Cinemtica de la partcula

Javier Junquera

Bibliografa

FUENTE PRINCIPAL Fsica, Volumen 1, 3 edicin

Raymod A. Serway y John W. Jewett, Jr. Ed. Thomson ISBN: 84-9732-168-5 Captulos 2 y 3

Fsica para Ciencias e Ingeniera, Volumen 1, 7 edicin

Raymod A. Serway y John W. Jewett, Jr. Cengage Learning ISBN 978-970-686-822-0 Captulos 2 y 4

Fsica, Volumen 1
R. P. Feynman, R. B. Leighton, y M. Sands Ed. Pearson Eduacin ISBN: 968-444-350-1 Captulo 8

Definicin de dinmica y cinemtica

Dinmica:
Estudio del movimiento de un objeto, y de las relaciones de este movimiento con conceptos fsicos tales como la fuerza y la masa.

Cinemtica:
Estudio del movimiento, usando los conceptos de espacio y tiempo, sin tener en cuenta las causas que lo producen.

Definicin de vector posicin y desplazamiento

Posicin de una partcula se describe con un vector posicin , que dibujamos desde el origen de un sistema de referencia hasta la ubicacin de la partcula.

Desplazamiento es el cambio del vector de posicin de un objeto. El desplazamiento es una magnitud relativa: depende del sistema de referencia escogido

Definicin de traslacin, rotacin y vibracin

Traslacin: las posiciones de todas las partculas del cuerpo se desplazan una misma cantidad.

Rotacin: el movimiento de cambio de orientacin de un slido extenso de forma que, dado un punto cualquiera del mismo, este permanece a una distancia constante de un punto fijo.

Vibracin: oscilacin en torno a una posicin de equilibrio

Definicin de velocidad y celeridad

Velocidad: cambio de la posicin de un objeto por unidad de tiempo Magnitud vectorial (tiene mdulo, una direccin y sentido)

Celeridad: mdulo del vector velocidad en un instante concreto (mdulo de la velocidad instantnea). (al ser un mdulo, su valor es siempre positivo).

Definicin de celeridad media

Para una partcula que recorre una distancia d en un intervalo de tiempo su celeridad media se define como ,

La celeridad media no es un vector, no lleva asociada una direccin. Unidades: (espacio/tiempo)

Definicin de velocidad media de una partcula (una dimensin)

Movimiento de una partcula queda totalmente especificado si conocemos su posicin en el espacio en todo instante

Grfica de posicin-tiempo o grfica de posicin como funcin del tiempo

Definicin de velocidad media de una partcula (una dimensin)

Grfica de posicin-tiempo o grfica de posicin como funcin del tiempo

En el intervalo de tiempo

El desplazamiento de la partcula se describe como

Velocidad media

Propiedades de la velocidad media de una partcula (1D)

Velocidad media

Es independiente del recorrido que siga la partcula entre los dos puntos (es proporcional al desplazamiento que slo depende de las posiciones inicial y final) El mdulo de la velocidad media no es la celeridad media

Interpetracin grfica de la velocidad media de una partcula

Grfica de posicin-tiempo o grfica de posicin como funcin del tiempo

Velocidad media

La velocidad media de la partcula durante el intervalo de tiempo que va desde ti hasta tf es igual a la pendiente de la lnea recta que une los puntos incial y final en la grfica posicin-tiempo

Interpetracin grfica de la velocidad media de una partcula

Grfica velocidad en funcin del tiempo

Dividimos el intervalo de tiempo en pequeos incrementos de duracin Asumimos que la velocidad es constante durante cada uno de esos pequeos incrementos Desplazamiento en cada uno de esos pequeos incrementos Desplazamiento total
rea de uno de los rectngulos estrechos

Interpetracin grfica de la velocidad media de una partcula

Grfica velocidad en funcin del tiempo

Desplazamiento total Tomando lmites

El desplazamiento de una partcula durante el intervalo de tiempo que va desde ti hasta tf es igual al rea situada bajo la curva entre los puntos inicial y final en la grfica velocidad-tiempo

Transicin de velocidad media a velocidad instantnea

Velocidad media calculada en el intervalo que va desde A hasta B

Velocidad media calculada en el intervalo que va desde A hasta F

Cul de estas dos lneas representa mejor la velocidad instantnea en el puno A?

Transicin de velocidad media a velocidad (una dimensin)

Velocidad media calculada en el intervalo que va desde A hasta B Pendiente positiva (al menos el signo est bien)

Velocidad media calculada en el intervalo que va desde A hasta F Pendiente negativa => Velocidad media negativa (contrario al sentido de la velocidad en el punto A, en el que el coche se mueve hacia la derecha)

Velocidad instantnea de una partcula (una dimensin)

S E C T I O N 2 . 2 Instantaneous Velocity and Speed 29 60 40 x(m)

60

20 0 20 40 60

40

0 10 20 30 (a) 40 50 t(s)

(b)

Cmo cambia la velocidad media del coche a medida que el punto B se aproxima al A? La lnea azul se aproxima a la lnea verde (tangente a la curva en el punto A) La pendiente de lnea tangente representa la at velocidad del coche justo en el momento en el What we esta have done is determine the instantaneous velocity that moment. In other limiting value ofdatos the ratio x t A). words, the instantaneous velocity vx equals the a cul comenzamos tomar los (punto
as t approaches zero:1 represents the velocity of the car at the moment we started taking data, at point .
At the Active Figures link at http://www.pse6.com, you can move point as suggested in (b) and observe the blue line approaching the green tangent line.

Active Figure 2.3 (a) Graph representing the motion of the car in Figure 2.1. (b) An enlargement of the upper-left-hand corner of the graph shows how the blue line between positions and approaches the green tangent line as point is moved closer to point .

Velocidad instantnea de una partcula (una dimensin)

S E C T I O N 2 . 2 Instantaneous Velocity and Speed 29 60 40 x(m)

60

20 0 20 40 60

40

0 10 20 30 (a) 40 50 t(s)

(b)

Active Figure 2.3 (a) Graph representing the motion of the car in Figure 2.1. (b) An enlargement of the upper-left-hand corner of the graph shows how the blue line between positions and approaches the green tangent line as point is moved closer to point .

At the Active Figures link at http://www.pse6.com, you can move point as suggested in (b) and observe the blue line approaching the green tangent line.

Velocidad instantnea de una partcula en una dimensin

represents the velocity of the car at the moment we started taking data, at point . What we have done is determine the instantaneous velocity at that moment. In other La velocidad instantnea puede ser positiva, negativa words, the instantaneous velocity vx equals the limiting value of the ratio x t as t approaches zero:1

o cero

Velocidad instantnea de una partcula (una dimensin)

La celeridad instantnea de una partcula se define como el mdulo del vector velocidad instantnea

La celeridad instantnea siempre es positiva

La celeridad instantnea no tiene direccin asociada y, por lo tanto, no tiene signo algebraico

Modelo analtico para el movimiento rectilneo y uniforme

Si la velocidad de la partcula es constante, su velocidad instantnea en cualquier momento de un determinado intervalo de tiempo es igual a la velocidad media en dicho intervalo

Si ahora tomamos la definicin de velocidad media

Si

Representacin grfica para el movimiento rectilneo y uniforme

Si y

Definicin de aceleracin
Cuando la velocidad de una partcula vara con el tiempo, se dice que est sometida a una aceleracin.

La velocidad es una magnitud vectorial, que tiene un mdulo, una direccin y un sentido

Por lo tanto, el cambio en la velocidad, puede ser un cambio en: 1. En el mdulo (ejemplo, al pisar el acelerador o el freno) 2. En la direccin o el sentido (ejemplo, al girar el volante)

Definicin de aceleracin media en 1D

Supongamos una partcula que se mueve a lo largo del eje x vara su velocidad Instante Velocidad

Aceleracin media

El mdulo de la aceleracin tiene dimensiones de longitud/tiempo2

Definicin de aceleracin instantnea en 1D

En algunas situaciones, la aceleracin media puede ser diferente para diferentes intervalos de tiempo. Entonces es conveniente definir la aceleracin instantnea.

