Preface vii 1 Introduction to Newtonian Mechanics 1.1 Introduction 1 1.2 Units and Dimensions 2 1.3. Newton’s Laws and Inertial Systems 5 14 Inertial and Noninertial Systems: Noninertial Forces 7 1.5. Simple Applications of Newton's Laws 9 1.6 Motion in a Circle and Gravitation 17 Problems 23 Suggestions for Further Reading 27 2 Particle Dynamics in One Dimension 2.1 Introduction 28 2.2 Constant Applied Force: F = constant 30 2.3. Time Dependent Force: F = F(f) 31 24 — Velocity Dependent Force: F = F(x) 35 25 — Position Dependent Forces: F = F(x), Conservative Forces, and Potential Energy 44 2.6 — Motion under a Linear Restoring Contents Force 49 27 3.1 3.2 3.3 34 35 3.6 3.7 38 39 41 4.2 43 44 45 Variation of g in a Gravitational Field 51 Problems 54 Suggestions for Further Reading $7 Harmonic Oscillators Introduction 58 Linear and Nonlinear Oscillations 58 Linear Harmonic Oscillator 62 Damped Harmonic Oscillator 70 Quality Factor 82 Forced Harmonic Oscillator (Driven Oscillator) 85 Amplitude Resonance 92 Energy Resonance 98 Rate of Energy Dissipation 99 Problems 100 Suggestions for Further Reading 103 Oscillating Systems Introduction 104 Harmonic Oscillators in Electrical Cireuits 105 Principle of Superposition and Fourier Series 110 Harmonic Motion and Green’s Function 115 Nonlinear Oscillating Systems 1224.6 S.L $.2 5.3 54 5.5 5.6 57 5.8 59 64 65 6.6 67 68 69 7A 72 93 74 2S 76 Qualitative Discussion of Motion and Phased Diagrams 127 Problems 134 Suggestions for Further Reading 138 Vector Analysis, Vector Operators, and Transformations Introduction 139 Vector Properties 139 Vector Addition: Analytical Treatment 141 Scalar and Vector Products of Vectors 145 Unit Vectors or Base Vectors 151. Directionai Cosines 155 Vector Calculus 158 Vector Differential Operators: Gradient, Divergence, and Curl 164 Coordinate Transformations 176 Problems 183 Suggestions for Further Reading 187 Motion in Two and Three Dimensions Introduction 188 Different Coordinate Systems 188 Kinematics in Different Coordinate Systems 194 Del Operator in Cylindrical and Spherical Coordinates 204 Potential Energy Function 205 Torque 213 Dynamics in Three Dimensions 215 Harmonic Oscillators in Two and Three Dimensions 217 Projectile Motion 225 Problems 231 Suggestions for Further Reading 237 Central Force Introduction 238 Central Force and Potential Energy 238 Central Force Motion as a One-Body Problem 241 General Properties of Motion under a Central Force 244 Equations of Motion 249 General Force Field Orbits and Effective Potential 253 V7 78 79 7.10 Orbits in an Inverse Square Force Field 264 Kepler's Laws of Planetary Motion 274 Perturbed Circular Orbits: Radial Oscillations about a Circular Orbit 277 Orbital Transfers: Gravitational Boost and Braking 281 Problems 285 Suggestions for Further Reading 290 8 System of Particles: Conservation Laws and c 81 8.2 83 84 85 8.6 8.7 88 89 8.10 ions Tatroduction 291 System of Particles and Center of Mass 291 Conservation of Linear Momentum — 293 Conservation of Angular Momentum 297 Conservation of Energy 298 Motion of Systems with Variable Mass: Rockets and Conveyor Belts 301 Elastic Collisions and Conservation Laws 308 Tnelastic Collisions 314 ‘Two-Body Problems in Center-of-Mass Coordinate System 317 Collisions in Center-of-Mass Coordinate System 320 An Inverse Square Repulsive Force; Rutherford Scattering 324 Problems 331 Suggestions for Further Reading 337 9 Rigid Body Motion: I OL 9.2 93 94 95 9.6 oF 98 9.9 9.10 OAL 9.12 Introduction 338 Description of a Rigid Body 338 Center of Mass of a Rigid Body 341 Rotation about an Axis 345 Calculation of Moment of Inertia 349 Simple Pendulum 358 Physical Pendulum 362 Center of Percussion 364 Deformable Continua 367 Equilibrium of Rigid Bodies 372 Equilibrium of Physical Cables and Strings 373 Equilibrium of Solid Beams 378 Problems 379 Suggestions for Further Reading 386*0 Gravitational Force and Potential 20. Introduction 387 10.2 Newton's Universal Law of Gravitation 387 10.3. Gravitational Field and Gravitational Potential 391 . 10.4 Lines of Force and Equipotential Surfaces 394 10.5 Calculation of Gravitational Force and Gravitational Potential 399 10.6 Gauss'sLaw 412 10.7 Gravitational Field Equations 417 Problems 419 Suggestions for Further Reading 424 11 Nonlinear Coordinate Systems iL Introduction 425 11.2. Translating Coordinate Systems 425 11.3. Rotating Coordinate Systems 429 11.4 Description of Motion on the Rotating Earth 437 11.5 Foucault Pendulum 447 11.6 Horizontal Wind Circulations: Weather Systems 453 Problems 457 Suggestions for Further Reading 462 12 Lagrangian and Hamiltonian ~ Dynamics 12.4 Introduction 463 12.2 Generalized Coordinates and Constraints 464 12.3 Generalized Forces 466 12.4 Lagrange’s Fquations of Motion for a Single Particle 468 12.5 Lagrange’s Equations of Motion for a System of Particles 477 12,6 Lagrange’s Equations of Motion with Underermined Multipliers and Constraints 481 12.7 Generalized Momenta and Cyclic (or Ignorable) Coordinates 487 12.8 Hamiltonian Functions: Conservation Laws and Symmetry Principles 489 12.9 Hamiltonian Dynamics: Hamilton’s Equations of Motion 495 Problems 500 Suggestions for Further Reading 509 13 Rigid Body Motion: II 13.1 Introduction 510 13.2 Angular Momentum and Kinetic Energy 510 13.3 Inertia Tensor 516 134 Moment of Inertia for Different Body Systems (Steiner Theorem) 521 13.5 Principal Moment of Inertia and Princip Axes 526 13.6 Inertia Ellipsoid $33 13.7 More About the Properties of the Inertia Tensor 535 13.8 Bulerian Angles 542 13.9 Buler’s Equations of Motion for a Rigid Body 545 13.10 Force Free Motion of a Symmetrical Top 546 13.11 Motion of a Symmetrical Top with One Point Fixed (the Heavy Top) 5952 Problems $58 Suggestions for Further Reading 564 14 Theory of Small Oscillations and Coupled Oscillators 14.1 Introduction 566 14.2 Equilibrium and Potential Energy 566 14.3. Two Coupled Oscillators and Normal Coordinates 570 14.4 Theory of Small Oscillations 576 14.5 Small Oscillations in Normal Coordinates 581 14.6 Tensor Formulation for the Theory of Small Oscillations 583 14.7 Sympathetic Vibrations and Beats 596 14.8 Vibration of Molecules 602 14.9 Dissipative Systems and Foreed Oscillations 604 Problems 607 Suggestions for Further Reading 613 15 Vibrating Strings and Fluids 15.1 Introduction 614 15.2 Vibrating String 614 15.3. Wave Propagation in General 624 15.4 Lagrange Formulation of a Vibrating String: Energy and Power 629 15.5. System of Particles: The Loaded String 632 15.6 Behavior of a Wave at Discoutinuity: Energy Flow 642