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You are on page 1of 38

1 Introduction 1

1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1.2 Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2 Mathematical Preparation 2

2.1 Notation and Denitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2.2 Newtons laws of motion and gravitation . . . . . . . . . . . . . . . . . . . . . . . 2

2.3 Newtons laws and space travel . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2.4 Keplers laws of planetary motion . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2.5 Conservation laws . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

3 Escaping gravity 6

3.1 Calculating escape velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4 Calculating Trajectories 7

4.1 The two body problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

4.1.1 Outline of the solution to the two body problem . . . . . . . . . . . . . . 7

4.1.2 Conic sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4.1.3 The n-body problem and patched conic approximations . . . . . . . . . . 11

4.2 The solution to the two body problem in polar form for a spacecraft . . . . . . . 11

4.3 Hohmann transfers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.3.1 Vis-viva equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

5 Gravity assisted manoeuvres 14

5.1 v budgets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

5.2 Gravitational slingshots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

5.2.1 What is a gravitational slingshot? . . . . . . . . . . . . . . . . . . . . . . 14

5.2.2 Motivation for Slingshots: Cassini Example . . . . . . . . . . . . . . . . . 14

5.2.3 Conservation of momentum during slingshot . . . . . . . . . . . . . . . . . 15

5.2.4 Calculating the nal velocity of a slingshot . . . . . . . . . . . . . . . . . 15

5.3 Putting slingshots into practice . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

5.3.1 Finding the best deection angle in a gravitational slingshot . . . . . . . . 17

5.3.2 Relationship between and . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.4 Oberth Eect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

5.4.1 Oberth eect and work . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

5.4.2 Oberth eect in practice . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6 Solar sailing 22

6.1 Pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6.2 Maxwell Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6.3 What is solar sailing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

6.4 Calculating radiation pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

6.5 Force on a solar sail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6.6 Optimum angle for sailing in a Keplar orbit . . . . . . . . . . . . . . . . . . . . . 27

6.7 Accelerating away from the Sun . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

7 Conclusion 30

7.1 Classical space travel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

ii

7.2 Future space travel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Bibliography 31

8 Appendix 34

8.1 Appendix 1: Elliptical Orbits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

8.2 Appendix 2: Cartesian equations for conic sections . . . . . . . . . . . . . . . . . 34

8.3 Appendix 3: Trigonometric laws . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

8.4 Appendix 4: Calculation of the critical sail loading . . . . . . . . . . . . . . . . . 36

iii

1 Introduction

1.1 Overview

Space has long fascinated mankind. Astronomy has been studied for centuries and is one of the

oldest disciplines, studied by ancient civilisations such as the Babylonians, Greeks, Chinese and

Mayans. But astronomy goes hand in hand with mathematics, and even the Babylonians used

mathematics to predict astronomical events.

It is little wonder then, that mankind has strived to reach the stars, but it is only recently that

we have been able to do so. The technology we currently use to reach and traverse outer space

is based on chemical rockets, which have been around for centuries, dating back until at least

the 13th century in China [1].

But with such an ancient technology being our primary source of exploring the heavens, the

natural question is What next?. There are limitations to rocket-propelled ight. For example,

the Apollo missions used a Saturn V booster. Before launch it had a mass of 3,000,000kg.

But only 47,000kg actually departed on a trajectory to the moon[2], or 1.57% of the launch

mass. Evidently, the amount of power it takes to get something into space is enormous, and

the weight of chemical propellant is a limiting factor to how far a rocket can explore.

This leads to the question which the top minds at space agencies such as NASA are trying to

solve: What sources of energy are there in space we can utilise to propel a spacecraft?. More

importantly, What economical sources of energy are available?. Space travel is expensive,

and minimising costs maximises the amount of space missions.

1.2 Objectives

This paper will aim to do the following:

Explain how a spacecraft can escape gravity

Explain how to calculate the trajectory of a spacecraft

Explain the motivation behind techniques which generate extra speed (known as v)

Explain how to use a planets gravity to generate extra speed (slingshot orbits)

Explain how to use the pressure of the suns radiation to generate extra speed (solar

sailing)

1

2 Mathematical Preparation

2.1 Notation and Denitions

Notation. For the remainder of this paper, all vectors will be denoted in bold. Where a vector

value x is not bolded, we assume that to be the scalar value of that vector, i.e. that x = |x|.

For any vector x let x denote the unit vector in the direction of x. That is the vector such that

| x| = 1 and x = x x.

Notation. With respect to a cartesian co-ordinate system we dene the position of an object

at a particular time by

r(t) =

_

x(t), y(t), z(t)

_

T

= x(t)

i +y(t)

j +z(t)

k

Notation. The velocity of an object is given by v =

dr

dt

The acceleration of an object is

given by a =

dv

dt

=

d

2

r

dt

2

Denition 1. The gravitational constant is denoted G and is dened as

G = 6.6738 10

11

m

3

kg

1

s

2

Denition 2. For an object with mass m and velocity v we dene its linear momentum as

p = mv

2.2 Newtons laws of motion and gravitation

In 1687 Isaac Newton published his work PhilosophiNaturalis Principia Mathematica, which

contained his laws of motion. These are described as follows:

Newtons rst law of motion

If the sum of all forces F on an object is zero, then the rate of change of velocity v of that

object is constant.