Pendiente de la grfica velocidad con respecto del tiempo

Tambin puede definirse como la derivada segunda del espacio con respecto al tiempo

Modelo analtico para el movimiento rectilneo, uniformemente acelerado

Si la aceleracin de la partcula es constante, su aceleracin instantnea en cualquier momento de un determinado intervalo de tiempo es igual a la aceleracin media en dicho intervalo

Si ahora tomamos la definicin de aceleracin media

Si

Representacin grfica para el movimiento rectilneo y uniformememente acelerado

36 C H A P T E R 2 Motion in One Dimension

x Slope = vx f

2.5 One-Dimensional Motion with Con Acceleration

xi Slope = vx i 0 (a) vx Slope = ax axt vx i vx i 0 (b) ax Slope = 0 ax 0 (c) Active Figure 2.10 A particle moving along the x axis with constant acceleration ax; (a) the posit t vx f t t t

If the acceleration of a particle varies in time, its motion can be analyze. However, a very common and simple type of one-dimen which the acceleration is constant. When this is the case, the aver any time interval is numerically equal to the instantaneous accel within the interval, and the velocity changes at the same rate throu If we replace ax by ax in Equation 2.6 and take ti 0 and tf t nd that ax or vxf vxi a xt (for constant a x) vxf vxi t0

This powerful expression enables us to determine an objects ve know the objects initial velocity vxi and its (constant) accelera graph for this constant-acceleration motion is shown in Figure straight line, the (constant) slope of which is the acceleration a the fact that ax dvx/dt is a constant. Note that the slope is p positive acceleration. If the acceleration were negative, then t Figure 2.10b would be negative. When the acceleration is constant, the graph of acceler 2.10c) is a straight line having a slope of zero. Because velocity at constant acceleration varies linearly in t tion 2.9, we can express the average velocity in any time int mean of the initial velocity vxi and the nal velocity vxf : vx vxi vxf 2 (for constant a x)

Interpetracin grfica de la velocidad media de una partcula

Grfica velocidad en funcin del tiempo

Desplazamiento total Tomando lmites

El desplazamiento de una partcula durante el intervalo de tiempo que va desde ti hasta tf es igual al rea situada bajo la curva entre los puntos inicial y final en la grfica velocidad-tiempo

Desplazamiento como funcin del tiempo en el movimiento rectilneo uniformemente acelerado

El desplazamiento de una partcula durante el intervalo de tiempo que va desde ti hasta tf es igual al rea situada bajo la curva entre los puntos inicial y final en la grfica velocidad-tiempo

Velocidad media en el movimiento rectilneo uniformemente acelerado

Como

Velocidad media de una partcula con aceleracin constante

Posicin como funcin del tiempo en el movimiento rectilneo uniformemente acelerado

Si

Posicin como funcin del tiempo en el movimiento rectilneo uniformemente acelerado

Si y

Sustituyendo el valor de la velocidad final como funcin de la aceleracin y del tiempo

Posicin como funcin del tiempo en el movimiento rectilneo uniformemente acelerado

Despejando el valor del tiempo

Como conocer la aceleracin cuando la velocidad depende de la posicin

Resumen del movimiento rectilneo uniformemente acelerado

Dimension

Table 2.2
Kinematic Equations for Motion of a Particle Under Constant Acceleration
Equation vxf vxi a xt xf xi 1 (v vxf )t 2 xi x f x i vxi t 1 a t2 2 x v xf 2 v xi 2 2a x(x f x i)
Note: Motion is along the x axis.

Information Given by Equation Velocity as a function of time Position as a function of velocity and time Position as a function of time Velocity as a function of position

acceleration, together with some simple algebraic manipulations and the require that the acceleration be constant. The four kinematic equations used most often are listed in Table 2.2 for c

Cada libre de objetos

Un objeto en cada libre es un objeto que se mueve nicamente bajo la influencia de la gravedad, independientemente de su estado de movimiento inicial.

En los problemas vamos a suponer que: 1. La resistencia del aire puede ser ignorada. 2. La aceleracin de cada libre es constante, mdulo sobre la superficie de la Tierra g = 9.80 m/s2 dirigida hacia el centro de la Tierra (hacia abajo).

Curiosidades: mdulo sobre la superficie de la Luna g = 1.67 m/s2 mdulo sobre la superficie del Sol g = 274 m/s2

ing the basics of two-dimensional motion will allow us to exa Movimiento en tres dimensiones. wide variety of motions, ranging from the motion of satelli Vectores posicin y desplazamiento electrons in a uniform electric eld. We begin by studying

In this chapter we explore the kinematics of a particle movi

nature position, velocity, and acceleration. Objetivo: conocer la posicin deof una partcula como funcin del tiempoAs in the case

we derive the kinematic equations for two-dimensional m denitions of these three quantities. We then treat projectile motion as special cases of motion in two dimensions. We relative motion, which shows why observers in different fram Vector posicin: es el vector que describe la posicin de una partcul positions, andde accelerations forla a ubicaci given p Se different dibuja desde el origenvelocities, de un sistema referencia hasta
de la partcula.

ti
ri rf O

tf
Path of particle x

4.1 The Position, Velocity, and Acceleration Vectors

In Chapter 2 we found that the motion of a particle mo completely known if its position is known as a function of Figure 4.1 A particle moving in idea to motion in the xy plane. We begin by describing th the plane is located de with the posiEl xy desplazamiento una partcula es la diferencia entre su posicin final y su posicin position vector r, drawn from the origin of some inicial coordin tion vector r drawn from the origin cated in the xy plane, as in Figure 4.1. At time ti the particl to the particle. The displacement of position vector ri. At some later time tf it is at point , de the particle as it moves from to

ing the basics of two-dimensional motion will allow us to exa Movimiento en tres dimensiones. wide variety of motions, ranging from the motion of satelli Vectores posicin y desplazamiento electrons in a uniform electric eld. We begin by studying

In this chapter we explore the kinematics of a particle movi

nature position, velocity, and acceleration. Objetivo: conocer la posicin deof una partcula como funcin del tiempoAs in the case

we derive the kinematic equations for two-dimensional m denitions of these three quantities. We then treat projectile motion as special cases of motion in two dimensions. We relative motion, which shows why observers in different fram different positions, velocities, and accelerations for a given p

ti
ri rf O

tf
Path of particle x

4.1 The Position, Velocity, and Acceleration Vectors

In Chapter 2 we found that the motion of a particle mo completely known if its position is known as a function of Figure 4.1 A particle moving in idea to motion in the xy plane. We begin by describing th the xy plane is located with the posiNotad como la magnitud del desplazamiento inferior la distancia recorrida la partcula positiones vector r, a drawn from the originpor of some coordin tion vector r drawn from the origin en su cated in trayectoria the xy plane, as in Figure 4.1. At time ti the particl to the particle. The displacement of position vector ri. At some later time tf it is at point , de the particle as it moves from to

ing the basics of two-dimensional motion will allow us to exa Movimiento en tres dimensiones. variety of motions, ranging from the motion of satelli Vector velocidad media wide electrons in a uniform electric eld. We begin by studying

In this chapter we explore the kinematics of a particle movi

nature position, velocity, and acceleration. Objetivo: conocer la posicin deof una partcula como funcin del tiempoAs in the case

we derive the kinematic equations for two-dimensional m denitions of these three quantities. We then treat projectile motion as special cases of motion in two dimensions. We relative motion, which shows why observers in different fram Vector velocidad media de la partcula durante el intervalo de tiempo different positions, velocities, and accelerations for a intervalo given p se define como el cociente entre el vector desplazamiento y el
de tiempo

ti
ri rf O

tf
Path of particle x

4.1 The Position, Velocity, and Acceleration Vectors

In Chapter 2 we found that the motion of a particle mo completely known if its position is known as a function of Figure 4.1 A particle moving in idea to motion in the xy plane. We begin by describing th the xyvelocidad plane is located with the posiLa media es una magnitud vectorial, con la r misma direccin que el desplazamiento. position vector , drawn from the origin of some coordin tion vector r drawn from the origin cated in the xy plane, as in Figure 4.1. At time ti the particl Es independiente to the particle. The displacement of de la trayectoria entre los puntos inicial y final. position vector ri. At some later time tf it is at point , de the particle as it moves from to

ing the basics of two-dimensional motion will allow us to exa Movimiento en tres dimensiones. variety of motions, ranging from the motion of satelli Vector velocidad media wide electrons in a uniform electric eld. We begin by studying

