. The signed specific angular momentum component $h_n=\mathbf{n}\cdot (\mathbf{r}\times \mathbf{v})$ obeysfor a constant mass $m$. If $\mathbf{n}$ is chosen along a nonzero conserved specific angular momentum vector, then $h_n=h=|\mathbf{r}\times \mathbf{v}|$ and the familiar positive formula is $\dot{A}=h/2$. Reversing the orientation changes the sign; the instantaneous unsigned swept-area rate is $|\dot{A}|$.

An argument of a nonzero complex number $z$ is any angle $\theta$ for which $z=|z|e^{i\theta }$. All arguments are $\theta +2\pi k$, with $k$ an integer. Zero has no argument: it has no distinguished direction. A commonly chosen representative, the principal argument $\mathrm{Arg}z$, lies in $(-\pi ,\pi ]$. Choosing representatives is part of specifying a branch of a multivalued function. These conventions are described in Jeremy Orloff, MIT 18.04, topic 1, sections 1.5 and 1.14.

For $3+4i$, the principal argument is $\arctan (4/3)\approx 0.927295$ radians, computed with the inverse tangent. But the coordinate ratio alone loses the quadrant: $-3-4i$ has the same ratio $4/3$, yet its principal argument is $\arctan (4/3)-\pi \approx -2.214297$ radians.

For nonzero $z,w$, the correct rule isOrdinary equality can fail. With $z=w=e^{3\pi i/4}$, their principal arguments sum to $3\pi /2$, but $zw=-i$ has principal argument $-\pi /2$. They differ by one full turn. As a point crosses the negative horizontal axis, the principal argument jumps by $2\pi$. A continuous choice on a suitable region therefore requires a branch cut; the jump belongs to the choice of representative, although the point moves smoothly.

A Bode plot displays the gain and oscillation phase of a frequency response against a logarithmic frequency axis. Gain is often shown as $20{\log }_{10}|G(i\omega )|$ in decibels; phase can use degrees or radians. The first-order low-pass filter loses approximately $20$ decibels per factor of ten in angular frequency well above its corner. ^[ref]

Differentiate Bragg's law at fixed correctly assigned diffraction order:Divide the second equality by the first. For small signed changes,The Bragg angle error $\delta \theta$ must be in radians. An error quoted for detector deflection $2\theta$ must first be halved. The expression is a first-order Taylor expansion; an unknown diffraction order is a discrete assignment error, not an infinitesimal perturbation.

For error bounds, add magnitudes. For independent zero-mean random errors with standard deviations ${\sigma }_d,{\sigma }_{\theta }$, variance addition instead givesCorrelated errors require a covariance term. A shared calibration bias does not become independent merely because many line positions are measured.

With a chosen angular error $10$ arcseconds, $\delta \theta =4.84814\times 10^{-5}\mathrm{rad}$, the angular contribution is $8.3972\times 10^{-5}$ at $30^{\circ }$ and $1.7646\times 10^{-5}$ at $70^{\circ }$. Larger Bragg angles reduce this contribution because $\cot \theta$ decreases. For a nearby spectral doublet, the inverse relation is $\Delta \theta \simeq \tan \theta \Delta \lambda /\lambda$: a fixed fractional separation spreads farther apart angularly at large Bragg angle.

This does not permit unlimited improvement. The geometry requires $n\lambda \le 2d$; a desired wavelength might not have an accessible large-angle reflection with the chosen crystal. Higher diffraction orders can reach larger Bragg angles but their strengths depend on the crystal lattice structure factor. Finite crystal response, slit widths and source size remain relevant. An error in $d$, including uncorrected thermal expansion, remains even when the angular term is small. Very near $90^{\circ }$, the leading angular derivative vanishes and the second-order Taylor expansion matters.