F = 0

dv

dt

= 0 (1)

Newtons second law of motion

The force on an object is equal to the rate of change of its linear momentum

F =

dp

dt

= m

dv

dt

= ma (2)

2

Newtons third law of motion

If object A exerts a force F

1

on object B, then the object B simultaneously exerts a force

F

2

= F

1

on object A of equal magnitude in the opposite direction.

Newtons law of universal gravitation

Given two objects, object A of mass m

1

and object B of mass m

2

which are separated by a

scalar distance r, the magnitude of the force of object A upon object B is given by

F = G

m

1

m

2

r

2

(3)

Due to Newtons Third Law, object B acts upon object A with a force of the same magnitude

in the opposite direction.

2.3 Newtons laws and space travel

Obviously the above laws are important to space travel, but we also have a clear issue: if we

have a spacecraft of mass m and it burns its rockets, its mass reduces. Since Newtons second

law only applies for a xed mass, we must adjust Newtons second law to account for this.

Newtons second law of motion for variable mass

Let u be the relative velocity of the ejected mass (fuel) from the frame of reference of the object

(spacecraft). Then:

F +u

dm

dt

= m

dv

dt

(4)

From this we can calculate how much velocity a spacecraft generates by burning its fuel.

Theorem 1. Let a spacecraft start with mass m

0

and burn an amount of fuel m. Let

m

1

= m

0

m. The change in velocity generated by burning the fuel is given by:

v = ulog

m

0

m

1

(5)

Proof. We assume that there are no external forces and that the fuel is ejected from the craft

at a constant velocity. We take u as positive and thus equation 4 gives us:

u

1

m

dm

dt

=

dv

dt

Integrating both sides with respect to time, between times t

0

and t

1

gives us the following:

3

u

_

t

1

t

0

1

m

dm =

_

t

1

t

0

dv

Thus we get

v = ulog

m

0

m

1

2.4 Keplers laws of planetary motion

To send a spacecraft to a planet, we must rst know where that planet will be when it arrives.

Luckily, the mathematics of planetary orbits were were out by Kepler centuries before we could

launch rockets into space.

Keplers laws of planetary motion

1. The orbit of every planet about the sun is an ellipse with the sun at one of the foci.

2. Given identical periods of time, a line connecting a planet to the Sun will pass over an equal

area every time.

3. Given the orbital period, P and the semi major axis of the orbit a

P

2

a

3

Using these we can model a planets orbit around the Sun and thus predict where a planet

will be at a particular point in time. There are six parameters which are required to model

a planets motion and these are called the Orbital Elements. Modelling planetary orbits is

beyond the scope of this paper, but those who are interested may wish to check out NASAs

Solar Systems Dynamics website[4].

We note in particular law 1. Some technical terms about elliptical orbits are included in ap-

pendix 1. Importantly, we note that the point on the orbit closest to the body being orbited is

called the periapsis while the furthest point is called the apoapsis.

2.5 Conservation laws

Several conservation laws are important to space travel. These include:

Conservation of specic energy

We rst need to introduce the notion of specic energy

4

Denition 3. Specic kinetic energy of an object, e

k

=

1

2

v

2

is kinetic energy per unit mass

Specic potential energy of an object begin acted upon by a body of mass M from a distance

r is given by, e

p

=

GM

r

and is potential energy per unit mass.

The total energy of a closed system remains constant over time. In particular for two orbiting

bodies their specic orbital energy e = e

k

+ e

p

remains constant and doesnt vary over time,

that is

de

dt

= 0 (6)

Conservation of linear momentum

In a system with no external forces, linear momentum p is conserved. Let a system be composed

of i dierent bodies, each with momentum p

i

. Then conservation of linear momentum states

i

dp

i

dt

= 0 (7)

Conservation of angular momentum

Denition 4. Angular momentum L is the cross product of an objects position with its

linear momentum. L = r mv

Torque is the cross product of an objects position r with the Force F acting upon that

particle, = r F

Theorem 2. In a system with no external torque,

dL

dt

= 0 (8)

Proof. We have that r F = 0. So,

dL

dt

=

dr

dt

mv +r m

dv

dt

= m(v v +r a)

= 0 +r ma

= r F = 0

5

3 Escaping gravity

3.1 Calculating escape velocity

Denition 5. The escape velocity v

e

of a body is the velocity which must be attained to

escape its gravity at a particular distance from its centre. We will derive the escape velocity of

a body using Newtons law of gravitational attraction between a large body of mass M and the

spacecraft with mass m. At any point in time, let the distance between the spacecraft and the

centre of the bodys mass is given by r

.

Theorem 3. The escape velocity is given by:

v

e

=

_

2GM

r

(9)

Proof. Newtons law of gravitation (equation 3) and Newtons second law (equation 2) give us

that

F =

GMm

r

2

= m

d

2

r

dt

2

(10)

Cancelling the masses of the spacecraft gives us:

d

2

r

dt

2

=

GM

r

2

We can solve this using the chain rule:

d

2

r

dt

2

=

dv

dr

dr

dt

= v

dv

dr

.