In this chapter we explore the kinematics of a particle movi

nature position, velocity, and acceleration. Objetivo: conocer la posicin deof una partcula como funcin del tiempoAs in the case

we derive the kinematic equations for two-dimensional m denitions of these three quantities. We then treat projectile motion as special cases of motion in two dimensions. We relative motion, which shows why observers in different fram different positions, velocities, and accelerations for a given p

ti
ri rf O

tf
Path of particle x

El vector velocidad media es independediente de la trayectoria entre los puntos inicial y final (es proporcional al desplazamiento, que slo depende de los puntos inicial y final)

4.1 The Position, Velocity, and Acceleration Vectors

In Chapter 2 we found that the motion of a particle mo completely known if its position is known as a function of partcula comienza su movimiento en un determinado punto, y al cabo de un Figure Si 4.1una A particle moving in idea to motion in the xy plane. We begin by describing th tiempo vuelve a the eseposipunto despus de vector haber recorrido cierta su coordin the xy plane is located with position r, drawnuna from the trayectoria, origin of some velocidad media es cero porque su desplazamiento es cero. tion vector r drawn from the origin cated in the xy plane, as in Figure 4.1. At time ti the particl Sin embargo, su celeridad media no es nula. to the particle. The displacement of position vector ri. At some later time tf it is at point , de the particle as it moves from to

Movimiento en tres dimensiones. Vector velocidad instantnea

y

Multiplying or dividing a vector quantity by a positive scalar quantity such as t changes only the magnitude of the vector, not its direction. Because displacement is a vector quantity and the time interval is a positive scalar quantity, we conclude that the average velocity is a vector quantity directed along r. Note that the average velocity between points is independent of the path taken. This is because average velocity is proportional to displacement, which depends only on the Objetivo: conocer initial la posicin unavectors partcula como funcin del and nal de position and not on the path taken. Astiempo with one-dimensional motion, we conclude that if a particle starts its motion at some point and returns to this point via any path, its average velocity is zero for this trip because its displacement Vector velocidad instantnea se define como el lmite de la velocida Direction of v at is zero. Figure 4.2 suggests such a situation in a baseball park. When a batter hits a media cuando el intervalo de tiempo en el que se mide tiende a cero home run, he runs around the bases and returns to home plate. Thus, his average velocity is zero during this trip. His average speed, however, is not zero. Consider again the motion of a particle between two points in the xy plane, as shown in Figure 4.3. As the time interval over which we observe the motion becomes smaller and smaller, the direction of the displacement approaches that of the line tanr1 r2 r3 gent to the path at . The instantaneous velocity v is dened as the limit of the average velocity r/t as t approaches zero:

"

'

v lim

t : 0

r dr t dt

(4.3)

El

That is, the instantaneous velocity equals the derivative of the position vector with x respect to time. The direction of the instantaneous velocity vector at any point in a parO ticles path is along a line tangent to the path at that point and in the direction of Figure 4.3 As a particle moves beLa direccin del vector motion. instantnea en cualquier punto de la trayectoria de una tween two points, its average veloc- velocidad The magnitude of the instantaneous vector v ese v is punto. called the speed, ity is inpartcula the direction of the dis-determinado viene por la lnea tangente a lavelocity trayectoria en placement vector r. As the end which is a scalar quantity. point of the path is moved from sentido del vector velocidad instantnea viene determinado por la direccin del As a particle moves from one point to another along some path, its movimiento. instantaneous to to , the respective disvelocity vector changes from vi at time ti to vf at time tf . Knowing the velocity at these placements and corresponding El mdulo del vector velocidad instantnea se le conoce celeridad instantnea. points allows us to determine the average como acceleration of the particle the average time intervals become smaller and acceleration a of a particle as it moves is dened as the change in the instantaneous smaller. In the limit that the end

Movimiento en tres dimensiones. Vector aceleracin media

Objetivo: conocer la posicin de una partcula como funcin del tiempo

sions

vf vi

Vector aceleracin media en un intervalo de tiempo

se define como el cociente en la variacin de la velocidad instantnea y el intervalo de tiempo
or vi vf v

vi

ri rf

vf

Figure 4.4 A particle moves from position to position . Its velocity vector changes from vi to vf. The vector diagrams at the upper right show two ways of determining the vector v from the initial and nal velocities.

La aceleracin es una magnitud vectorial, Because a is the ratio of a vector quantity v media and a positive scalar quantity t, we concon la is misma direccin que el cambio en laindicated velocidad. clude that average acceleration a vector quantity directed along v . As in Figure 4.4, the direction of v is found by adding the vector vi (the negative of vi) to the vector vf , because by denition v vf vi. When the average acceleration of a particle changes during different time inter-

Movimiento en tres dimensiones. Vector aceleracin instantnea

Objetivo: conocer la posicin de una partcula como funcin del tiempo

sions

vf vi

Vector aceleracin instantnea se define como el

vi

or

lmite del cociente entre el cambio en la posicin y el intervalo de tiempo, cuando el intervalo de tiempo tiende a cero.
vi vf v

ri rf

vf

Figure 4.4 A particle moves from position to position . Its velocity vector changes from vi to vf. The vector diagrams at the upper right show two ways of determining the vector v from the initial and nal velocities.

aceleracin es una magnitud Because a is the ratio of La a vector quantity instantnea v and a positive scalar quantity vectorial. t, we conclude that average is a vector directed along como v. As en indicated in El cambio en la acceleration velocidad puede serquantity tanto en su mdulo su direccin o en el sentido. Figure 4.4, the direction of v is found by adding the vector vi (the negative of vi) to the vector vf , because by denition v vf vi. When the average acceleration of a particle changes during different time inter-

Movimiento uniformemente acelerado en tres dimensiones.

Objetivo: conocer la posicin de una partcula como funcin del tiempo Supongamos que una partcula se mueve en el espacio con aceleracin constante. Tanto el mdulo, como la direccin y el sentido son constantes.

Si el vector posicin es conocido, podemos conocer el vector velocidad sin ms que tomar la derivada

A no ser que se especifique otra cosa, supondremos que los vectores unitarios permanecen constantes con el tiempo

Movimiento uniformemente acelerado en tres dimensiones.

Objetivo: conocer la posicin de una partcula como funcin del tiempo Supongamos que una partcula se mueve en el espacio con aceleracin constante. Tanto el mdulo, como la direccin y el sentido son constantes.

Modelo analtico para el movimiento rectilneo, uniformemente acelerado

Si la aceleracin de la partcula es constante, su aceleracin instantnea en cualquier momento de un determinado intervalo de tiempo es igual a la aceleracin media en dicho intervalo

Si ahora tomamos la definicin de aceleracin media

Si

Movimiento uniformemente acelerado en tres dimensiones.

Objetivo: conocer la posicin de una partcula como funcin del tiempo Supongamos que una partcula se mueve en el espacio con aceleracin constante. Tanto el mdulo, como la direccin y el sentido son constantes.

Aplicando esta ecuacin para cada una de las componentes

En notacin vectorial

Posicin como funcin del tiempo en el movimiento rectilneo uniformemente acelerado

Si y

Sustituyendo el valor de la velocidad final como funcin de la aceleracin y del tiempo

Movimiento uniformemente acelerado en tres dimensiones.

Objetivo: conocer la posicin de una partcula como funcin del tiempo Supongamos que una partcula se mueve en el espacio con aceleracin constante. Tanto el mdulo, como la direccin y el sentido son constantes.

Aplicando esta ecuacin para cada una de las componentes

Movimiento uniformemente acelerado en tres dimensiones.

Objetivo: conocer la posicin de una partcula como funcin del tiempo Supongamos que una partcula se mueve en el espacio con aceleracin constante. Tanto el mdulo, como la direccin y el sentido son constantes.

En notacin vectorial

Resumen del movimiento uniformemente acelerado en 3D

which is the vector version of Equation 2.12. This equation tells us that the position vector rf is the vector sum of the original position ri, a displacement vit arising from the initial velocity of the particle and a displacement 1 at 2 resulting from the constant 2 acceleration of the particle. Graphical representations of Equations 4.8 and 4.9 are shown in Figure 4.5. Note from Figure 4.5a that vf is generally not along the direction of either vi or a because the relationship between these quantities is a vector expression. For the same reason,

time

ayt vyf vyi

vf

at

yf

1 a t2 2 y

rf

1 at 2 2

vi vxi axt

vyit x yi xi ri

vit x vxit
1 a t2 2 x

Un

At the Active Fig vxf at http://www.pse6.co xf can investigate the e (a) (b) different initial positi velocities on the na Active Figure 4.5 Vector representations and components of (a) the velocity and (b) the posiand velocity (for cons tion of a particle moving with a constant acceleration a . acceleration). movimiento en tres dimensiones con aceleracin constante es equivalente

a tres movimientos independientes en las direcciones x, y, y z con aceleraciones constantes ax, ay, y az.

Tiro parablico: aproximaciones fundamentales

La aceleracin de cada libre, g, es constante a lo largo de todo el movimiento y tiene direccin descendente (hacia el centro de la Tierra)

El efecto de la resistencia del aire es despreciable

Equivalente a suponer: - la velocidad inicial del objeto es pequea (para que el efecto del rozamiento sea despreciable). - rango de movimiento pequeo comparado con el radio de la Tierra (podemos considerar que la Tierra es plana dentro de ese rango). - la altura mxima del objeto es tambin pequea comparada con el radio de la Tierra (g vara con la altura). - la Tierra est en reposo.

Tiro parablico: condiciones iniciales

C H A P T E R 4 Motion in Two Dimensions y vy = 0 vx i g

t the Active Figures link ://www.pse6.com, you ange launch angle and speed. You can also obthe changing compoof velocity along the tray of the projectile.

vy vi vy i

vy

vx i

vx i

PITFALL PREVENTION

Acceleration at the Highest Point

i
vx i

vx i

ussed in Pitfall Prevention any people claim that the vyi v ation of a projectile at pmost point of its trajecActive Figure 4.7 The parabolic path of a projectile that leaves the origin with zero. This mistake arises a velocity vi. The velocity vector v changes with time in both magnitudehacia and Sistema de referencia: eje y sea vertical y sentido positivo arriba confusion between zero direction. This change is the result of acceleration in the negative y direction. l velocity and zero accelerThe x component of velocity remains constant in time because there is no accelIf the projectile were to eration along the horizontal direction. The y component of velocity is zero at ence zero acceleration at the peak of the path. ghest point, then its velocPosicin inicial: en t = 0, la partcula est en el origen (xi = yi = 0) that point would not ethe projectile would Repeating with the y component and using yi 0 and ay g, we obtain horizontally at constant from then on! This does yf vyit 1 a t 2 (vi sin i)t 1 gt 2 (4.12) 2 y 2 ppen, Velocidad because the accelerinicial: Next, from Equation 4.11 we nd t xf/(vi cos i) and substitute this expression for t is NOT zero anywhere he trajectory. into Equation 4.12; this gives

Tiro parablico: velocidad y posicin como funcin del tiempo

C H A P T E R 4 Motion in Two Dimensions y vy = 0 vx i g

t the Active Figures link ://www.pse6.com, you ange launch angle and speed. You can also obthe changing compoof velocity along the tray of the projectile.

vy vi vy i

vy

vx i

vx i

PITFALL PREVENTION

Acceleration at the Highest Point

i
vx i

vx i

i
vyi v

ussed in Pitfall Prevention any people claim that the ation of a projectile at pmost point of its trajeczero. This mistake arises confusion between zero l velocity and zero accelerIf the projectile were to ence zero acceleration at ghest point, then its velocthat point would not ethe projectile would horizontally at constant from then on! This does ppen, because the acceleris NOT zero anywhere he trajectory.

Active Figure 4.7 The parabolic path of a projectile that leaves the origin with a velocity vi. The velocity vector v changes with time in both magnitude and Velocidad direction. This change is the result of acceleration in the negative y direction. The x component of velocity remains constant in time because there is no acceleration along the horizontal direction. The y component of velocity is zero at the peak of the path.

Posicin

Repeating with the y component and using yi 0 and ay g, we obtain yf vyit 1 a t 2 (vi sin i)t 1 gt 2 2 y 2
(4.12)

Next, from Equation 4.11 we nd t xf/(vi cos i) and substitute this expression for t into Equation 4.12; this gives

Tiro parablico: origen del nombre

C H A P T E R 4 Motion in Two Dimensions y vy = 0 vx i g

t the Active Figures link ://www.pse6.com, you ange launch angle and speed. You can also obthe changing compoof velocity along the tray of the projectile.

vy vi vy i

vy

vx i

vx i

PITFALL PREVENTION

Acceleration at the Highest Point

i
vx i

vx i

ussed in Pitfall Prevention any people claim that the vyi v ation of a projectile at pmost point of its trajecActive Figure 4.7 The parabolic path of a projectile that leaves the origin with zero. This mistake arises a velocity vi. The velocity vector v changes with time in both magnitude and Posicin confusion between zero direction. This change is the result of acceleration in the negative y direction. l velocity and zero accelerThe x component ofecuacin velocity remains constant in time because there is no accelDespejando t de la primera y If the projectile were to eration along the horizontal direction. The y component of velocity is zero at sustituyendo en ence zero acceleration at the peak of la the segunda path. ghest point, then its velocthat point would not ethe projectile would Repeating with the y component and using yi 0 and ay g, we obtain horizontally at constant from then on! This does yf vyit 1 a t 2 (vi sin i)t 1 gt 2 (4.12) 2 y 2 ppen, because the accelerEcuacin de una parbola Next, from Equation 4.11 we nd t xf/(vi cos i) and substitute this expression for t is NOT zero anywhere he trajectory. into Equation 4.12; this gives

Tiro parablico: origen del nombre

C H A P T E R 4 Motion in Two Dimensions y vy = 0 vx i g

t the Active Figures link ://www.pse6.com, you ange launch angle and speed. You can also obthe changing compoof velocity along the tray of the projectile.

vy vi vy i

vy

vx i

vx i

PITFALL PREVENTION

Acceleration at the Highest Point

i
vx i

vx i

ussed in Pitfall Prevention any people claim that the vyi v ation of a projectile at pmost point of its trajecActive Figure 4.7 The parabolic path of a projectile that leaves the origin with zero. This mistake arises a velocity vi. The velocity vector v changes with time in both magnitude and Posicin confusion between zero direction. This change is the result of acceleration in the negative y direction. l velocity and zero accelerThe x component ofecuacin velocity remains constant in time because there is no accelDespejando t de la primera y If the projectile were to eration along the horizontal direction. The y component of velocity is zero at sustituyendo en ence zero acceleration at the peak of la the segunda path. ghest point, then its velocthat point would not ethe projectile would Repeating with the y component and using yi 0 and ay g, we obtain horizontally at constant from then on! This does yf vyit 1 a t 2 (vi sin i)t 1 gt 2 (4.12) 2 y 2 ppen, because the accelerEcuacin de una parbola Next, from Equation 4.11 we nd t xf/(vi cos i) and substitute this expression for t is NOT zero anywhere he trajectory. into Equation 4.12; this gives

Tiro parablico: expresin vectorial para la posicin

SECTION 4.3 P

1 2

gt 2

vit rf O

(x, y)

Figure 4.8 The position vector rf of a projectile launched from the origin whose initial velocity at the origin is vi. The vector vit would be the displacement of the projectile if gravity were absent, and the vector 1 gt 2 is its vertical displacement due to its downward 2 gravitational acceleration.

Tiro parablico: Ilustracin del movimiento de cada libre, con y sin velocidad inicial a lo largo de x

Qu les ocurre a los astronautas en la ISS?

Tiro parablico: Alcance horizontal y altura mxima

rection. Thus it takes the ball about 4 s to go up and another 4 s to come back down, for a total time of flight of approximately 8 s.

keep in mind the importance of separating the two nents and of making approximations to give you ro pected results.

Horizontal Range and Maximum Height of a Projectile Punto de altura mxima En el punto de altura mxima, la componente de la velocidad a lo largo de y se anula
vy A = 0 vi

i
O R

Let us assume that a projectile is launched from the origin at ti 0 with a p component, as shown in Figure 4.10. Two points are especially interesting to the peak point , which has Cartesian coordinates (R/2, h), and the point La partcula llegar al punto de has coordinates (R, 0). The distance R is called the horizontal range of the p altura mxima en el instante t1 and the distance h is its maximum height. Let us nd h and R in terms of vi, i, a Alcance We can horizontal determine h by noting that at the peak, vyA 0. Therefore, we Equation 4.8a to determine the time tA at which the projectile reaches the pea vyf vyi ayt

Figure 4.10 A projectile launched from the origin at ti 0 with an v sin i initial velocity vi. The maximum tA i se puede g height ofCmo the projectile is h, andaumentar h? the horizontal range is R. At , the Substituting this expression for tA into the y part of Equation 4.9a and peak of the trajectory, thela particle Aumentando mdulo de velocidad inicial y yA with h, we obtain an expression for h in terms of the magnitude and di has coordinates (R/2, h).

Durante este tiempo, la partcula se habr 0 vi sin i gt A desplazado una distancia h a lo largo de y

Lanzando con un ngulo mayor

the initial velocity vector:

v sin i v sin i Lanzando en un sitio con aceleracin de cada libre menor (la Luna) 1 h (vi sin i) i 2g i g g

Tiro parablico: Alcance horizontal y altura mxima

rection. Thus it takes the ball about 4 s to go up and another 4 s to come back down, for a total time of flight of approximately 8 s.

keep in mind the importance of separating the two nents and of making approximations to give you ro pected results.

Horizontal Range Maximum Height of a Projectile Punto de altura mxima En and alcance R es la distancia horizontal recorrida. En el punto de alcance mximo yf = 0
vy A = 0 vi

i
O R

Let us assume that a projectile is launched from the origin at ti 0 with a p component, as shown in Figure 4.10. Two points are especially interesting to the peak point , which has Cartesian coordinates (R/2, h), and the point has coordinates (R, 0). The distance R is called the horizontal range of the p and the distance h is its maximum height. Let us nd h and R in terms of vi, i, a Alcance We can horizontal determine h by noting that at the peak, vyA 0. Therefore, we Equation 4.8a to determine the time tA at which the projectile reaches the pea vyf vyi ayt

0 vi sin i gt A Figure 4.10 A projectile launched from the origin at ti 0 with an v sin i initial velocity vi. The maximum tA i Como se puede g height ofCmo the projectile is h, andaumentar R? the horizontal range is R. At , the Substituting this expression for tA into the y part of Equation 4.9a and peak of the trajectory, thela particle Aumentando mdulo de velocidad inicial y yA with h, we obtain an expression for h in terms of the magnitude and di has coordinates (R/2, h).

initial libre velocity vector: Lanzando en un sitio con aceleracin the de cada menor (la Luna) v sin i v sin i 1 g i h para (vi sin i) i 2 Slo movimientos simtricos g g

Tiro parablico: Alcance horizontal y altura mxima

El alcance horizontal mximo se consigue para un valor del ngulo Para cualquier otro valor del ngulo, un punto de coordenadas (R,0) se puede alcanzar con los dos valores complementarios de
y(m)

SECTION 4

150 75 100 60 45 50 30 15 50 100

vi = 50 m/s

150

200

250

x(m)

Active Figure 4.11 A projectile launched from the origin with an initial speed of

At http://w vary the

Partcula con movimiento circular uniforme: definicin

Se dice que una partcula se mueve con un movimiento circular uniforme cuando se desplaza siguiendo una trayectoria circular con celeridad constante v

E R 4 Motion in Two Dimensions vi r ri rf

r O v

vf vi v

vf

(a)

(b)

(c)

that the acceleration vector in uniform circular motion is always perpendicular to the path and always points toward the center of the circle. An acceleration of this Elnature vector velocidad siempre es tangente a la trayectoria del objeto is called a centripetal acceleration (centripetal means center-seeking), and its y is perpendicular al radio de la trayectoria circular. magnitude v2

en una trayectoria circular, tambin tiene una aceleracin, ya que vara la path of the object and perpendicular to vector the radius of the circular path. We now show direccin del velocidad.

Figure 4.17 (a) A car moving along a circular path at constant speed experiences uniform circular motion. (b) As a particle moves from to , its velocity vector changes from vi to vf . (c) The construction for determining the direction of the change in velocity v, which toward the center of the con circle for small r. Aunque un is objeto se mueva una celeridad constante

Partcula con movimiento circular uniforme: direccin de la velocidad y aceleracin

Se dice que una partcula se mueve con un movimiento circular uniforme cuando se desplaza siguiendo una trayectoria circular con celeridad constante v

E R 4 Motion in Two Dimensions vi r ri rf

r O v

vf vi v

vf

(a)

(b)

(c)

Figure 4.17 (a) A car moving along a circular path at constant speed experiences uniform circular motion. (b) As a particle moves from to , its velocity vector changes Elfrom vector velocidad siempre es tangente a la trayectoria del vi to vf . (c) The construction for determining the direction of the change in vey perpendicular radio la trayectoria circular. locity v, which is toward the centeral of the circlede for small r.

objeto

El vector aceleracin en un movimiento uniforme siempre path of the object and perpendicular to the radiuscircular of the circular path. We now show es perpendicular a la trayectoria y siempre apunta hacia el perpendicular centro del crculo. that the acceleration vector in uniform circular motion is always to the fuera path and always points toward the center ofde thela circle. An acceleration of this Si no as, habra una componente aceleracin paralela a la nature is called centripetal acceleration (centripetal means center-seeking ), and its trayectoria, es adecir, paralela al vector velocidad. Esta componente magnitude is contribuira a aumentar la celeridad, contradiciendo nuestra hiptesis
v2

Partcula con movimiento circular uniforme: E R 4 Motion in Two Dimensions mdulo de la aceleracin

r O v ri rf vi r

vf vi vf v

(a)

(b)

(c)

Figure 4.17 (a) A car moving along a circular path at constant speed experiences uniform circular motion. (b) As a particle moves from to , its velocity vector changes El ngulo entre los dos vectores posicin es igual for determining the direction of the change in ve- al from vi to vf . (c) The construction entre losof dos vectores velocidad locity v, which is toward the center the circle for small r.

ngulo

(el vector velocidad siempre es perpendicular al vector posicin)

path of the object and perpendicular to the radius of the circular path. We now show that the acceleration vector in tringulos uniform circular motion is always perpendicular to Los dos son similares the path and always points toward the center of the circle. An acceleration of this (dos tringulos sonissimilares si el ngulo entre ( cualquiera decenter-seeking dos de sus lados es igual nature called a centripetal acceleration centripetal means ), and its magnitudey is si la relacin entre las longitudes de dichos lados es la misma). ambos tringulos v2 ac r

en

acceleration

(4.15)

where r is the radius of the circle. The subscript on the acceleration symbol reminds us that the acceleration is centripetal. First note that the acceleration must be perpendicular to the path followed by the object, which we will model as a particle. If this were not true, there would be a compo-

Partcula con movimiento circular uniforme: E R 4 Motion in Two Dimensions mdulo de la aceleracin

r O v ri rf vi r

vf vi vf v

(a)

(b)

(c)

Figure 4.17 (a) A car moving along a circular path at constant speed experiences uniform circular motion. (b) As a particle moves from to , its velocity vector changes from vi to vf . (c) The construction for determining the direction of the change in velocity v, which is toward the center of the circle for small r.

path of the object and perpendicular to the radius of the circular path. We now show Aceleracin that the acceleration vector in uniform circular motion is always perpendicular to the path and always points toward the center of the circle. An acceleration of this nature is called a centripetal acceleration (centripetal means center-seeking), and its magnitude is

instantnea

Mdulo de la velocidad v Tomando lmite cuando v2

ac r
(4.15)

acceleration

where r is the radius of the circle. The subscript on the acceleration symbol reminds us that the acceleration is centripetal. First note that the acceleration must be perpendicular to the path followed by the object, which we will model as a particle. If this were not true, there would be a compo-

Partcula con movimiento circular uniforme: E R 4 Motion in Two Dimensions resumen de la aceleracin

r O v ri rf vi r

vf vi vf v

(a)

(b)

(c)

Figure 4.17 (a) A car moving along a circular path at constant speed experiences uniform circular motion. (b) As a particle moves from to , its velocity vector changes from vi to vf . (c) The construction for determining the direction of the change in velocity v, which is toward the center of the circle for small r.

path of the object and perpendicular to the radius of the circular path. We now show that the acceleration vector in uniform circular motion is always perpendicular to the path and always points toward the center of the circle. An acceleration of this Aceleracin centrpeta nature is called a centripetal acceleration (centripetal means center-seeking), and its magnitude is

En el movimiento circular uniforme, la aceleracin se dirige hacia el centro del crculo y tiene por mdulo

El vector aceleracin centrpeta no es constante: v2 (4.15) acceleration c - su mdulo si es constante y a viene r dada por la expresin anterior. - su direccin cambia de manera contnua segn se desplaza el objeto: where r is hacia the radius the circle. The subscript on the acceleration symbol reminds us siempre apunta elof centro del crculo.
that the acceleration is centripetal. First note that the acceleration must be perpendicular to the path followed by the object, which we will model as a particle. If this were not true, there would be a compo-

Descripcin del movimiento circular uniforme en trminos del periodo

Se define el periodo como el tiempo requerido para completar una vuelta Se suele representar por la letra y se mide en segundos

En un periodo la partcula recorre una distancia de

Por lo tanto, la celeridad de la partcula vendr dada por

De donde

Componentes intrnsecas de la aceleracin: aceleraciones tangencial y radial

large (such as at point ). The direction of at is either in the same direction as v (if v is increasing) or opposite v (if v is decreasing). In uniform circular motion, where v is constant, at 0 and the acceleration is always completely radial, as we described in Section 4.4. In other words, uniform circular motion is a special case of motion along a general curved path. Furthermore, if the direction of v does not change, then there is no radial acceleration and the motion is at may be zero). one-dimensional (in this case, a Imaginemos una partcula que sebut mueve a not lo largo de una trayectoria curva, r 0,

donde el vector velocidad vara tanto en direccin como en mdulo

Path of particle

ar

at a ar

ar

at

at

res link m, you ion coaster

Active Figure 4.18 The motion of a particle along an arbitrary curved path lying in the xy plane. If the velocity vector v (always tangent to the path) changes in direction El vector velocidad siempre es atangente a la component trayectoria and magnitude, the components of the acceleration are a tangential at and a radial component ar .

El vector aceleracin forma un ngulo con la misma

Componentes intrnsecas de la aceleracin: aceleraciones tangencial y radial

large (such as at point ). The direction of at is either in the same direction as v (if v is increasing) or opposite v (if v is decreasing). In uniform circular motion, where v is constant, at 0 and the acceleration is always completely radial, as we described in Section 4.4. In other words, uniform circular motion is a special case of motion along a general curved path. Furthermore, if the direction of v does not change, then there is no radial acceleration and the motion is at may be zero). one-dimensional (in this case, a Imaginemos una partcula que sebut mueve a not lo largo de una trayectoria curva, r 0,

donde el vector velocidad vara tanto en direccin como en mdulo

Path of particle

ar

at a ar

ar

at

at

res link m, you Active Figure 4.18 The motion of a particle along an arbitrary curved path lying in ionModelo geomtrico: the xy plane. Ifse thesustituye velocity vector (always tangent to the direction la v trayectoria real en path) cadachanges punto in por una trayectoria circular, coaster and magnitude, the components ofde thecurvatura accelerationde a are tangential component at cuyo radio es el radio laatrayectoria en ese punto. and a radial component ar .

Sustituimos pequeas porciones de la trayectoria real por trayectorias circulares (lneas discontinuas).

Componentes intrnsecas de la aceleracin: aceleraciones tangencial y radial

Path of particle

ways completely radial, as we described in Section 4.4. In other words, uniform circular motion is a special case of motion along a general curved path. Furthermore, if the direction of v does not change, then there is no radial acceleration and the motion is one-dimensional (in this case, ar 0, but at may not be zero).

ar

at a ar

ar

at

at

res link m, you ion coaster

Active Figure 4.18 The motion of a particle along an arbitrary curved path lying in theExpresamos xy plane. If the velocity vector v (always tangent to the mediante path) changes in direction la aceleracin en cada punto dos componentes, and magnitude, the components of the acceleration a are tangential at en funcin de un origen situado en el a centro decomponent cada crculo. and a radial component ar .

Componente radial a lo largo del crculo del modelo

Componente tangencial perpendicular a dicho radio

Componentes intrnsecas de la aceleracin: aceleraciones tangencial y radial

La aceleracin tangencial produce el cambio del mdulo del vector velocidad de la partcula. Su mdulo es:

La aceleracin radial se debe al cambio de la direccin del vector velocidad de la partcula. Su mdulo es:

Radio del crculo modelo Signo menos: la aceleracin centrpeta se dirige hacia el centro del crculo modelo, y ste es opuesto al vector unidad en la direccin radial

Componentes intrnsecas de la aceleracin: aceleraciones tangencial y radial

Como las dos componentes son normales (perpediculares) entre s

Para una celeridad constante, ar es mayor cuanto menor sea el radio de curvatura

La direccin de at puede ser:

la misma que la de la velocidad (si la celeridad aumenta)

opuesta a la de la velocidad (si la celeridad disminuye)

Aceleraciones tangencial y radial en trminos de vectores unitarios

: Vector unitario dirigido a lo largo del radiovector y dirigido hacia fuera : Vector unitario tangente al crculo. La direccin de viene determinada por la direccin de crecimiento del ngulo, cuando ste se mide en sentido contrario a las agujas del reloj desde el eje positivo de las x Tanto como se mueven con la partcula, es decir, cambian con el tiempo
y a = ar + at

S E C T I O N 4 . 5 Tangential and Radial Accel

r r a ar x O

at

. (b) The total acceleration a of and Figure 4.19 (a) Descriptions of the unit vectors r a particle moving along a curved path (which at any instant is part of a circle of radius r) is the sum of radial and tangential component vectors. The radial component vector is directed toward the center of curvature. If the tangential component of acceleration becomes zero, the particle follows uniform circular motion.

(a)

(b)

Partcula en un movimiento de rotacin. Posicin angular o posicin de rotacin

Supongamos un objeto que gira sobre s mismo cmo describiramos su posicin en ese movimiento de rotacin?. La manera ms fcil de describir su posicin en ese movimiento de rotacin es describiendo su orientacin con respecto a alguna direccin de referencia fija.

Podemos utilizar un ngulo, medido a partir de una direccin de referencia, como una medida de la posicin de rotacin o posicin angular.

Partcula en un movimiento de rotacin. hat the Posicin angular o posicin de rotacin ve locaRigid object
Supongamos un objeto plano que gira alrededor de un eje fijo perpendicular al objeto y que pasa por un punto O. La partcula indicada por el punto negro se encuentra a una distancia fija r del origen y gira alrededor de O describiendo un crculo de radio r. Todas las partculas del objeto describen un movimiento circular alrededor de O.
P r O u Reference line s

cannot nt parts owever, llection

objects ny situa-

n
r O P Reference line

otating ure. Let he disc. ircle of O.) It is ere r is m some rdinate particle n arc of ugh the

(a)

Hay una estrecha relacin entre el movimiento de rotacin del objeto y el movimiento de una partcula a lo largo de una trayectoria circular. Un objeto que rota est compuesto por muchas partculas, cada una de las cuales se mueve con un movimiento circular (puede ser no uniforme)

(b)

(10.1a)

(10.1b)

Figure 10.1 A compact disc rotating about a xed axis through O perpendicular to the plane of the gure. (a) In order to dene angular position for the disc, a xed reference line is chosen.

Partcula en un movimiento de rotacin. hat the Coordenadas polares ve locaRigid object

Resulta conveniente representar la posicin de una partcula mediante sus coordenadas polares Se elige como centro del sistema de coordenadas polares un punto que coincida con el centro de las trayectorias circulares de las partculas En este sistema de referencia, la nica coordenada de una determinada partcula que cambia con el tiempo es , permaneciendo r constante
Reference line

cannot nt parts owever, llection

objects ny situa-

n
r O P Reference line

otating ure. Let he disc. ircle of O.) It is ere r is m some rdinate particle n arc of ugh the

(a)

P r O u

(b)

(10.1a)

(10.1b)

Figure 10.1 A compact disc rotating about a xed axis through O perpendicular to the plane of the gure. (a) In order to dene angular position for the disc, a xed reference line is chosen.

A medida que un partcula del objeto se mueve a lo largo del crculo de radio r desde el eje x positivo ( = 0) hasta el punto P, se est moviendo a lo largo de un arco de longitud s, que est relacionado con el ngulo por la expresin

Partcula con movimiento circular: definicin de radin

Un radin representa el ngulo central en una circunferencia que subtiende un arco cuya longitud es igual a la del radio. Su smbolo es rad.

Equivalencia entre grados y radianes Grados Radianes 0 0 30 /6 45 /4 60 /3 90 /2 180 270 3/2 360 2

to one complete revolution.) Hence, 1 rad 360/2 57.3 . To convert an angle in L PITFALL PREVENTION degrees to an angle in radians, we use the fact that rad 180, or Partcula con movimiento circular: 10.1 Remember the Radiande velocidades angulares definicin (rad) (deg) 180
In rotational equations, we must use angles expressed in radians. Dont fall into the trap of using angles measured in degrees in rotational equations.

,t f

,ti

f i
O x

Definimos la velocidad angular media como el cociente f i entre el desplazamiento angular y el intervalo de tiempo

For example, 60 equals /3 rad and 45 equals /4 rad. Because the disc in Figure 10.1 is a rigid object, as the particle moves along the circle from the reference line, every other particle on the object rotatesB through the same Mientras la partcula se mueve desde A hasta en un . Thus, we can associate the angle with the entire rigid well as angle tiempo , el vector correspondiente al object radio as barre with an individual particle. This allows us to dene the angular position of a rigid obel ngulo que equivale al desplazamiento ject in its rotational motion. We choose a reference line on the object, such as a line angular durante ese tiempo connecting O and a chosen particle on theintervalo object. The de angular position of the rigid object is the angle between this reference line on the object and the xed reference line in space, which is often chosen as the x axis. This is similar to the way we identify Ni la posicin angular ni el desplazamiento angular the position of an object in translational motionthe distance x between the object estn limitados al rango and the reference position, which is the origin, x 0. hace in falta reiniciar la posicin angular a cero As (no the particle question on our rigid object travels from position to position vez que la el eje x).of length r sweeps out an in acada time interval t as inpartcula Figure 10.2, cruza the reference line angle f i. This quantity is dened as the angular displacement of the rigid object:

Figure 10.2 A particle on a rotating rigid object moves from to along the arc of a circle. In the time interval t tf ti , the radius vector moves through an angular displacement f i.

The rate at which this angular displacement occurs can vary. If the rigid object spins rapidly, this displacement can occur in a short time interval. If it rotates slowly, this displacement occurs in a longer time interval. These different rotation rates can be quantied by introducing angular speed. We dene the average angular speed (Greek omega) as the ratio of the angular displacement of a rigid object to the time interval t during which the displacement occurs:

Average angular speed

f i tf ti t

(10.2)

to one complete revolution.) Hence, 1 rad 360/2 57.3 . To convert an angle in L PITFALL PREVENTION degrees to an angle in radians, we use the fact that rad 180, or Partcula con movimiento circular: 10.1 Remember the Radiande velocidades angulares definicin (rad) (deg) 180
In rotational equations, we must use angles expressed in radians. Dont fall into the trap of using angles measured in degrees in rotational equations.

,t f

,ti

f i
O x

For example, 60 equals /3 rad and 45 equals /4 rad. Because the disc in Figure 10.1 is a rigid object, as the particle moves along the cirDefinimos la velocidad angular media como el through cociente cle from the reference line, every other particle on the object rotates the same Thus, we can associate angular the angle the entire rigid object as well as angle .el entre desplazamiento ywith el intervalo de tiempo with an individual particle. This allows us to dene the angular position of a rigid object in its rotational motion. We choose a reference line on the object, such as a line connecting O and a chosen particle on the object. The angular position of the rigid object is the angle between this reference line on the object and the xed reference line in space, which is often chosen as the x axis. This is similar to the way we identify the position of an object in translational motionthe distance x between the object Por analoga con la velocidad de traslacin, and the reference position, which is the origin, x 0. la velocidad angular instantnea se define como As the particle in question on our rigid object travels from position to position in a time interval t as in Figure 10.2, the reference line of length r sweeps out an angle f i. This quantity is dened as the angular displacement of the rigid object: f i

The rate at which this angular displacement occurs can vary. If the rigid object spins Figure 10.2 A particle on a rapidly, this displacement can occur in a short time interval. If it rotates slowly, this disrotating rigid object moves from to along the arc of a circle. In placement occurs in a longer time interval. These different rotation rates can be quanthe time interval t tf ti , the tied by introducing angular speed. We dene the average angular speed (Greek Si vector adoptamos el convenio de que el eje fijo de rotacin es el eje z, entonces diremos radius moves through an omega) as the ratio of the angular displacement of a rigid object to the time interval angular displacement f cuando i. que es positiva aumente (movimiento en sentido contrario del sentido

Unidades: rad/s o s-1

del reloj y negativo en caso contrario

Average angular speed

t during which the displacement occurs:

f i tf ti t

(10.2)

to one complete revolution.) Hence, 1 rad 360/2 57.3 . To convert an angle in L PITFALL PREVENTION degrees to an angle in radians, we use the fact that rad 180, or Partcula con movimiento circular: 10.1 Remember the Radiande aceleraciones angulares definicin (rad) (deg) 180
In rotational equations, we must use angles expressed in radians. Dont fall into the trap of using angles measured in degrees in rotational equations.

,t f

,ti

f i
O x

For example, 60 equals /3 rad and 45 equals /4 rad. Because the disc in Figure 10.1 is a rigid object, as the particle moves along the circlela from the reference line, every other particle on object rotates through the same Si velocidad angular instantnea dethe una partcula cambia Thus, we associate the angle with the entire rigid object as una well as angle .a de encan el intervalo de tiempo , la partcula tiene with an individual particle. This allows us to dene the angular position of a rigid obaceleracin angular ject in its rotational motion. We choose a reference line on the object, such as a line connecting O and a chosen particle on the object. The angular position of the rigid object is the angle between this reference line on the object and the xed reference Aceleracin angular media line in space, which is often chosen as the x axis. This is similar to the way we identify the position of an object in translational motionthe distance x between the object and the reference position, which is the origin, x 0. As the particle in question on our rigid object travels from position to position in a time interval t as in Figure 10.2, the reference line of length r sweeps out an angle f i. This quantity is dened as the angular displacement of the rigid object: Por analoga con la aceleracin de traslacin,

la aceleracin angular instantnea se define como f i

The rate at which this angular displacement occurs can vary. If the rigid object spins rapidly, this displacement can occur in a short time interval. If it rotates slowly, this displacement occurs in a longer time interval. These different rotation rates can be quantied by introducing angular speed. We dene the average angular speed (Greek omega) as the ratio of the angular displacement of a rigid object to the time interval 2 -2 Unidades: t during which the displacement occurs: rad/s o s

Figure 10.2 A particle on a rotating rigid object moves from to along the arc of a circle. In the time interval t tf ti , the radius vector moves through an angular displacement f i.

Average angular speed

f i tf ti t

(10.2)

Partcula con movimiento circular: direccin de velocidad y aceleracin angular

No se ha asociado ninguna direccin con la velocidad angular ni la aceleracin angular Siendo estrictos, la velocidad y la aceleracin angular instantnea definidas anteriormente son los mdulos de las correspondientes magnitudes vectoriales En el caso de rotacin alrededor de un eje fijo, la nica direccin que permite especificar de forma unvoca el movimiento de rotacin es la direccin a lo largo del eje La direccin de se orienta a lo largo del eje de rotacin.

Por convenio, se considera que el sentido de Por convenio, se considera que el sentido de es saliente con respecto al plano en el diagrama es entrante con respecto al plano en el diagrama cuando la rotacin es en el sentido contrario a cuando la rotacin es en el sentido de las las agujas del reloj agujas del reloj S EC TI O N 10.1 Angular Position, Velocity, and Acceleration 295

Figure 10.3 The right-han ing the direction of the ang

If the instantaneous angular speed of an object changes from interval t, the object has an angular acceleration. The average angu

Partcula con movimiento circular: direccin de velocidad y aceleracin angular

No se ha asociado ninguna direccin con la velocidad angular ni la aceleracin angular Siendo estrictos, la velocidad y la aceleracin angular instantnea definidas anteriormente son los mdulos de las correspondientes magnitudes vectoriales En el caso de rotacin alrededor de un eje fijo, la nica direccin que permite especificar de forma unvoca el movimiento de rotacin es la direccin a lo largo del eje La direccin de se deduce de su definicin vectorial como

La direccin de la aceleracin es la misma que la de la velocidad angular si la velocidad angular (el mdulo de ) aumenta con el tiempo

La direccin de la aceleracin es antiparalela a la velocidad angular si la velocidad angular (el mdulo de ) disminuye con el tiempo

Vector velocidad angular

Vector velocidad angular Mdulo: celeridad angular Direccin: perpendicular al plano del movimiento Sentido: tornillo a derechas

Como sugiere que Derivando el vector velocidad, obtenemos la aceleracin

Cinemtica de rotacin: cuerpo rgido con aceleracin angular constante

En el caso de movimiento de rotacin alrededor de un eje fijo, el movimiento acelerado ms simple es el movimiento bajo aceleracin angular constante

Y adems Podemos integrar esta expresin directamente para calcular la velocidad angular final

Cinemtica de rotacin: cuerpo rgido con aceleracin angular constante

Integrando una vez ms obtenemos el ngulo en funcin del tiempo

Cinemtica de rotacin: cuerpo rgido con aceleracin angular constante

Si eliminamos el tiempo de la primera ecuacin y sustituimos en la segunda

Y eliminando la aceleracin angular

Cinemtica de rotacin: cuerpo rgido con aceleracin angular constante

Table 10.1
Kinematic Equations for Rotational and Linear Motion Under Constant Acceleration
Rotational Motion About Fixed Axis Linear Motion vf vi at 1 x f x i vi t 2at 2 vf 2 vi 2 2a(x f x i ) 1 x f x i 2(vi vf )t

f i t f i i t 1 t 2 2 f 2 i 2 2(f i ) f i 1 ( f )t 2 i

Las expresiones cinemticas para el movimiento de rotacin bajo aceleracin Quick 10.4 Consider again pairs of angular positions for t angular constante tienen la Quiz misma forma matemtica que the las del movimiento de in Quick Quiz If the constante, object starts sustituyendo from rest at the initial angular p traslacin object bajo aceleracin de 10.1. traslacin moves counterclockwise with constant angular acceleration, and arrives at the gular position with the same angular speed in all three cases, for which choic angular acceleration the highest?

Example 10.1

Rotating Wheel

Relaciones entre las magnitudes de rotacin y traslacin

298

Cuando un cuerpo rgido gira alrededor de un eje fijo, cada partcula del cuerpo C H A P T E R 10 Rotation of a Rigid Object About a Fixed Axis se mueve alrededor de un crculo cuyo centro es el eje de giro
y v P r u O s x

Unapoint partcula un cuerpo rgidoin enarotacin se linea Because P inde Figure 10.4 moves circle, the mueve un crculo de radio r alrededor del tangential eje z ways tangent toen the circular path and hence is called of the tangential velocity of the point P is by denition the tan Dado que la partcula se mueve en una trayectoria where s is the distance traveled by this point measured along t circular, su vector velocidad es siempre 10.1a) and noting that r is constant, we obta ing that s r (Eq. perpendicular a la trayectoria (a menudo se denomina velocidad ds tangencial) d v r dt viene dt dado por El mdulo de la velocidad tangencial

Because d/dt (see Eq. 10.3), we see that

rla partcula a lo Donde s es la distancia recorridavpor Active Figure 10.4 As a rigid object largo de la trayectoria circular rotates about the xed axis through El mdulo de la velocidad tangencialThat de la partcula is, the tangential speed of a point on a rotating rigid obje O, the point P has a tangential es igual a la distancia de la partcula al eje de giro ular distance of that point from the axis of rotation multiplie velocity v that is always tangent to multiplicada porof la velocidad angular de la partcula Therefore, although every point on the rigid object has the s the circular path radius r.

every point has the same tangential speed because r is not the sa

Relaciones entre las magnitudes de rotacin y traslacin

298

Cuando un cuerpo rgido gira alrededor de un eje fijo, cada partcula del cuerpo C H A P T E R 10 Rotation of a Rigid Object About a Fixed Axis se mueve alrededor de un crculo cuyo centro es el eje de giro
y v P r u O s x

Unapoint partcula un cuerpo rgidoin enarotacin se linea Because P inde Figure 10.4 moves circle, the mueve un crculo de radio r alrededor del tangential eje z ways tangent toen the circular path and hence is called of the tangential velocity of the point P is by denition the tan where sEl ismdulo the distance by tangencial this point measured along t de la traveled velocidad de la partcula and de noting that r is al constant, we obta ing that es s r (Eq. igual a la10.1a) distancia la partcula eje de giro multiplicada por la velocidad angular de la partcula ds d v r dt dt

Because d/dt (see Eq. 10.3), we see that

Aunque cada punto del slido rgido tenga la rmisma velocidad v angular, no todos los puntos tienen la misma velocidad tangencial, puesto que r cambia de punto a punto.

Active Figure 10.4 As a rigid object rotates about the xed axis through O, the point P has a tangential velocity v that is always tangent to the circular path of radius r.

That is, the tangential speed of a point on a rotating rigid obje La velocidad tangencial defrom un punto en un que rota ular distance of that point the axis of objeto rotation multiplie aumenta segn nos separamos del eje de girohas the s Therefore, although every point on the rigid object every point has the same tangential speed because r is not the sa

at
t

dv d r dt dt

(10.11) Relaciones entre las magnitudes dea r Relation between tangential and angular acceleration rotacin y traslacin That is, the tangential component of the linear acceleration of a point on a rotating

Podemos establecer aceleracin tangencial

y at a ar x P

rigid object equals the points distance from the axis of rotation multiplied by the angular acceleration. una la that aceleracin angular de la partcula ya su Inrelacin Section 4.4entre we found a point moving in a circular path undergoes radial , cuya componente tangente a la trayectoria del movimiento v 2/ r directed toward the center of rotation (Fig. 10.5). acceleration ar of magnitudees Because v r for a point P on a rotating object, we can express the centripetal acceleration at that point in terms of angular speed as ac v2 r 2 r
(10.12)

Latotal componente tangencial aceleracin traslacin de una The linear acceleration vector at de the la point is a at arde , where the magniacceleration ac . un Because a is a vector circular having a radial and a a la tude of partcula ar is the centripetal que experimenta movimiento es igual tangential component, magnitude of a atal the point P giro on the rotating rigid object distanciathe de la partcula eje de multiplicada porisla aceleracin angular a a t 2 a r 2 r 2 4 r 2 2 r 24
(10.13)

Figure 10.5 Pero As a rigid laobject aceleracin de traslacin tambin tiene una componente centrpeta rotates about a xed axis through Andy and Charlie are riding on a merry-go-round. Andy O, the point P experiences a rides on a horse at the outer rim of the circular platform, twice as far from the center tangential component of linear acceleration at and a radial of the circular platform as Charlie, who rides on an inner horse. When the merry-gocomponent of linear acceleration round is rotating at a constant angular speed, Andys angular speed is (a) twice Charar . The total linear acceleration of Mdulo de la aceleracin de traslacin lies (b) the same as Charlies (c) half of Charlie s (d) impossible to determine. de traslacin total this pointAceleracin is a at ar .

Quick Quiz 10.5

total

Consider again the merry-go-round situation in Quick Quiz 10.5. When the merry-go-round is rotating at a constant angular speed, Andys tangential speed is (a) twice Charlies (b) the same as Charlies (c) half of Charlies (d) impos-

Quick Quiz 10.6

Transparencias de soporte

Partcula con movimiento circular: Celeridad angular

El desplazamiento lineal es igual al radio por el ngulo

Definimos el mdulo de la velocidad instantnea como

Se define a la celeridad angular como:

Unidades: (rad/s)

Partcula con movimiento circular: Mdulo de la aceleracin angular

El desplazamiento lineal es igual al radio por el ngulo

Se define la aceleracin angular como:

Partcula con movimiento circular uniforme: celeridad angular constante

Se define el periodo T como el tiempo necesario para completar una vuelta. El periodo se mide en segundos.

Se define la frecuencia como el nmero de vueltas que la partcula completa en un segundo. La frecuencia se mide en (revoluciones/segundo) = Hertz

Celeridad angular

Por definicin

integrando

Partcula con movimiento circular uniformemente acelerado: aceleracin angular constante

Componentes intrnsecas de la aceleracin: aceleracin tangencial y radial en el movimiento circular

Vector velocidad angular

Vector velocidad angular Mdulo: celeridad angular Direccin: perpendicular al plano del movimiento Sentido: tornillo a derechas

Como Podemos escribir Derivando el vector velocidad, obtenemos la aceleracin