Scribd
Upload
162 views4 pages

Total Differentiation of A Vector in A Rotating Frame of Reference

1) The document derives an equation to relate the total derivative of a vector in an inertial frame to that in a rotating frame of reference. 2) It shows that the total derivative in a rotating frame has additional terms due to the rotation, including the Coriolis effect and centrifugal acceleration. 3) The relationship is then used to transform Newton's second law of motion from an inertial to a rotating reference frame, resulting in additional Coriolis and centrifugal terms.

Uploaded by

Mirza Muneeb Ahsan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
162 views4 pages

Total Differentiation of A Vector in A Rotating Frame of Reference

1) The document derives an equation to relate the total derivative of a vector in an inertial frame to that in a rotating frame of reference. 2) It shows that the total derivative in a rotating frame has additional terms due to the rotation, including the Coriolis effect and centrifugal acceleration. 3) The relationship is then used to transform Newton's second law of motion from an inertial to a rotating reference frame, resulting in additional Coriolis and centrifugal terms.

Uploaded by

Mirza Muneeb Ahsan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 4

Total Differentiation of a Vector in a

Rotating Frame of Reference


• Before we can write Newton’s second law of motion for a
reference frame rotating with the earth, we need to
develop a relationship between the total derivative of a
vector in an inertial reference frame and the
corresponding derivative in a rotating system.
r
Let A be an arbitrary vector with Cartesian components
r
A = Ax iî + Ay ˆj + Az kk̂ i an inertial
in i i l frame
f off reference,
f and
d

r
A = Ax′ î ′ + A′y ˆj ′ + Az′ k̂ ′ in a rotating frame of reference.

r
If A = Ax î + Ay ˆj + Az k̂ in an inertial frame of reference, then
r
dA ⎛ diˆ ˆ dAx ⎞ ⎛ dˆj ˆ dAy ⎞ ⎛⎜ dkˆ ˆ dAz ⎞
⎟
= ⎜ Ax + i ⎟ + ⎜ Ay + j ⎟ + Az +k
dt ⎜⎝ dt dt ⎟⎠ ⎜⎝ dt dt ⎟⎠ ⎜⎝ dt dt ⎟
⎠

Since the coordinate axes are in an inertial frame of reference,

diˆ dˆj dkˆ


= = =0
dt dt dt
r
dA ⎛ diˆ ˆ dAx ⎞ ⎛ dˆj ˆ dAy ⎞ ⎜⎛ dkˆ ˆ dAz ⎞
⎟
= ⎜ Ax + i ⎟ + ⎜ Ay + j ⎟ + Az +k
dt ⎜⎝ dt dt ⎟⎠ ⎜⎝ dt dt ⎟⎠ ⎜⎝ dt dt ⎟
⎠
r
dA dAx ˆ dAy ˆ dAz ˆ
= i+ j+ k (Eq. 1)
dt dt dt dt

1
r
If A = Ax′ iˆ′ + A′y ˆj ′ + Az′ kˆ′ in a rotating frame of reference, then
r
dA ⎛ diˆ′ ˆ dAx′ ⎞ ⎛ dˆj ′ ˆ dA′y ⎞ ⎛⎜ dkˆ′ ˆ dAz′ ⎞⎟
= ⎜ Ax′ +i′ ⎟ + ⎜ A′y + j′ ⎟ + Az′ + k′
dt ⎜⎝ dt ⎟⎠ ⎜⎝ dt dt ⎟⎠ ⎜⎝ dt ⎟⎠
(Eq. 2)
dt dt

Because the left hand sides of Eq. 1 and Eq. 2 are identical,

dAx ˆ dAy ˆ dAz ˆ ⎛ diˆ′ ˆ dAx′ ⎞ ⎛ dˆj ′ ˆ dA′y ⎞ ⎛⎜ dkˆ′ ˆ dAz′ ⎞⎟


i+ j+ k = ⎜⎜ Ax′ +i′ ⎟ + ⎜ A′y + j′ ⎟ + Az′ + k′
dt dt dt ⎝ dt dt ⎟⎠ ⎜⎝ dt dt ⎟⎠ ⎜⎝ dt dt ⎟⎠

