Earth Rotation and its Reference Frame
Dynamics III: Earth rotation
L. Talley SIO 210 Fall, 2016
•
Earth reference frame
•
Geoid
•
Rotation definitions
•
Centrifugal force
•
Coriolis force
•
Inertial motion
•
READING:
–
DPO: Chapter 7.2.3, 7.5.1
–
Stewart chapter 7.6, 9.1
–
Tomczak and Godfrey chapter 3, pages 29-35
Talley SIO 210 (2016)
9/20/2024
The rotating Earth as a reference
frame
Review: coordinate system
•
Local Cartesian (x,y,z), ignoring
sphericity
•
West-east (“zonal”) x –direction
(positive eastwards)
•
South-north (“meridional”) y-
direction (positive northwards)
•
Down-up (“vertical”) z-direction
(positive upwards)
•
Importantly – this reference
frame ROTATES with the Earth,
so it is not fixed in space
Talley SIO 210 (2016)
https://en.wikipedia.org/wiki/Geographic_coordinate_system
9/20/2024
Review of the Earth’s reference frame for
pressure: the geoid
When we calculate horizontal
pressure gradients, they
are relative to a “level”
surface along which the
pressure gradient
vanishes (no force, no
motion)
Talley SIO 210 (2016)
Earth’s mass is not distributed evenly AND Earth is not a
perfect ellipsoid. That is, the “level” surface is not locally
“flat”.
The surface of constant pressure, i.e. along which the
gravitational force has no changes, is the “geoid”
9/20/2024
Rotating coordinates
•
The Earth is rotating. We measure things relative to this “rotating
reference frame”.
•
Quantity that tells how fast something is rotating:
Angular speed or angular velocity
= angle/second
360
°
is the whole circle, but express angle in radians (2
radians = 360
°
)
For Earth: 2
/ 1 day = 2
/ 86,400 sec = 0.707 x 10
-4
/sec
Also can show
= v/R
where v is the measured velocity and R is the radius to the
axis of rotation (therefore
v =
R
)
R
At home: calculate speed you
are traveling through space if you
are at the equator (radius of earth
is about 6371 km), then calculate
it at 30N as well. (Do some
geometry to figure out the
distance from the axis at 30N.)
Talley SIO 210 (2016)
9/20/2024
Rotating coordinates
•
Vector that expresses direction of rotation and how fast it is rotating
:
vector pointing in direction of thumb using right-hand rule, curling fingers in
direction of rotation
R
Talley SIO 210 (2016)
9/20/2024
Centripetal and Centrifugal forces
(now looking straight down on the rotating plane)
Centripetal force
is the
actual force that keeps the
ball “tethered” (here it is
the string, but it can be
gravitational force)
Centrifugal force
is the
pseudo-force (apparent force)
that one feels due to lack of
awareness that the coordinate
system is rotating or curving
centrifugal acceleration =
2
R
(outward)
(Units of m/sec
2
)
Talley SIO 210 (2016)
9/20/2024
Effect of centrifugal force
on ocean and earth
Centrifugal force acts on the ocean and earth. It is pointed
outward away from the rotation axis.
Therefore it is maximum at the equator (maximum radius
from axis) and minimum at the poles (0 radius).
= 0.707 x 10
-4
/sec
At the equator, R ~ 6380 km so
2
R = .032 m/s
2
Compare with gravity = 9.8 m/s
2
Centrifugal force should cause the equator to be deflected
(0.032/9.8) x 6380 km = 21 km outward compared with
the poles.
(i.e. about 0.3%)
Talley SIO 210 (2016)
9/20/2024
Effect of centrifugal force
on ocean and earth
R
a
d
i
u
s
:
E
q
u
a
t
o
r
i
a
l
6
,
3
7
8
.
1
3
5
k
m
P
o
l
a
r
6
,
3
5
6
.
7
5
0
k
m
M
e
a
n
6
,
3
7
2
.
7
9
5
k
m
(
F
r
o
m
w
i
k
i
p
e
d
i
a
e
n
t
r
y
o
n
E
a
r
t
h
)
The ocean is not 20 km deeper at the equator, rather the earth itself is
deformed!