Substituting in and separating the variables we get

_

vdv =

_

GM

r

2

dr (11)

The solution to which is

v

2

2

=

GM

r

+ C for some constant C. We look at the case where v = 0

which happens at some height x and get that C =

GM

x

We can rearrange this to get x =

GM

2GM

r

V

2

, so to escape the planet we want this to happen

at some positive value (else our spacecraft just crashes back to the earth). So we require that

v >

_

2GM

r

6

4 Calculating Trajectories

So we understand how spacecraft generate thrust, and we understand how to get a spacecraft

to escape the gravity of a planet. Now we want our spacecraft to get to another planet. But

what path does a spacecraft take?

4.1 The two body problem

The two body problem asks how to solve the motion of one body (a) about another body (b)

under their mutual gravitation. Once we understand this, we can predict how a spacecraft will

move in space.

Here we will explain how the problem can be solved and later we will solve it for the case of a

spacecraft and a large body in space.

4.1.1 Outline of the solution to the two body problem

1

We take the vectors r

a

and r

b

to be the displacement of the objects from a xed origin in the

system. Note that we can calculate the centre of mass of the system, R, using R =

m

a

r

a

+m

b

r

b

m

a

+m

b

.

Dierentiating this twice and using Newtons third law, that F

a

= F

b

.

d

2

R

dt

2

=

F

a

+F

b

m

a

+m

b

= 0 (12)

So the centre of mass has a constant velocity and thus it can always be calculated using the

initial positions and velocities of objects a and b. We can thus plot its movement as a function

R(t).

Note that at any time the displacement from body a to body b is given by

r(t) = r

b

(t) r

a

(t). Dierentiating this twice we get

d

2

r

dt

2

=

F

a

m

a

F

b

m

b

=

_

1

m

a

+

1

m

b

_

F

a

Or equivalently

m

a

m

b

m

a

+m

b

d

2

r

dt

2

= F(r)

Thus the system can be solved in terms of a single funtion with respect to time, r(t) and we

can get trajectories of a and b by

1

Argument is based upon proof at http://en.wikipedia.org/wiki/Two-body_problem

7

r

a

= R(t) +

m

b

m

a

+m

b

r(t)

r

b

= R(t)

m

a

m

a

+m

b

r(t)

Thus reducing the two body problem to a one body problem.

4.1.2 Conic sections

Denition 6. A conic section is a shape formed by intersecting a cone with a plane. The

four conic sections are called the circle, ellipse, parabola and hyperbola.

These are shown on the diagram below:

g. 1 Conic Sections courtesy of Magister Mathematicae, 2012 [3]

Theorem 4. All trajectories of spacecraft are either conic sections or straight lines.

Proof.

2

To begin this proof assumes we know the cartesian equations for conic section, these can be

found in appendix 2. To solve this we we calculate the solution to the two body problem for a

spacecraft around a much larger body. To this end, we expect the centre of mass of the system

to roughly coincide with the centre of the body, which simplies the solution, as we can take

R(t) to be the centre of the large body. If we take m as the mass of the spacecraft and M as the

mass of the planet, it is evident m M so

M

m+M

can be taken to be 1. As such, our trajectory

is given by r(t). It remains for us to calculate this value.

We let r be the unit vector in the direction of the spacecraft. Then it is evident using Newtons

law of gravitation (equation 3) and second law (equation 2) that

2

Proof adapted from Y. Moschovakis, The Two Body Problem, 2010 [P1]

8

a =

GM

r

2

r

Now let h := r v. Then by conservation of angular momentum we must have that h is

constant, so we can dene it using the initial values of r and v.

Case 1: h = 0

Let be the angle between the craft and the body. If h = rv sin we have that either the craft

is on the body (r = 0), that the craft is stationary (v = 0) or that the craft is travelling directly

towards or away from the body in a straight line ( = 0)

Assuming h = 0 we derive (noting that a vector cross product with itself is 0):

h = r r

d

dt

(r r) = r r

_

dr

dt

r +r

dr

dt

_

= r

dr

dt

(r r) +r

2

_

r

dr

dt

_

= r

2

_

r

dr

dt

_

Furthermore using the above denitions of a and h and the identity x(yz) = (xz)y(xy)z

d

dt

(v h) = (a h) +

_

v

dh

dt

_

= a h

=

GM

r

2

r r

2

_

r

dr

dt

_

= GM

_

r

_

r

dr

dt

__

= GM

__

r

dr

dt

_

r (r r)

dr

dt

_

= GM

dr

dt

The last line follows because r is a unit vector. Its dierential is in the direction of v, which is

perpendicular to r. Thus the dot product r

dr

dt

= 0, and the dot product r r = 1. Integrating

this gives us

v h = GMr +c (13)

For some constant vector c. Taking the dot product of this with r and using the cyclicality of

the scalar triple product we get

GMr +r c = r (v h) = (r v) h = h

2

(14)

9

Using the denition of the dot product and letting be the angle between c and r:

h

2

= GMr +rc cos (15)

Case 2: c = 0

Then r =

h

GM

which is constant, so the trajectory is a circle around the body.

Assume then that c = 0. We transform to cartesian co-ordinates, letting the x-axis be in the

direction of c and h be normal to the plane. This gives

h

2

= GMr +rc cos = GMr +cx

Which can be rearranged and squared to eliminate r:

(h

2

cx)

2

= (GMr)

2

= G

2

M

2

(x

2

+y

2

)

And rearrange again to give:

(G

2

M

2

c

2

)x

2

+ 2h

2

cx +G

2

M

2

y

2

= h

4

(16)

We now let D = G

2

M

2

c

2

, A =

h

2

c

D

and B = h

4

+A

2

. Then equation 16 becomes:

Dx

2

+ 2DAx +G

2

M

2

y

2

= B A

2

Case 3: D = 0

In this case our equation is

h

2

cx +G

2

M

2

y

2

= h

4

which is a parabola.

If D = 0 then we complete the square to get:

D(x A)

2

+G

2

M

2

y

2

= B

And the nal two cases depend on D.

Case 4: D < 0 is a hyperbola

Case 5: D > 0 is an ellipse.

10

4.1.3 The n-body problem and patched conic approximations

The n-body problems for n 3 do have solutions, but they are too slow to converge to be of any

practical use [5]. For the purposes of this paper, however, it suces to assign each body in the

solar system a sphere of inuence around which its gravity is dominant over all other bodies.

Within this sphere of inuence we can treat the trajectory of the spacecraft as a solution to

the two body problem between the body and the spacecraft. This is called a patched conic

approximation.

In practice, this also suces for actual space travel. However this approximation does not model

Lagrangian Points on the boundaries of these spheres of inuence, where several gravitational

elds cancel out. The chaotic behaviour near Lagrangian points can be a source of free v and

so it is not always benecial to utilise this approximation.

4.2 The solution to the two body problem in polar form for a spacecraft

Consider again equation 15 from the earlier proof:

h

2

= GMr +rc cos

Dene a new constant, =

c

GM

. Rearranging the above in terms of r gives:

r =

h

2

GM(1 + cos )

(17)

Note that while is dened to be angle between r and c, if we dene c to be the x-axis as

before, we can see that the value cos = 1 corresponds to the value where the orbit intercepts

the x-axis. From this we can see that can also be dened to be the angle between the periapsis

and r.

Theorem 5. The value is actually the eccentricity of the trajectory. It is given by

=

_

1 +

2h

2

e

G

2

M

2

(18)

Where e is the specic orbital energy (sum of kinetic energy per unit mass and potential energy

per unit mass)

Proof.

3

By conservation of specic energy (equation 6) we have that e is constant for all values

of r and v. We note that by the denition of the cross product

h = |r v| = rv sin v =

h

r sin

3

Most of this proof is original calculation

11

We can substitute this back into the equation for specic energy. Since specic energy is

conserved, we can let the value of sin = 1, which happens when the velocity of the object is

perpendicular to the displacement from the body, at the apoapsis.

e =

GM

r

+

h

2

2r

2

(19)

Note that at the apoapsis, the value cos = 1, since the apoapsis always lies on the same axis

as the periapsis. Substituting the value r =

h

2

GM(1+)

into the above equation gives:

e =

G

2

M

2

(1 +)

h

2

+

G

2

M

2

(1 +

2

)

2h

2

Which rearranges to

2h

2

e

G

2

M

2

= (1 +)(2 + 1 +) =

2

1

Rearranging and taking the square root yields the desired result

4.3 Hohmann transfers

A spacecraft is already in orbit around the sun before it leaves the earth. To travel towards

the outer Solar System, the idea is that spacecraft has an elliptical orbit with the Sun at its

focus, its periapsis will intersect Earths orbit and its apoapsis will intersect its target bodys

orbit. Furthermore, the spacecraft must arrive at the target bodys orbit when the target is

actually there. To travel towards the inner Solar System, Earths orbit intersects the periapsis.

To travel outwards (inwards), the spacecraft accelerates in the same (opposite) direction to the

earths revolution around the sun.

4.3.1 Vis-viva equation

4

To understand how to change a spacecrafts current orbit around the Sun to a new orbit around

the Sun, requires the vis-viva equation

Theorem 6. For any object orbiting a body with relative speed v, distance r and semi-major

axis a the vis-viva equation states:

v

2

= GM

_

2

r

1

a

_

(20)

Proof. By conservation of specic energy (equation 6), the energy is the same at the apoapsis

(a)and periapsis (p). We take the mass of the object orbiting the body to be negligible and so:

4

Argument is based upon proof at http://en.wikipedia.org/wiki/Vis-viva_equation

12

e =

v

2

a

2

GM

r

a

=

v

2

p

2

GM

r

p

(21)

This rearranges to give

v

2

a

v

2

p

2

=

GM

r

a

GM

r

p

Since the velocity is orthogonal to the semi-major axis at the apoapsis and periapsis, conserva-

tion of angular momentum (equation 8) gives us that r

p

v

p

= r

a

v

a

and we can substitute this in

to eliminate v

p

1

2

_

r

2

p

r

2

a

r

2

p

_

v

2

a

=

GM

r

a

GM

r

p

Noting that r

2

p

r

2

a

= (r

p

r

a

)(r

p

+r

a

) we can rearrange for v

a

and cancel to give:

1

2

v

2

a

= GM

_

r

p

r

a

r

p

r

a

_

And given that r

p

+r

a

= 2a we have

v

2

a

2

= GM

_

2ar

a

2ar

a

_

Substituting this back into equation 21 gives us e =

GM

2a

So we get

v

2

2

GM

r

=

GM

2a

Rearranging gives us

v

2

= GM

_

2

r

1

a

_

The immediate result of this equation is that we know the magnitude of velocity required to

alter the spacecrafts orbit to what we need. We can then use the rocket equation (equation 5)

to determine the amount of fuel we need to burn to achieve that velocity.

13

5 Gravity assisted manoeuvres

5

5.1 v budgets

So we now understand the mathematics of getting from A to B in the solar system, which is

all very well for simple manoeuvres. However, completing a Hohmann transfer orbit requires

fuel, as we can see due to the requirement for v. This requires us to burn our propellant, and

spacecraft can only carry a nite amount of propellant.

A v budget for a space mission is an approximation of the sum of all possible orbital ma-

noeuvres which are expected within the mission [10]. The v can be calculated using the rocket

equation (equation 5). Evidently a higher v budget requires more propellant to be carried

into space, which increases the physical costs of the mission.

Luckily, there are other sources of v in the solar system. One such source is slingshotting from

the planets in the solar system.

5.2 Gravitational slingshots

5.2.1 What is a gravitational slingshot?

Denition 7. A gravitational slingshot is a manoeuvre of a spacecraft around a large body

(typically a planet) whereby the spacecraft increases (or decreases) its overall speed and changes

direction by using the velocity and gravity of the body. In eect the spacecraft steals some

of the planets velocity for itself.

5.2.2 Motivation for Slingshots: Cassini Example

The Cassini spacecraft performed four gravitational slingshots around Venus (twice), Earth and

Jupiter. We will look at the rst three of these.

We use the rocket equation (equation 5) to gure out how much fuel this will save us. The

rocket equation states v = ulog

m

0

m

1

The amount of v generated by the three manoeuvres is 10.9kms

1

[7]. The fuel on board

was liquid bipropellant [8] which is expelled at a speed of u = 4.4kms

1

[6]. To simplify the

calculation, we will assume that the v is generated all at once. We take at that the spacecrafts

mass after generating its extra speed m

1

as the total mass of the spacecraft at launch, 5500kg

[7]. We wish to nd out how much fuel m we save by not generating speed by burning fuel,

noting that m

0

= m

1

+ m, we rearrange the rocket equation and plug in our data:

5

The arguments in this section build upon the ideas outlined in R.C. Johnson, The Slingshot Eect [P2]. Note

that from now on we will use trigonometry. A summary of those laws used is found in appendix 3

14

m

1

exp(

v

u

) m

1

= m m = 5500 exp(

10.9

4.4

) 5500 = 59, 550kg

Which would be the amount of bipropellant fuel required to generate the v Cassini gained for

free using gravitational slingshots.

NASA estimate the rst three of these saved 68,000kg of fuel [9], which is fairly close to our

gure. This demonstrates how much much more ecient it is to use gravitational slingshots.

5.2.3 Conservation of momentum during slingshot

Free speed must come from somewhere, in fact, every slingshot performed by a spacecraft

about a body alters the momentum of the body by an equal amount. Let a spacecraft have

mass m and velocities u before and v after the manoeuvre. Similarly, let a body have mass M

and velocity U before and V after. Conservation of linear momentum (equation 7) states:

mu +MU = mv +MV

Rearranging this we get:

m

M

(v u) = (V U)

Noting that a typical spacecraft has a weight in the order of 10

3

kg [11] and the bodies we would

use range in size from the Moon (10

22

kg)[12] to Jupiter (10

27

kg)[13] we note that any change in

velocity is of the an order between 10

19

and 10

24

, which is negligibly small. Therefore

m

M

0

and we can take U = V .

5.2.4 Calculating the nal velocity of a slingshot

g. 2 Velocity of spacecraft before and after manoeuvre

15

Suppose an observer is watching the spacecraft from the body. From the point of view of the

observer, the body is stationary and the spacecraft approaches at a velocity of x = u V.

Furthermore, from the point of view of this observer, the spacecraft doesnt appear to change

speed, just direction. They see it leave at some velocity y where |y| = |x|. In particular, this

means that from somebody observing from a stationary point in space, v = u +V.

To nd the nal speed we consider velocity triangles for the motion of the spacecraft before and

after the manoeuvre. We dene as the angle between u and V and as the angle between

v and V. Let be the angle of incidence between the spacecraft and the body observed by

someone on the body. We expect the spacecraft to leave at a larger angle, we call the dierence

between these two angles the deection and dene as the deection of the spacecraft.

Theorem 7. The nal speed is given by

v

2

= u

2

+ 2V [V (1 cos()) +u(cos ( ) cos ())] (22)

Proof.

6

Consider the following two velocity triangles, noting that we have reected the triangle

for the nal velocity of the spacecraft about V so both triangles are the same way up, and also

that the values of each side are scalar values rather than vectors:

g. 3 Velocity triangle before slingshot g. 4 Velocity triangle after slingshot

We use the cosine rule on the above two triangles, this gives:

x = V

2

+u

2

2uV cos () (23)

x = V

2

+v

2

2vV cos () (24)

Now subtracting 23 from 24 and rearranging we get:

v

2

= u

2

+ 2V (v cos () ucos ())

6

Most of this proof is original calculation

16

We have now reduced the problem to showing that v cos () = V (1 cos ()) +ucos ( )

Using g. 4, we can see v cos () = V +k, thus it suces to show

k = ucos ( ) V cos () (25)

By denition k = xcos ( ( +)) = xcos ( +)

Using cos (A+B) = cos (A) cos (B) sin (A) sin (B) we get

k = xsin () sin () xcos () cos () (26)

Using the sine rule and g. 3 we get

u

sin ()

=

x

sin ()

. Rearranging gives xsin () = usin ().

Substituting this into 26 gives us

k = usin () sin () xcos () cos () (27)

Rearranging the cos(A B) rule gives us that sin () sin () = cos ( ) cos () cos ().

Substituting this into 27 gives us

k = ucos ( ) cos ()(ucos () +xcos ()) (28)

Finally, a simple observation of g.3 shows us that V = ucos () xcos ( ) = ucos () +

xcos (). Substituting this into 28 satises 25 and thus proves the theorem.

Theorem 8. The theoretical maximum value of v is v = u + 2V . This occurs when the

spacecraft performs a complete turn after approaching the body head-on.

Proof. We use that sin and cos are both bounded between 1. Therefore the maximum value

of (1 cos ()) = 2 and the maximum value of (cos ( ) cos ()) = 2. This happens when

= and = . Then theorem 7 gives us

v

2

= u

2

+ 2V (2V + 2u) = u

2

+ 4uV + 4V

2

= (u + 2V )

2

Taking the square root gives us the desired result

5.3 Putting slingshots into practice

5.3.1 Finding the best deection angle in a gravitational slingshot

Evidently we cant control the speed of the body and we dont want to use propellant to change

the speed of the rocket, as this defeats the purpose of using the slingshot. Therefore we x u

17

and V and therefore x as well. We can, however, make small corrections to the course in the

vicinity of the body, which will change our angle of deection, which we will model as changes

to .

Theorem 9. The largest value of v occurs when =

m

tan (

m

) =

usin ()

ucos () V

(29)

Proof.

7

Dierentiating theorem 7 with respect to gives us:

2v

dv

d

= 2V (V (sin ()) +u(sin ( ))) (30)

Then its maximum must occur when its dierential is 0 which occurs when

V (sin ()) +u(sin ( )) = 0

We use that sin ( ) = sin () cos () cos () sin (). Substituting in and dividing through

by cos () gives us:

V tan () +usin () utan () cos () = 0 (31)

Collecting terms and rearranging gives us the desired result

Theorem 10. For every sub-maximal value of v, there are two values

1

and

2

resulting in

that value v. Furthermore, the sum

1

+

2

= 2

m

Proof.

8

The fact that two dierent values of can generate the same speed v is not surprising

- indeed it is clear looking at a velocity triangle that reecting about V will give the same length

of v. Consider the equations of two

v

2

= u

2

+ 2V [V (1 cos(

1

)) +u(cos (

1

) cos ())] (32)

v

2

= u

2

+ 2V [V (1 cos(

2

)) +u(cos (

2

) cos ())] (33)

Subtracting 32 from 33 and dividing through by 2V we get:

V (cos(

2

) cos(

1

)) +u(cos (

1

) cos (

1

)) (34)

We use the identity cos (A) cos (B) = 2 sin (

A+B

2

) sin (

AB

2

) [14]. Then 34 becomes

2V sin (

1

+

2

2

) sin (

1

2

) + 2usin (

1

+

2

2

) sin (

1

2

) (35)

7

Most of this proof is original calculation

8

Most of this proof is original calculation

18

We divide through by 2 sin (

1

2

) and use sin(AB) = sin (A) cos (B) cos (A) sin (B) to

reduce 35 to:

V sin (

1

+

2

2

) +usin () cos (

1

+

2

2

) ucos () sin (

1

+

2

2

) (36)

Dividing through by cos (

1

+

2

2

) and rearranging we get that

tan (

1

+

2

2

) =

usin ()

ucos () V

= tan (

m

)

By observation we know that the maximum is unique, since any point along the line of reection

is reected onto itself. We therefore note that

1

+

2

2

=

m

and the result follows.

An immediate consequence of this is that if

1

=0 then

2

= 2

m

. Given that the function is

decreasing at this point and for = 0, v = u, we see that for any > 2

m

we get that the

spacecrafts speed decreases. This can be useful when travelling towards the inner solar system

(where the suns gravity accelerates the spacecraft), or to slow a spacecraft once it arrives at

its destination.

5.3.2 Relationship between and

Recall our solution to the two body problem (equation 17):

r =

h

2

GM(1 + cos )

We know that is the angle between the initial velocity u and nal velocity v. These are

velocities of our spacecraft from outside of the bodys sphere of inuence. To calculate these,

we consider r which happens as cos 1, or equivalently as arccos

1

.

Since the rocket also performs a reection while within the planets sphere of inuence, we have

that

2 arccos (

1

) = + (37)

This allows us to calculate the trajectory of the rocket after we perform a slingshot. We also

know that there are two potential values for , and want to know which is better. By denition

of the spacecraft is at the periapsis when cos () = 1 so the spacecrafts closest approach is

when 38 holds, and weve also proven the value for (in theorem 5)

r = r

0

=

h

2

GM(1 +)

(38)

=

_

1 +

2h

2

e

G

2

M

2

(39)

19

Therefore, we know that and r are functions of angular momentum h. We consider the orders

of these variables in the above three equations. Observing 39, we see that as h decreases,

decreases at approximately the same rate. Observing 38 we note that h has a higher order than

and so decreases at a faster rate, thus as h decreases r

0

decreases. Meanwhile, using 37 we

see that as decreases, r

0

, increases. This elementary analysis tells us that the smaller value

of means a larger closest approach. This is usually preferable, as it leaves more room for

error and corrections. Sometimes it is impossible to use the other value, as the other value of

r

0

could be inside the planets radius. The smaller r

0

may be preferable when wishing to get

closer to a planet to take photographs.

5.4 Oberth Eect

The Oberth Eect is also sometimes known as a Powered Slingshot. The idea of this is that

burning fuel (i.e. generating v) at a high speed is more ecient than at a low speed. So

burning fuel while performing a slingshot provides more v than otherwise.

5.4.1 Oberth eect and work

To understand why the eect works, we consider the mechanical work of the spacecraft. But

before we do that, we must learn an identity

Theorem 11.

a v =

1

2

dv

2

dt

Proof.

dv

2

dt

=

d(v v)

dt

= 2

dv

dt

v = 2a v

Denition 8. Work W done by a force F over a distance x is dened as W = F x. Note also

that over a period of time t = t

2

t

1

W =

_

t

2

t

1

F vdt = m

_

t

2

t

1

a vdt

Now using theorem 11 we get:

m

2

_

t

2

t

1

dv

2

dt

dt =

m

2

_

v

2

2

v

2

1

dv

2

=

mv

2

2

mv

1

2

= E

k

(40)

More pertinently, we can say that if we burn our fuel over a time t, we increase the specic

kinetic energy of the rocket from e

1

to e

2

and that

e

k

=

1

m

F v = a v (41)

Equation 41 explains how the Oberth eect works - since the specic energy at the start is xed

the amount of energy we generate is directly proportional to the speed.

20

5.4.2 Oberth eect in practice

Consider a spacecraft performing a slingshot around a body. We compare the v generated by

burning fuel while slingshotting to after.

Recall earlier the escape velocity of a planet from theorem 3. This is the velocity a spacecraft

must reach to escape the body. We note that if it attains exactly this velocity then its velocity

becomes 0ms

1

once it leaves the bodys sphere of inuence.

Let a spacecraft which is travelling at escape velocity generate v while in the bodys sphere

of inuence. Then its specic energy is given by

e

k

=

1

2

(v

e

+ v)

2

=

1

2

(v

2

e

+ 2v

e

v + v

2

) (42)

Once this spacecraft leaves the sphere of inuence, it loses its escape velocity and thus an

amount of specic energy e

k

=

1

2

v

2

e

, thus its nal specic energy is given by e

k

1

and the

spacecraft performed the burn after it left the sphere of inuence, its specic energy would be

e

k

2

where:

e

k

1

=

1

2

(2v

e

v + v

2

) (43) e

k

2

=

1

2

v

2

(44)

Subtracting 44 from 44 we note that by performing the burn within the sphere of inuence, our

spacecraft has gained an extra amount of specic energy equal to e

k

= v

e

v.

We furthermore note that

e

k

2

=

_

1 +

v

e

v

_

e

k

1

(45)

And using that e

k

=

1

2

v

2

equation 45 gives us that:

v

2

=

_

_

1 +

v

e

v

_

v

1

For example, using the Moons escape velocity of 2.38kms

1

[12], a burn which generates 2kms

1

would generate 1.84 more nal speed than a 2kms

1

burn would outside of its sphere of

inuence. In reality, this gure would be slightly less as escape velocity above the surface is

slightly lower, however for planets with a much higher escape velocity such as Jupiter, the eect

can be much bigger.

21

6 Solar sailing

We now turn our attention to solar sailing as a method of generating v. Before we begin,

we need to dene pressure and a few laws of electromagnetism.

6.1 Pressure

Denition 9. If we dene n to be the unit vector which is normal to a surface A and F to

be the force acting on the surface area, then the force normal to the surface F

n

is the

projection of F onto n.

F

n

= n( n F) (46)

Denition 10. Pressure P over a surface A is a scalar quantity dened to be the force normal

to the surface F

n

acting per unit area.