Regrouping the terms

dAx ˆ dAy ˆ dAz ˆ dAx′ ˆ dA′y ˆ dAz′ ˆ diˆ′ dˆj ′ dkˆ′


i+ j+ k= i′+ j′ + k ′ + Ax′ + A′y + Az′
dt dt dt dt dt dt dt dt dt
r r
⎛ dA ⎞ ⎛ dA ⎞
⎜ ⎟ ⎜ ⎟
⎜ dt ⎟ ⎜ dt ⎟ effects of rotation
⎝ ⎠inertial ⎝ ⎠ rotating

dAx ˆ dAy ˆ dAz ˆ dAx′ ˆ dA′y ˆ dAz′ ˆ diˆ′ dˆj ′ dkˆ′


i+ j+ k= i′+ j′ + k ′ + Ax′ + A′y + Az′
dt dt dt dt dt dt dt dt dt
r r
⎛ dA ⎞ ⎛ dA ⎞
⎜ ⎟ ⎜ ⎟
⎜ dt ⎟ ⎜ dt ⎟ effects of rotation
⎝ ⎠inertial ⎝ ⎠ rotating

diˆ′ dˆj ′ dkˆ′


To interpret , , think of each unit vector as a position vector.
dt dt dt
r r r
linear velocity = angular velocity x position vector → V = Ω×r
r drr r
dr r r
Because V= , = Ω×r
δθ dt dt
δr
r diˆ′ r ˆ dˆj ′ r ˆ dkˆ′ r ˆ
Thus = Ω × i ′, = Ω × j ′, = Ω × k′
dt dt dt

2
dAx ˆ dAy ˆ dAz ˆ dAx′ ˆ dA′y ˆ dAz′ ˆ
dt
i+
dt
j+
dt
k=
dt
i′+
dt
j′ +
dt
r
( )
r
( )
r
(
k ′ + Ax′ Ω × iˆ′ + A′y Ω × ˆj ′ + Az′ Ω × kˆ′ )
r r r r
⎛ dA ⎞ ⎛ dA ⎞ Ω× A
⎜ ⎟ ⎜ ⎟
⎜ dt ⎟ ⎜ dt ⎟ (effects of rotation)
⎝ ⎠inertial ⎝ ⎠ rotating

r r This equation provides us with a


⎛ dA ⎞ ⎛ dA ⎞ r r formal way of expressing the
⎜ ⎟ = ⎜⎜ ⎟⎟ + Ω× A
⎜ dt ⎟ balance of forces on a fluid parcel
⎝ ⎠inertial ⎝ dt ⎠ rotating in a rotating coordinate system.

We will now start with Newton


Newton’s s second law in an
inertial reference frame and transform it to rotating
coordinates:
r r
⎛ dV ⎞
⎜ ⎟ =
∑ F
⎜ dt ⎟
⎝ ⎠inertial m

r
Substitute r, the position vector for an air parcel on the rotating earth, into
r r
⎛ dA ⎞ ⎛ dA ⎞ r r
⎜ ⎟ = ⎜ ⎟ + Ω × A,
⎜ dt ⎟ ⎜ ⎟
⎝ ⎠inertial ⎝ dt ⎠ rotating
the transformation of the total derivative, to g
get:
r r r r
⎛ dr ⎞ ⎛ dr ⎞
⎜ ⎟ = ⎜ ⎟ +Ω ×r
⎝ dt ⎠inertial ⎝ dt ⎠ rotating

Because velocity is the rate of change of the position vector with time, this
can be rewritten:
r drr r r r r
V= ⇒ Vinertial = V + Ω × r
dt
r
Now substitute Vinertial into the transformation of the total derivative:
r r
⎛ dVinertial ⎞ dVinertial r r
⎜ ⎟ = + Ω × Vinertial
⎜ dt ⎟
⎝ ⎠inertial dt

3
r r
r ⎛ dVinertial ⎞ dVinertial r r
Substitute for Vinertial in ⎜⎜ ⎟
⎟ = + Ω × Vinertial to get
⎝ dt ⎠inertial dt
r
⎛ dV ⎞ d r r r
( ) ( )
r r r r
⎜ ⎟ = V +Ω ×r +Ω × V +Ω ×r
⎜ dt ⎟
⎝ ⎠inertial dt
r
Using some vector identities and defining R as a vector perpendicular to the axis
of rotation with magnitude equal to the distance to the axis of rotation:

r r
⎛ dV ⎞ dV r r r
⎜ ⎟ = + 2Ω × V − Ω 2 R
⎜ dt ⎟
⎝ ⎠inertial
i ti l
dt

Acceleration Rate of change Coriolis Centrifugal


following the of relative acceleration acceleration
motion in an velocity following
inertial system the relative
motion in a
rotating
reference frame.

Substituting into Newton’s second law:


r r
⎛ dV ⎞
⎜ ⎟ =
∑ F
⎜ dt ⎟
⎝ ⎠ inertial m
r r
dV r r r ∑F
+ 2Ω × V − Ω R = 2

dt m
If the real forces acting on a fluid parcel are the pressure gradient
force, gravitation and friction, then
r
dV r r 1 r r
= −2Ω × V − ∇p + g + Fr
dt ρ
Rate of change Coriolis Pressure Gravity term Friction
of
f relative acceleration gradient force (gravitation +
velocity following (per unit mass) centrifugal)
the relative
motion in a
rotating
reference frame.

Vector momentum equation in rotating coordinates

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy