- •Preface
- •Textbook Layout and Design
- •Preliminaries
- •See, Do, Teach
- •Other Conditions for Learning
- •Your Brain and Learning
- •The Method of Three Passes
- •Mathematics
- •Summary
- •Homework for Week 0
- •Summary
- •1.1: Introduction: A Bit of History and Philosophy
- •1.2: Dynamics
- •1.3: Coordinates
- •1.5: Forces
- •1.5.1: The Forces of Nature
- •1.5.2: Force Rules
- •Example 1.6.1: Spring and Mass in Static Force Equilibrium
- •1.7: Simple Motion in One Dimension
- •Example 1.7.1: A Mass Falling from Height H
- •Example 1.7.2: A Constant Force in One Dimension
- •1.7.1: Solving Problems with More Than One Object
- •Example 1.7.4: Braking for Bikes, or Just Breaking Bikes?
- •1.8: Motion in Two Dimensions
- •Example 1.8.1: Trajectory of a Cannonball
- •1.8.2: The Inclined Plane
- •Example 1.8.2: The Inclined Plane
- •1.9: Circular Motion
- •1.9.1: Tangential Velocity
- •1.9.2: Centripetal Acceleration
- •Example 1.9.1: Ball on a String
- •Example 1.9.2: Tether Ball/Conic Pendulum
- •1.9.3: Tangential Acceleration
- •Homework for Week 1
- •Summary
- •2.1: Friction
- •Example 2.1.1: Inclined Plane of Length L with Friction
- •Example 2.1.3: Find The Minimum No-Skid Braking Distance for a Car
- •Example 2.1.4: Car Rounding a Banked Curve with Friction
- •2.2: Drag Forces
- •2.2.1: Stokes, or Laminar Drag
- •2.2.2: Rayleigh, or Turbulent Drag
- •2.2.3: Terminal velocity
- •Example 2.2.1: Falling From a Plane and Surviving
- •2.2.4: Advanced: Solution to Equations of Motion for Turbulent Drag
- •Example 2.2.3: Dropping the Ram
- •2.3.1: Time
- •2.3.2: Space
- •2.4.1: Identifying Inertial Frames
- •Example 2.4.1: Weight in an Elevator
- •Example 2.4.2: Pendulum in a Boxcar
- •2.4.2: Advanced: General Relativity and Accelerating Frames
- •2.5: Just For Fun: Hurricanes
- •Homework for Week 2
- •Week 3: Work and Energy
- •Summary
- •3.1: Work and Kinetic Energy
- •3.1.1: Units of Work and Energy
- •3.1.2: Kinetic Energy
- •3.2: The Work-Kinetic Energy Theorem
- •3.2.1: Derivation I: Rectangle Approximation Summation
- •3.2.2: Derivation II: Calculus-y (Chain Rule) Derivation
- •Example 3.2.1: Pulling a Block
- •Example 3.2.2: Range of a Spring Gun
- •3.3: Conservative Forces: Potential Energy
- •3.3.1: Force from Potential Energy
- •3.3.2: Potential Energy Function for Near-Earth Gravity
- •3.3.3: Springs
- •3.4: Conservation of Mechanical Energy
- •3.4.1: Force, Potential Energy, and Total Mechanical Energy
- •Example 3.4.1: Falling Ball Reprise
- •Example 3.4.2: Block Sliding Down Frictionless Incline Reprise
- •Example 3.4.3: A Simple Pendulum
- •Example 3.4.4: Looping the Loop
- •3.5: Generalized Work-Mechanical Energy Theorem
- •Example 3.5.1: Block Sliding Down a Rough Incline
- •Example 3.5.2: A Spring and Rough Incline
- •3.5.1: Heat and Conservation of Energy
- •3.6: Power
- •Example 3.6.1: Rocket Power
- •3.7: Equilibrium
- •3.7.1: Energy Diagrams: Turning Points and Forbidden Regions
- •Homework for Week 3
- •Summary
- •4.1: Systems of Particles
- •Example 4.1.1: Center of Mass of a Few Discrete Particles
- •4.1.2: Coarse Graining: Continuous Mass Distributions