We bury the centrifugal force term in the gravity term (which we can
call “effective gravity”), and ignore it henceforth. Calculations that
require a precise gravity term should use subroutines that account for
its latitudinal dependence.
Talley SIO 210 (2016)
9/20/2024
Coriolis effect
Inertial motion:
motion in a straight line
relative to the fixed stars
Coriolis effect:
apparent deflection of that
inertially moving body just
due to the rotation of you,
the observer.
Coriolis effect deflects
bodies (water parcels, air
parcels) to the right in the
northern hemisphere and
to the left in the southern
hemisphere
Talley SIO 210 (2016)
9/20/2024
Coriolis effect
look on youtube for
countless animations
Talley SIO 210 (2016)
9/20/2024
Coriolis force
Additional terms in x, y
momentum equations, at
latitude
horizontal motion is much
greater than vertical)
x-momentum equation:
-
sin
v = -f v
y-momentum equation:
sin
u = f u
f =
sin
is the “
Coriolis
parameter
”. It depends on
latitude (projection of total
Earth rotation on local vertical)
Talley SIO 210 (2016)
9/20/2024
Coriolis
parameter
f =
sin
is the “
Coriolis
parameter
”
= 1.458x10
-4
/sec
At equator (
=0, sin
=0)
:
f = 0
At 30°N (
=30°, sin
=0.5)
:
f = 0.729
x10
-4
/sec
At north pole (
=90°, sin
=1)
:
f =
1.458x10
-4
/sec
At 30°S (
=-30°, sin
=-0.5)
:
f = -0.729
x10
-4
/sec
At north pole (
=-90°, sin
=-1)
:
f = -
1.458x10
-4
/sec
Talley SIO 210 (2016)
9/20/2024
Complete force (momentum) balance with
rotation
Three equations:
Horizontal (x) (west-east)
acceleration + advection +
Coriolis
=
pressure gradient force + viscous term
Horizontal (y) (south-north)
acceleration + advection +
Coriolis
=
pressure gradient force + viscous term
Vertical (z) (down-up)
acceleration +advection (+
neglected very small Coriolis
) =
pressure gradient force + effective gravity
(
including centrifugal force
) + viscous term
Talley SIO 210 (2016)
9/20/2024
Final equations of motion
(momentum
equations in Cartesian coordinates)
x:
u/
t + u
u/
x + v
u/
y + w
u/
z
- fv
=
- (1/
)
p/
x +
/
x(A
H
u/
x) +
/
y(A
H
u/
y) +
/
z(A
V
u/
z)
(7.11a)
y:
v/
t + u
v/
x + v
v/
y + w
v/
z
+ fu
=
- (1/
)
p/
y +
/
x(A
H
v/
x) +
/
y(A
H
v/
y) +
/
z(A
V
v/
z) (7.11b)
z:
w/
t + u
w/
x + v
w/
y + w
w/
z (
+
neglected small Coriolis
) =
- (1/
)
p/
z - g +
/
x(A
H
w/
x) +
/
y(A
H
w/
y) +
/
z(A
V
w/
z)
(7.11c)
(where g contains
both actual g and effect of centrifugal force
)
Talley SIO 210 (2016)
9/20/2024
Coriolis in action in the ocean: Observations of
Inertial Currents
•
Surface drifters in the Gulf of Alaska during
and after a storm.
•
Note the corkscrews - drifters start off with
clockwise motion, which gets weaker as the
motion is damped (friction)
D’Asaro et
al. (1995)
DPO Fig. 7.4
Talley SIO 210 (2016)
9/20/2024
Inertial currents
Balance of Coriolis and acceleration terms: push the
water and it turns to the right (NH), in circles.
DPO Fig. S7.8a
Talley SIO 210 (2016)
9/20/2024
Inertial currents: periods
Talley SIO 210 (2016)
Inertial
period
T = 2π/f
9/20/2024
Inertial currents: force balance
Three
APPROXIMATE
equations (all other terms are much smaller):
Horizontal (x) (west-east)
acceleration + Coriolis = 0
Horizontal (y) (south-north)
acceleration + Coriolis = 0
Vertical (z) (down-up)
(hydrostatic) (not important for this solution)
0 = pressure gradient force + effective gravity
That is:
x:
u/
t - fv = 0
y:
v/
t + fu = 0
Solution: solve y-eqn for u and substitute in x eqn (or vice versa).