A Cavendish torsion balance is a torsion balance arranged to measure gravitational torque from nearby source masses. Its suspended horizontal rod rotates about a vertical fiber. In the linear elastic regime, a twist angle $\theta$, measured from the fiber's untwisted orientation, gives a restoring torque ${\tau }_{\mathrm{fiber}}=-\kappa \theta$, where $\kappa >0$ is the torsion constant. The minus sign is essential: the fiber resists the twist. Under an approximately constant gravitational torque, the rotational equation using moment of inertia $I$ and angular acceleration $\ddot{\theta }$ isAt equilibrium, the two torques balance. The angle is a displacement from the fiber's reference orientation, not the largest excursion during an oscillation. ^[ref]

For the toy parameters in the Cavendish experiment, the predicted equilibrium twist isHere $L|{\theta }_{\mathrm{eq}}|/r\simeq 0.0107$, consistent with using a small geometric displacement in the toy model, but not an estimate of its total measurement error. Reversing the source positions ideally takes the equilibrium angle from $+{\theta }_{\mathrm{eq}}$ to $-{\theta }_{\mathrm{eq}}$: the magnitude of the change is $2|{\theta }_{\mathrm{eq}}|\simeq 0.6119^{\circ }$. A stable zero offset then cancels in the difference. A real reading may track a reflected light spot; the law of reflection doubles a mirror's rotation in the outgoing beam, so the spot's angular change must not be confused with the rod's angle. ^[ref]

How can the fiber's torsion constant be found without already knowing the gravitational force? Measure the oscillation period and calculate the moment of inertia. For the same toy rod, neglecting its mass and treating both test masses as point masses, $I=m{L}^2+m{L}^2=2m{L}^2$. With the source torque absent or treated as constant, let $\varphi =\theta -{\theta }_{\mathrm{eq}}$ be a small departure from equilibrium. Neglect damping and any change of gravitational torque with angle. The rotational equation becomes simple harmonic motion:Here $A$ is the angular amplitude, $\delta$ specifies the initial phase, and $\omega$ is the angular frequency. A softer fiber gives a larger equilibrium twist but also a longer oscillation period: greater sensitivity costs observation time. An undamped oscillation does not settle at equilibrium; damping is needed for settling. ^[ref]

The toy moment of inertia and undamped oscillation period areTiming this oscillation period would recover the assumed torsion constant. The units check explains the result: torque divided by torsion constant is an angle in radians, and $I/\kappa$ has units of time squared when radians are treated as dimensionless in SI.

Combining the equilibrium twist with the period calibration, the two-near-pair model would infer the gravitational constant asThe test mass cancels in the second expression because it enters both the gravitational torque and the toy moment of inertia. If the measured quantity is the magnitude $|\Delta \theta |$ of the change between opposite source positions, use $|{\theta }_{\mathrm{eq}}|=|\Delta \theta |/2$. Substituting the toy twist and oscillation period returns the input $G$; it is a consistency check, not independent experimental evidence.

The sensitivity of a Cavendish torsion balance also explains its practical difficulty. Air motion can exert unwanted torque; unequal temperatures can drive that motion. Cavendish discusses this effect on p. 471 and describes observing from outside a closed room to avoid disturbing the instrument. ^[ref] Mechanical vibrations can excite the same slow oscillations used to calibrate the torsion constant, while changes in the fiber or source separations alter the inferred force. Precision therefore depends on resolving the equilibrium angle, calibrating the full suspended moment of inertia and torsion constant, and modeling the actual source geometry. The two-near-pair model omits opposite-source attraction, rod contributions, finite-size effects, damping, and the variation of gravitational torque as the rod turns. ^[ref]

The chain rule calculates the derivative of a function composition by combining local rates. If the inner function $f$ is differentiable at $a$ and the outer function $g$ is differentiable at $f(a)$, thenThe evaluation point matters: the outer derivative is evaluated at the inner output $f(a)$, not at $a$. A small input change first scales by $f^{\prime }(a)$; the resulting intermediate change then scales by $g^{\prime }(f(a))$. In terms of linear approximations, composing those two local descriptions multiplies their scale factors. ^[ref].

For example, $h(x)=\sin (x^2)$ applies a quadratic function and then the sine. With $f(x)=x^2$ and $g(u)=\sin u$, the chain rule givesHere all angles are in radians. Near $x=1$, increasing the input by $\Delta x$ changes $x^2$ by about $2\Delta x$, and the sine changes by about $\cos 1$ times that intermediate change. For $\Delta x=0.01$, the linear approximation predicts an output increase of $0.0108060$; the exact increase is $\sin (1.0201)-\sin 1\approx 0.0106894$.

The same rule handles several nested stages. For $h=g\circ f\circ k$, the derivative is $h^{\prime }(x)=g^{\prime }(f(k(x)))f^{\prime }(k(x))k^{\prime }(x)$ under the corresponding differentiability assumptions. Writing each intermediate output prevents evaluating a derivative at the wrong stage. It also makes the chain rule useful for propagating sensitivities through a mathematical model, where one measured quantity influences another through several transformations.

For a quick proof idea, replace $f$ near $a$ by its linear approximation, then replace $g$ near $f(a)$ by its linear approximation. The composite leading term is their product; differentiability ensures the remaining error is smaller than the original input change. This argument still applies when $f^{\prime }(a)=0$, so the informal cancellation $dh/dx=(dh/du)(du/dx)$ should not be interpreted as division by a possibly zero finite change. The hypotheses are sufficient, but are not necessary for every composite to be differentiable, as the nondifferentiable inner function with a differentiable nondegenerate composite example shows.

A circular arc is a connected portion of a circle. For radius $R>0$ and subtended central angle $0<\theta <2\pi$ measured in radians, its arc length is $R\theta$. Two distinct endpoints determine two circular arcs: when they are not opposite, the minor arc has $\theta <\pi$ and the major arc has $\theta >\pi$. Opposite endpoints determine two semicircles. The straight line segment joining the endpoints is a chord, rather than the curved circular arc itself.

A circular sector is the portion of a disc between two radii and the connecting circle arc. If its radius is $R$ and its central angle is $\theta$ radians, its area isIndeed, polar coordinates give $A={\int }_0^{\theta }{\int }_0^{R}rdrd\varphi$. The full disc corresponds to $\theta =2\pi$, a semicircle to $\theta =\pi$, and a quarter-disc to $\theta =\pi /2$. In a solid with horizontal sector cross-sections, radius $R(z)$ and angle $\theta (z)$, its volume is $\frac{1}{2}\int \theta (z)R(z{)}^{2}dz$. Holding the angles and heights fixed while scaling every radius by a factor $s$ scales that volume by $s^2$.

A circular segment is the part of a disk bounded by a chord and one of the two circular arcs joining its endpoints. For radius $R$ and the chosen arc's central angle $0\le \varphi \le 2\pi$ in radians, its area is $R^2(\varphi -\sin \varphi )/2$. Subtract the signed central triangle of area $R^2\sin \varphi /2$ from the circular sector of area $R^2\varphi /2$. Angles below $\pi$ give the smaller segment and angles above $\pi$ the larger one.

Coherent demodulation recovers a message by multiplying the received signal by a reference carrier wave of the same frequency and known relative wave phase, then passing the result through a low-pass filter. For the ideal AM model and reference $2\cos ({\omega }_{c}t+\phi )$,A unity-gain ideal low-pass filter passing $0$ and $\Omega$ but rejecting $2{\omega }_c$ and $2{\omega }_c\pm \Omega$ leaves $Aq(t)\cos \phi$. Such a separating cutoff exists because $\Omega <2{\omega }_c-\Omega$. At $\phi =0$, subtraction of $A$ recovers $Am\cos (\Omega t)$ exactly for any finite $m\ge 0$, including overmodulation, provided the transmitter and channel preserve this linear waveform. This is the signed factor, not its absolute value.

A constant phase error scales the recovered message by $\cos \phi$: a $\pi /3$ radian error halves it, and a $\pi /2$ error removes it. A known error with nonzero cosine can be compensated in gain; a frequency mismatch makes the relative wave phase drift and no longer gives constant attenuation. The lecture illustrates synchronous multiplication, filtering and phase error.^[ref]

Apply $R_1$ to a column coordinate vector, then apply $R_2$ in the same fixed basis. The function composition isThus the rightmost matrix acts first. The product is again a rotation matrix, since $(R_2{R}_1{)}^T(R_2{R}_1)=I$ and $\det (R_2{R}_1)=1$. For planar rotations about the same origin, the sine addition formula and cosine addition formula giveFor a concrete composition of rotation matrices, first rotate $(2,0{)}^T$ by $\pi /3$ radians, reaching $(1,\sqrt{3}{)}^T$, then by $\pi /6$ radians:The total angle is $\pi /2$. Reversing these two planar rotations gives the same answer, but noncommuting rotations about fixed axes show why one cannot assume that property for rotations in three dimensions.^[ref]

The continuous-time frequency response is the frequency response of a continuous-time linear time-invariant system. From zero initial state, a BIBO stable system driven by a sustained sinusoid $u(t)=A\cos (\omega t)$ approaches the steady responseAny decaying initial or switching transient is separate. The modulus $|G(i\omega )|$ is the amplitude gain; the complex argument is the shift in oscillation phase. Thus evaluating a transfer function at $s=i\omega$ measures both how much of an oscillation passes through and how far it lags.

For the first-order low-pass filter, with $K>0$, direct complex number arithmetic givesThe phase uses the inverse tangent branch between $-\pi /2$ and $\pi /2$. Low angular frequencies have gain close to $K$ and little lag. High angular frequencies have gain approximately $K/(\omega \tau )$ and lag approaching $\pi /2$. This is why the model is a first-order low-pass filter: it suppresses fast variation compared with slow variation. Rowell relates frequency response gain and phase to poles and then introduces Bode plots in MIT 2.004, lecture 32, sections 1 and 2.

At the corner angular frequency,For $K=2$ and $\tau =3\mathrm{s}$, ${\omega }_c=1/3\mathrm{rad}{\mathrm{s}}^{-1}$, the gain is $\sqrt{2}\approx 1.4142$, and the lag is $45$ degrees. The angular frequency $\omega$ is measured in radians per second; ordinary frequency $f$ is measured in hertz (cycles per second), with $\omega =2\pi f$. Consequently the same corner is $f_c=1/(2\pi \tau )\approx 0.0531\mathrm{Hz}$, not $1/3\mathrm{Hz}$.

For a real angle $\theta$, $\cos \theta$ is the horizontal coordinate on the unit circle reached by a counterclockwise rotation through $\theta$ radians. For an acute angle in a right triangle, it is the adjacent side divided by the hypotenuse. Basic values includeAt $\theta =2\pi /3$, the horizontal coordinate is $-1/2$ even though the vertical sine coordinate remains positive. A positive angle need not produce a positive cosine.

Reflection across the horizontal axis leaves this coordinate unchanged, giving $\cos (-\theta )=\cos \theta$: cosine is an even function. A full turn gives $\cos (\theta +2\pi )=\cos \theta$. For real arguments, its range is $[-1,1]$ and its zeros of a function occur at $\theta =\pi /2+k\pi$. A quarter-turn shifts between the two coordinate traces, with $\cos \theta =\sin (\theta +\pi /2)$.

A damped pendulum is a simple pendulum whose mechanical energy is removed by a resisting torque. Here the model is undriven, with a fixed pivot, a point mass $m>0$ at distance $\ell >0$, uniform gravitational acceleration $g>0$, and resisting torque $-bd\theta /dt$ with constant $b>0$. The angle $\theta$ is measured from the downward vertical in radians. An ideal viscous rotary dashpot realizes this torque law; tangential linear drag $-\alpha v$ on the bob gives the same equation with $b=\alpha {\ell }^2$. The moment of inertia is $m{\ell }^2$, soHere $t$ is physical time, ${\omega }_0$ is the undamped small-amplitude angular frequency, and $\gamma$ has units of inverse time. In the normalized equation $\ddot{\theta }+c\dot{\theta }+\sin \theta =0$, dots mean differentiation with respect to $\tau$, not $t$. The parameter $c$ is dimensionless. This separates the chosen damping law from the small-angle approximation: retaining $\sin \theta$ allows finite angles even when the resisting torque is linear in angular velocity.

To motivate the model, release a pendulum without a push and record how its swing shrinks. A published example by Gintautas and Hubler uses a rotary sensor built from a computer mouse to measure the frequency and damping coefficient of a physical pendulum. ^[ref] The following is a proposed experiment with a chosen viscous rotary dashpot; the plotted observations are predictions, not a reproduction of their measurements.

Mount a compact bob on a light rigid rod with a fixed pivot, couple the pivot to an adjustable viscous rotary dashpot, and measure $\ell$ from the pivot to the bob's centre. First record decay with the dashpot disconnected, then repeat with it connected at several settings; this establishes how much decay is already due to other losses. Keep the bob, rod, camera, and release angle unchanged between these trials. The simple model requires rod and damper-rotor moments of inertia to be negligible compared with $m{\ell }^2$. Otherwise measure the total moment of inertia $I$ and the distance $d$ to the assembly's centre of mass: the physical pendulum equation becomes $I{d}^2\theta /d{t}^2+bd\theta /dt+Mgd\sin \theta =0$, where $M$ is the total moving mass. A damper that also exerts an elastic restoring torque would require another term.

Place a camera perpendicular to the swing plane, include the pivot and bob centre in every frame, and determine their coordinates relative to the resting vertical. For horizontal and downward separations $x,y$, use $\theta =atan2(x,y)$; record the frame timestamps rather than assuming a frame rate. Release from rest at about $10^{\circ }$, record through several complete swings, and repeat the release. For every same-side turning point, tabulate its time $t_n$ and angular amplitude $A_n=|\theta (t_n)|$. Measure the oscillation period from differences $t_{n+1}-t_n$; comparing several periods exposes drift. Interpolating around each observed extremum reduces frame discretization error. Check that late peaks still exceed the angular resolution; taking the natural logarithm of tiny, uncertain peaks amplifies their relative errors.

In the small-angle approximation, the damped pendulum becomes a damped harmonic oscillator. For $0<\gamma <2{\omega }_0$ and release from rest at ${\theta }_0$, its exact linear-model solution isThe decaying sinusoidal envelope has coefficient $|{\theta }_0|{\omega }_0/{\omega }_d$; because release is from rest, its successive same-side extrema occur at $t_n=n{T}_d$ and have $A_n=|{\theta }_0|e^{-\gamma n{T}_d/2}$. Thus the envelope and the sequence of actual peak heights are different descriptions of the same trace. The linear damping regimes and this solution are derived in Richard Fitzpatrick, Damped Oscillatory Motion, equations 82–93.

The experiment tests two predictions independently: nearly equal same-side peak spacing and a straight line when plotting $\ln (A_n/A_0)$ against $t_n-t_0$. Its predicted slope is $-\gamma /2$, givingUse several peaks and repeated trials rather than a single ratio, and compare the frequency identity with independently measured $\ell$ and $g$. For the illustrative choices $\ell =1.00\mathrm{m}$, $g=9.81m/{\mathrm{s}}^2$, $c=0.20$, and ${\theta }_0=10^{\circ }$, the linear model gives $\gamma \approx 0.6264{\mathrm{s}}^{-1}$, $T_d\approx 2.0162\mathrm{s}$, and $A_{n+1}/A_n\approx 0.5318$. The first two positive peaks after release are therefore approximately $5.318^{\circ }$ and $2.828^{\circ }$. The undamped small-amplitude oscillation period is about $2.0061\mathrm{s}$: substantial loss per swing need not imply a large change in period.

Repeat at a larger release angle to distinguish two limitations. The relative error in replacing $\sin \theta$ by $\theta$ is about ${\theta }^2/6$ for small angles: about $0.51\%$ at $10^{\circ }$, but about $17.3\%$ at $60^{\circ }$ when compared with $\theta$. Finite-amplitude swing spacing can therefore change as the swing shrinks even if $b$ is constant. Separately, friction at the pivot or quadratic drag can invalidate the assumed linear resisting torque; exponential peak decay should be checked, not imposed on all recorded motion. Peters discusses why real pendulum damping can require nonlinear terms. ^[ref] Repeatability, residual pivot motion, changes in damper temperature, and finite camera resolution are useful checks on this proposed measurement.

The normalized equilibrium points are $(\theta ,\dot{\theta })=(k\pi ,0)$. Even multiples of $\pi$ are attracting: their linearization has eigenvalues $(-c\pm \sqrt{c^2-4})/2$, giving a stable focus for $0<c<2$, repeated negative eigenvalues at $c=2$, and a stable node for $c>2$. These are the underdamped, critically damped, and overdamped small-displacement regimes. Odd multiples of $\pi$ have eigenvalues $(-c\pm \sqrt{c^2+4})/2$ of opposite signs and are saddle equilibria. The energy dissipation of a damped pendulum explains why trajectories in the phase portrait spiral inward near a stable focus instead of closing into the recurring orbit of an undamped simple pendulum.

Declination $\delta$ is the signed angle from the reference celestial equator to a direction, measured along its hour circle: $-90^{\circ }\le \delta \le +90^{\circ }$. Positive declination means celestial north, rather than necessarily north of the observer's zenith. A direction with $\delta =0$ lies on the celestial equator; $\delta =+90^{\circ }$ is the north reference celestial pole. Declination is an angle, not a height or a measure of Euclidean distance. ^[ref].

The connection to an observation follows from a dot product. In the elementary spherical-Earth, unrefracted model, an observer at geographical latitude $\varphi$ has zenith direction $\mathbf{z}=(\cos \varphi \cos \Theta ,\cos \varphi \sin \Theta ,\sin \varphi )$ in the same reference axes. Since $\mathbf{n}\cdot \mathbf{z}=\sin a$ for altitude $a$, the cosine addition formula givesAt upper meridian transit, $H=0$, so $a_{\mathrm{upper}}=90^{\circ }-|\varphi -\delta |$. For the synthetic site $\varphi =52^{\circ }$ and synthetic direction $\delta =20^{\circ }$, this yields $a_{\mathrm{upper}}=58^{\circ }$. A direction with $\delta =70^{\circ }$ instead reaches $72^{\circ }$, north of the zenith; positive declination does not imply a crossing on the southern half of the celestial meridian. A negative computed upper altitude means the direction never rises above the geometric astronomical horizon at that site.

For an angular readout, define signed zenith distance $z_s$ on the upper celestial meridian, positive toward the south and negative toward the north. Then $\delta =\varphi -z_s$. A synthetic southward readout $z_s=32^{\circ }$ at $\varphi =52^{\circ }$ recovers $\delta =20^{\circ }$. An unsigned distance $|z_s|$ alone would leave two possibilities, $\varphi \pm |z_s|$, when both are in range. A calibrated optical telescope must therefore record which side of the zenith it points toward. In this linear relation, a $1^{\prime }$ error in the assumed geographical latitude produces a $1^{\prime }$ error in inferred declination; averaging repeated readings cannot remove that shared offset. Near the astronomical horizon, uncorrected atmospheric refraction also invalidates the geometric readout.

The unit vector construction explains a subtle feature of sky maps. At fixed declination, changing right ascension traces a parallel whose radius on the unit sphere is $\cos \delta$. Its arc length is $\cos \delta |d\alpha |$, with angles in radians; at $\delta =60^{\circ }$, a $15^{\circ }$ right ascension increment spans a $7.5^{\circ }$ arc along that parallel. This arc is not generally the shortest great circle separation. At either celestial pole, all right ascension values represent the same direction: the coordinate singularity belongs to the coordinate grid. The unit vector remains regular there.