- •Example 4.1.2: Center of Mass of a Continuous Rod
- •Example 4.1.3: Center of mass of a circular wedge
- •4.2: Momentum
- •4.2.1: The Law of Conservation of Momentum
- •4.3: Impulse
- •Example 4.3.1: Average Force Driving a Golf Ball
- •Example 4.3.2: Force, Impulse and Momentum for Windshield and Bug
- •4.3.1: The Impulse Approximation
- •4.3.2: Impulse, Fluids, and Pressure
- •4.4: Center of Mass Reference Frame
- •4.5: Collisions
- •4.5.1: Momentum Conservation in the Impulse Approximation
- •4.5.2: Elastic Collisions
- •4.5.3: Fully Inelastic Collisions
- •4.5.4: Partially Inelastic Collisions
- •4.6: 1-D Elastic Collisions
- •4.6.1: The Relative Velocity Approach
- •4.6.2: 1D Elastic Collision in the Center of Mass Frame
- •4.7: Elastic Collisions in 2-3 Dimensions
- •4.8: Inelastic Collisions
- •Example 4.8.1: One-dimensional Fully Inelastic Collision (only)
- •Example 4.8.2: Ballistic Pendulum
- •Example 4.8.3: Partially Inelastic Collision
- •4.9: Kinetic Energy in the CM Frame
- •Homework for Week 4
- •Summary
- •5.1: Rotational Coordinates in One Dimension
- •5.2.1: The r-dependence of Torque
- •5.2.2: Summing the Moment of Inertia
- •5.3: The Moment of Inertia
- •Example 5.3.1: The Moment of Inertia of a Rod Pivoted at One End
- •5.3.1: Moment of Inertia of a General Rigid Body
- •Example 5.3.2: Moment of Inertia of a Ring
- •Example 5.3.3: Moment of Inertia of a Disk
- •5.3.2: Table of Useful Moments of Inertia
- •5.4: Torque as a Cross Product
- •Example 5.4.1: Rolling the Spool
- •5.5: Torque and the Center of Gravity
- •Example 5.5.1: The Angular Acceleration of a Hanging Rod
- •Example 5.6.1: A Disk Rolling Down an Incline
- •5.7: Rotational Work and Energy
- •5.7.1: Work Done on a Rigid Object
- •5.7.2: The Rolling Constraint and Work
- •Example 5.7.2: Unrolling Spool
- •Example 5.7.3: A Rolling Ball Loops-the-Loop
- •5.8: The Parallel Axis Theorem
- •Example 5.8.1: Moon Around Earth, Earth Around Sun
- •Example 5.8.2: Moment of Inertia of a Hoop Pivoted on One Side
- •5.9: Perpendicular Axis Theorem
- •Example 5.9.1: Moment of Inertia of Hoop for Planar Axis
- •Homework for Week 5
- •Summary
- •6.1: Vector Torque
- •6.2: Total Torque
- •6.2.1: The Law of Conservation of Angular Momentum
- •Example 6.3.1: Angular Momentum of a Point Mass Moving in a Circle
- •Example 6.3.2: Angular Momentum of a Rod Swinging in a Circle
- •Example 6.3.3: Angular Momentum of a Rotating Disk
- •Example 6.3.4: Angular Momentum of Rod Sweeping out Cone
- •6.4: Angular Momentum Conservation
- •Example 6.4.1: The Spinning Professor
- •6.4.1: Radial Forces and Angular Momentum Conservation
- •Example 6.4.2: Mass Orbits On a String
- •6.5: Collisions
- •Example 6.5.1: Fully Inelastic Collision of Ball of Putty with a Free Rod
- •Example 6.5.2: Fully Inelastic Collision of Ball of Putty with Pivoted Rod
- •6.5.1: More General Collisions
- •Example 6.6.1: Rotating Your Tires
- •6.7: Precession of a Top
- •Homework for Week 6
- •Week 7: Statics
- •Statics Summary
- •7.1: Conditions for Static Equilibrium
- •7.2: Static Equilibrium Problems
- •Example 7.2.1: Balancing a See-Saw
- •Example 7.2.2: Two Saw Horses
- •Example 7.2.3: Hanging a Tavern Sign
- •7.2.1: Equilibrium with a Vector Torque
- •Example 7.2.4: Building a Deck
- •7.3: Tipping
- •Example 7.3.1: Tipping Versus Slipping
- •Example 7.3.2: Tipping While Pushing
- •7.4: Force Couples
- •Example 7.4.1: Rolling the Cylinder Over a Step
- •Homework for Week 7
- •Week 8: Fluids
- •Fluids Summary
- •8.1: General Fluid Properties
- •8.1.1: Pressure
- •8.1.2: Density
- •8.1.3: Compressibility
- •8.1.5: Properties Summary
- •Static Fluids
- •8.1.8: Variation of Pressure in Incompressible Fluids
- •Example 8.1.1: Barometers
- •Example 8.1.2: Variation of Oceanic Pressure with Depth
- •8.1.9: Variation of Pressure in Compressible Fluids
- •Example 8.1.3: Variation of Atmospheric Pressure with Height
- •Example 8.2.1: A Hydraulic Lift
- •8.3: Fluid Displacement and Buoyancy
- •Example 8.3.1: Testing the Crown I
- •Example 8.3.2: Testing the Crown II
- •8.4: Fluid Flow
- •8.4.1: Conservation of Flow
- •Example 8.4.1: Emptying the Iced Tea
- •8.4.3: Fluid Viscosity and Resistance
- •8.4.4: A Brief Note on Turbulence
- •8.5: The Human Circulatory System
- •Example 8.5.1: Atherosclerotic Plaque Partially Occludes a Blood Vessel
- •Example 8.5.2: Aneurisms
- •Homework for Week 8
- •Week 9: Oscillations
- •Oscillation Summary
- •9.1: The Simple Harmonic Oscillator
- •9.1.1: The Archetypical Simple Harmonic Oscillator: A Mass on a Spring
- •9.1.2: The Simple Harmonic Oscillator Solution
- •9.1.3: Plotting the Solution: Relations Involving
- •9.1.4: The Energy of a Mass on a Spring
- •9.2: The Pendulum
- •9.2.1: The Physical Pendulum
- •9.3: Damped Oscillation
- •9.3.1: Properties of the Damped Oscillator
- •Example 9.3.1: Car Shock Absorbers
- •9.4: Damped, Driven Oscillation: Resonance
- •9.4.1: Harmonic Driving Forces
- •9.4.2: Solution to Damped, Driven, Simple Harmonic Oscillator
- •9.5: Elastic Properties of Materials
- •9.5.1: Simple Models for Molecular Bonds
- •9.5.2: The Force Constant
- •9.5.3: A Microscopic Picture of a Solid
- •9.5.4: Shear Forces and the Shear Modulus
- •9.5.5: Deformation and Fracture
- •9.6: Human Bone
- •Example 9.6.1: Scaling of Bones with Animal Size
- •Homework for Week 9
- •Week 10: The Wave Equation
- •Wave Summary
- •10.1: Waves
- •10.2: Waves on a String
- •10.3: Solutions to the Wave Equation
- •10.3.1: An Important Property of Waves: Superposition
- •10.3.2: Arbitrary Waveforms Propagating to the Left or Right
- •10.3.3: Harmonic Waveforms Propagating to the Left or Right
- •10.3.4: Stationary Waves
- •10.5: Energy
- •Homework for Week 10
- •Week 11: Sound
- •Sound Summary
- •11.1: Sound Waves in a Fluid
- •11.2: Sound Wave Solutions
- •11.3: Sound Wave Intensity
- •11.3.1: Sound Displacement and Intensity In Terms of Pressure
- •11.3.2: Sound Pressure and Decibels
- •11.4: Doppler Shift
- •11.4.1: Moving Source
- •11.4.2: Moving Receiver
- •11.4.3: Moving Source and Moving Receiver
- •11.5: Standing Waves in Pipes
- •11.5.1: Pipe Closed at Both Ends
- •11.5.2: Pipe Closed at One End
- •11.5.3: Pipe Open at Both Ends
- •11.6: Beats
- •11.7: Interference and Sound Waves
- •Homework for Week 11
- •Week 12: Gravity
- •Gravity Summary
- •12.1: Cosmological Models
- •12.2.1: Ellipses and Conic Sections
- •12.4: The Gravitational Field
- •12.4.1: Spheres, Shells, General Mass Distributions
- •12.5: Gravitational Potential Energy
- •12.6: Energy Diagrams and Orbits
- •12.7: Escape Velocity, Escape Energy
- •Example 12.7.1: How to Cause an Extinction Event
- •Homework for Week 12
Week 11: Sound
Sound Summary
• Speed of Sound in a fluid |
|
||
v = s |
|
ρ |
(955) |
|
|
B |
|
where B is the bulk modulus of the fluid and ρ is the density. These quantities vary with pressure and temperature.
• Speed of Sound in air is va ≈ 340 m/sec.
• Travelling Sound waves:
Plane (displacement) waves (in the x-direction):
s(x, t) = s0 sin(kx − ωt)
Spherical waves:
R
s(r, t) = s0 (√4π) r sin(kr − ωt)
where R is a reference length needed to make the units right corresponding physically to the
“size of the source” (e.g. the smallest ball that can be drawn that completely contains the
√
source). The 4π is needed so that the intensity has the right functional form for a spherical wave (see below).
• Pressure Waves: The pressure waves that correspond to these two displacement waves are:
P (x, t) = P0 cos(kx − ωt)
and
P (r, t) = P0 √R cos(kr − ωt) ( 4π) r
where P0 = vaρωs0 = Zωs0 with Z = vaρ = √Bρ (a conversion factor that scales microscopic displacement to pressure). Note that:
P (x, t) = Z dtd s(x, t)
or, the displacement wave is a scaled derivative of the pressure wave.
The pressure waves represent the oscillation of the pressure around the baseline ambient pressure Pa, e.g. 1 atmosphere. The total pressure is really Pa + P (x, t) or Pa + P (r, t) (and we could easily put a “Δ” in front of e.g. P (r, t) to emphasize this point but don’t so as to not confuse variation around a baseline with a derivative).
457
458 |
Week 11: Sound |
• Sound Intensity: The intensity of sound waves can be written:
I = 12 vaρω2s20
or
I = |
1 1 |
P02 = |
1 |
P02 |
|||
|
|
|
|
||||
2 vaρ |
2Z |
||||||
|
|
|
•Spherical Waves: The intensity of spherical sound waves drops o like 1/r2 (as can be seen from the previous two points). It is usually convenient to express it in terms of the total power emitted by the source Ptot as:
I= Ptot
4πr2
This is “the total power emitted divided by the area of the sphere of radius r through which all the power must symmetrically pass” and hence it makes sense! One can, with some e ort, take the intensity at some reference radius r and relate it to P0 and to s0, and one can easily relate it to the intensity at other radii.
•Decibels: Audible sound waves span some 20 orders of magnitude in intensity. Indeed, the ear is barely sensitive to a doubling of intensity – this is the smallest change that registers as a change in audible intensity. This motivate the use of sound intensity level measured in decibels:
µI ¶
β= 10 log10 I0 (dB)
where the reference intensity I0 = 10−12 watts/meter2 is the threshold of hearing, the weakest sound that is audible to a “normal” human ear.
Important reference intensities to keep in mind are:
–60 dB: Normal conversation at 1 m.
–85 dB: Intensity where long term continuous exposure may cause gradual hearing loss.
–120 dB: Hearing loss is likely for anything more than brief and highly intermittent exposures at this level.
–130 dB: Threshold of pain. Pain is bad.
–140 dB: Hearing loss is immediate and certain – you are actively losing your hearing during any sort of prolonged exposure at this level and above.
–194.094 dB: The upper limit of undistorted sound (overpressure equal to one atmosphere). This loud a sound will instantly rupture human eardrums 50% of the time.
•Doppler Shift: Moving Source
f ′ = |
f0 |
(956) |
||
(1 |
vs |
|||
|
va |
) |
|
where f0 is the unshifted frequency of the sound wave for receding (+) and approaching (-) source, where vs is the speed of the source and va is the speed of sound in the medium (air).
• Doppler Shift: Moving Receiver
vr |
|
f ′ = f0(1 ± va ) |
(957) |
where f0 is the unshifted frequency of the sound wave for receding (-) and approaching (+) receiver, where vr is the speed of the source and va is the speed of sound in the medium (air).
Week 11: Sound |
459 |
• Stationary Harmonic Waves |
|
y(x, t) = y0 sin(kx) cos(ωt) |
(958) |
for displacement waves in a pipe of length L closed at one or both ends. This solution has a node at x = 0 (the closed end). The permitted resonant frequencies are determined by:
kL = nπ |
(959) |
for n = 1, 2... (both ends closed, nodes at both ends) or:
kL = |
2n − 1 |
π |
(960) |
|
2 |
||||
|
|
|
for n = 1, 2, ... (one end closed, nodes at the closed end).
• Beats If two sound waves of equal amplitude and slightly di erent frequency are added:
s(x, t) = |
s0 sin(k0x − ω0t) + s0 sin(k1x − ω1t) |
|
|
|
|
|
(961) |
|||||||
= |
2s |
sin( |
k0 + k1 |
x |
− |
ω0 + ω1 |
t) cos( |
k0 − k1 |
x |
− |
ω0 − ω1 |
t) |
(962) |
|
|
2 |
|
2 |
|||||||||||
|
0 |
2 |
|
|
|
2 |
|
|
|
which describes a wave with the average frequency and twice the amplitude modulated so that it “beats” (goes to zero) at the di erence of the frequencies δf = |f1 − f0|.
11.1: Sound Waves in a Fluid
Waves propagate in a fluid much in the same way that a disturbance propagates down a closed hall crowded with people. If one shoves a person so that they knock into their neighbor, the neighbor falls against their neighbor (and shoves back), and their neighbor shoves against their still further neighbor and so on.
Such a wave di ers from the transverse waves we studied on a string in that the displacement of the medium (the air molecules) is in the same direction as the direction of propagation of the wave. This kind of wave is called a longitudinal wave.
Although di erent, sound waves can be related to waves on a string in many ways. Most of the similarities and di erences can be traced to one thing: a string is a one dimensional medium and is characterized only by length; a fluid is typically a three dimensional medium and is characterized by a volume.
Air (a typical fluid that supports sound waves) does not support “tension”, it is under pressure. When air is compressed its molecules are shoved closer together, altering its density and occupied volume. For small changes in volume the pressure alters approximately linearly with a coe cient called the “bulk modulus” B describing the way the pressure increases as the fractional volume decreases. Air does not have a mass per unit length µ, rather it has a mass per unit volume, ρ.
The velocity of waves in air is given by |
|
|
|
va = s |
B |
≈ 343m/sec |
(963) |
ρ |
The “approximately” here is fairly serious. The actual speed varies according to things like the air pressure (which varies significantly with altitude and with the weather at any given altitude as low and high pressure areas move around on the earth’s surface) and the temperature (hotter molecules push each other apart more strongly at any given density). The speed of sound can vary by a few percent from the approximate value given above.