Solutions are velocity circles:
u = U
o
sin(ft) and v = U
o
cos(ft) where U
o
is an arbitrary amplitude
Talley SIO 210 (2016)
9/20/2024
Inertial currents: relation to internal waves
Energy in inertial oscillations (which are wind-forced) as measured by surface drifters
(Elipot et al., JGR 2010)
Talley SIO 210 (2016)
9/20/2024
Exploring the dynamics of Earth's rotation, this content delves into the geoid as a reference frame for pressure calculations, rotating coordinates, and the concept of centripetal and centrifugal forces. Learn about the Earth's rotating reference frame, angular velocity, and how to calculate speed at different latitudes relative to the Earth's axis of rotation.
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Presentation Transcript
Dynamics III: Earth rotation L. Talley SIO 210 Fall, 2016 Earth reference frame Geoid Rotation definitions Centrifugal force Coriolis force Inertial motion READING: DPO: Chapter 7.2.3, 7.5.1 Stewart chapter 7.6, 9.1 Tomczak and Godfrey chapter 3, pages 29-35 Talley SIO 210 (2016) 9/20/2024
The rotating Earth as a reference frame Review: coordinate system Local Cartesian (x,y,z), ignoring sphericity West-east ( zonal ) x direction (positive eastwards) South-north ( meridional ) y- direction (positive northwards) Down-up ( vertical ) z-direction (positive upwards) Importantly this reference frame ROTATES with the Earth, so it is not fixed in space https://en.wikipedia.org/wiki/Geographic_coordinate_system Talley SIO 210 (2016) 9/20/2024
Review of the Earths reference frame for pressure: the geoid When we calculate horizontal pressure gradients, they are relative to a level surface along which the pressure gradient vanishes (no force, no motion) Earth s mass is not distributed evenly AND Earth is not a perfect ellipsoid. That is, the level surface is not locally flat . The surface of constant pressure, i.e. along which the gravitational force has no changes, is the geoid Talley SIO 210 (2016) 9/20/2024
Rotating coordinates The Earth is rotating. We measure things relative to this rotating reference frame . Quantity that tells how fast something is rotating: Angular speed or angular velocity = angle/second 360 is the whole circle, but express angle in radians (2 radians = 360 ) For Earth: 2 / 1 day = 2 / 86,400 sec = 0.707 x 10-4 /sec Also can show = v/R where v is the measured velocity and R is the radius to the axis of rotation (therefore v = R) At home: calculate speed you are traveling through space if you are at the equator (radius of earth is about 6371 km), then calculate it at 30N as well. (Do some geometry to figure out the distance from the axis at 30N.) Talley SIO 210 (2016) R 9/20/2024
Rotating coordinates Vector that expresses direction of rotation and how fast it is rotating: vector pointing in direction of thumb using right-hand rule, curling fingers in direction of rotation R Talley SIO 210 (2016) 9/20/2024
Centripetal and Centrifugal forces (now looking straight down on the rotating plane) Centripetal force is the actual force that keeps the ball tethered (here it is the string, but it can be gravitational force) Centrifugal force is the pseudo-force (apparent force) that one feels due to lack of awareness that the coordinate system is rotating or curving centrifugal acceleration = 2R (outward) (Units of m/sec2) Talley SIO 210 (2016) 9/20/2024
Effect of centrifugal force on ocean and earth Centrifugal force acts on the ocean and earth. It is pointed outward away from the rotation axis. Therefore it is maximum at the equator (maximum radius from axis) and minimum at the poles (0 radius). = 0.707 x 10-4 /sec At the equator, R ~ 6380 km so 2R = .032 m/s2 Compare with gravity = 9.8 m/s2 Centrifugal force should cause the equator to be deflected (0.032/9.8) x 6380 km = 21 km outward compared with the poles. (i.e. about 0.3%) Talley SIO 210 (2016) 9/20/2024
Effect of centrifugal force on ocean and earth Radius: Equatorial 6,378.135 km Polar 6,356.750 km Mean 6,372.795 km (From wikipedia entry on Earth) The ocean is not 20 km deeper at the equator, rather the earth itself is deformed! We bury the centrifugal force term in the gravity term (which we can call effective gravity ), and ignore it henceforth. Calculations that require a precise gravity term should use subroutines that account for its latitudinal dependence. Talley SIO 210 (2016) 9/20/2024
Coriolis effect Inertial motion: motion in a straight line relative to the fixed stars Coriolis effect: apparent deflection of that inertially moving body just due to the rotation of you, the observer. Coriolis effect deflects bodies (water parcels, air parcels) to the right in the northern hemisphere and to the left in the southern hemisphere Talley SIO 210 (2016) 9/20/2024
Coriolis effect look on youtube for countless animations Talley SIO 210 (2016) 9/20/2024
Coriolis force Additional terms in x, y momentum equations, at latitude (horizontal motion is much greater than vertical) x-momentum equation: - sin v = -f v y-momentum equation: sin u = f u f = sin is the Coriolis parameter . It depends on latitude (projection of total Earth rotation on local vertical) Talley SIO 210 (2016) 9/20/2024
Coriolis parameter f = sin is the Coriolis parameter = 1.458x10-4/sec At equator ( =0, sin =0): f = 0 At 30 N ( =30 , sin =0.5): f = 0.729x10-4/sec At north pole ( =90 , sin =1): f = 1.458x10-4/sec At 30 S ( =-30 , sin =-0.5): f = -0.729x10-4/sec At north pole ( =-90 , sin =-1): f = -1.458x10-4/sec Talley SIO 210 (2016) 9/20/2024
Complete force (momentum) balance with rotation Three equations: Horizontal (x) (west-east) acceleration + advection + Coriolis = pressure gradient force + viscous term Horizontal (y) (south-north) acceleration + advection + Coriolis = pressure gradient force + viscous term Vertical (z) (down-up) acceleration +advection (+ neglected very small Coriolis) = pressure gradient force + effective gravity (including centrifugal force) + viscous term Talley SIO 210 (2016) 9/20/2024
Final equations of motion (momentum equations in Cartesian coordinates) x: u/ t + u u/ x + v u/ y + w u/ z - fv = - (1/ ) p/ x + / x(AH u/ x) + / y(AH u/ y) + / z(AV u/ z) (7.11a) y: v/ t + u v/ x + v v/ y + w v/ z + fu = - (1/ ) p/ y + / x(AH v/ x) + / y(AH v/ y) + / z(AV v/ z) (7.11b) z: w/ t + u w/ x + v w/ y + w w/ z (+ neglected small Coriolis) = - (1/ ) p/ z - g + / x(AH w/ x) + / y(AH w/ y) + / z(AV w/ z) (7.11c) (where g contains both actual g and effect of centrifugal force) Talley SIO 210 (2016) 9/20/2024
Coriolis in action in the ocean: Observations of Inertial Currents D Asaro et al. (1995) DPO Fig. 7.4 Surface drifters in the Gulf of Alaska during and after a storm. Note the corkscrews - drifters start off with clockwise motion, which gets weaker as the motion is damped (friction) Talley SIO 210 (2016) 9/20/2024
Inertial currents Balance of Coriolis and acceleration terms: push the water and it turns to the right (NH), in circles. DPO Fig. S7.8a Talley SIO 210 (2016) 9/20/2024
Inertial currents: periods sin( ) Coriolis parameter f = 2 sin( ) Inertial period T = 2 /f = latitude Talley SIO 210 (2016) 9/20/2024
Inertial currents: force balance Three APPROXIMATE equations (all other terms are much smaller): Horizontal (x) (west-east) acceleration + Coriolis = 0 Horizontal (y) (south-north) acceleration + Coriolis = 0 Vertical (z) (down-up) (hydrostatic) (not important for this solution) 0 = pressure gradient force + effective gravity That is: x: u/ t - fv = 0 y: v/ t + fu = 0 Solution: solve y-eqn for u and substitute in x eqn (or vice versa). Solutions are velocity circles: u = Uosin(ft) and v = Uocos(ft) where Uo is an arbitrary amplitude Talley SIO 210 (2016) 9/20/2024
Inertial currents: relation to internal waves Energy in inertial oscillations (which are wind-forced) as measured by surface drifters (Elipot et al., JGR 2010) Talley SIO 210 (2016) 9/20/2024