P =

F

n

A

(47)

6.2 Maxwell Equations

These equations form the basis of electromagnetism. We use these to describe how solar radia-

tion creates pressure.

Denition 11. The electric eld E(r, t) of a charged particle is the force that particle exerts

on other charged particles as a function of its position r

Denition 12. The Lorentz force of a charged particle with charge q moving at velocity v

is dened as the force experienced when the particle travels through an electromagnetic eld.

It is dened as

F = q[E+ (v B)] (48)

Denition 13. The value B(r, t) denotes the magnetic eld of a charged particle.

Denition 14. The current density J passing through a surface A at angle with a current

I and surface normal n is the J which satises

J n =

I

A

cos () (49)

The magnitude of this vector is J =

I

A

Denition 15. For a current I travelling along a wire in direction through a magnetic eld

B, the Lorentz force experienced by the wire is

F = I( B) (50)

22

Denition 16. Faradays law of induction

For a particle with an electric eld E and magnetic eld B Faradays law states:

E =

B

t

(51)

Denition 17. Dierential form of Amperes law

We dene

0

= 410

7

. For a particle with an electric eld E and magnetic eld B, Amperes

law states:

B =

0

J (52)

Alternatively we can write this as:

Denition 18. Integral form of Amperes law

_

BdA =

0

I (53)

6.3 What is solar sailing

Denition 19. Solar radiation pressure upon a surface is the pressure exerted upon that

surface by electromagnetic radiation from the sun.

That electromagnetic radiation exerts pressure was predicted back in 1871 by James Clerk

Maxwell [15].

Denition 20. Solar sailing is a method of propulsion which utilises the solar radiation

pressure to generate v.

6.4 Calculating radiation pressure

Denition 21. The energy ux of radiation is dened as the rate at which radiation transfers

energy. Its value is given by the Poynting vector S which is dened as

S =

1

0

EB (54)

Its average over time is denoted S =

Re(EB)

2

0

, where B denotes the complex conjugate of

B.

Denition 22. If B

0

is the amplitude of B and E

0

the amplitude of E, then the magnitude of

the time-averaged Poynting vector is given by W = |S| =

1

2

0

B

0

E

0

.

23

Theorem 12. The pressure exerted by an electromagnetic wave on a sail is given by

p = 2

S

c

(55)

Equivalently, given a wave with amplitude B

0

= E

0

, the pressure has magnitude

1

c

1

0

B

0

E

0

=

2W

c

and is in the direction of propagation.

Proof.

9

We consider a rectangular area of sail to be perfectly reective of height dx in the

direction i and width dy in the direction j. We consider light which hits the sail travelling in

the same direction as n = k. The right hand rule tells us that the magnetic eld B is in the

direction of j and electric eld E is in the direction of i before and i after reection. These

are show on g. 5 below. We let our sail have thickness dz.

g. 5 Direction of wave elds before and after reection

We use the solution of the wave equation[17] that for wavelength , angular frequency ,

amplitude E

0

and dening k =

2

x

= E

0

cos (kz t). When

we reect this wave, we get a phase change of t so our reected wave has equation E

x

=

E

0

cos (kz t). So the electric eld is actually a superposition of these two waves and can

be calculated as:

E

x

= E

0

cos (kz t) E

0

cos (kz +t) (56)

Now using faradays law (denition 16):

9

Proof adapted from T. Rothman and S. Boughn, The Lorentz Force and the Radiation Pressure of Light [P3]

24

E =

E

x

z

j = E

0

k(sin (kz t) sin (kz +t))

j =

B

t

(57)

We note that =

p

2

[18] where

p

, the phase velocity, in a vacuum is given by

p

= c[19]. This

gives us that k =

c

. Integrating equation 57 with respect to t gives us

B =

1

c

E

0

(cos (kz t) cos (kz +t))

j (58)

Using that amplitude B

0

= E

0

and cos (A) + cos (B) = 2 cos (

A+B

2

) cos (

AB

2

) [14] equation 58

becomes:

B =

1

c

2B

0

(cos (kz) cos (t))

j (59)

Notice that at the boundary, where z = 0, B =

1

c

B

0

cos (t) = 0. Using the integral form of

Amperes law (denition 18), we see that:

_

BdA =

0

I

Which tells us currents are formed near the surface of the sail. Since B is in the j direction,

the right hand rule tells us the current will be in the i direction. We use the denition of

Lorentz force in a wire (denition 15), modelling this strip of the sail as a wire of length dx in

direction

i to see that the Lorentz force experienced by the sail is F = Idxi B, which is in the

direction of

k, the direction of propagation.

The magnitude of this force is given by dF = IdxB. Note that for current density J, I = JA

(denition 14). In this case, A = dydz. And so our Lorentz force magnitude is

dF = Bdxdydz (60)

.

Using the dierential form of Amperes law (denition 17) we have:

B =

B

y

z

i =

0

J (61)

This gives us J =

1

0

B

y

z

and substituting this into equation 60 gives us

dF

dxdy

=

1

0

B

y

z

B

y

dz (62)

Using the denition of pressure (denition 10) we see that this left hand side is the dp for

25

pressure p of our sail. Since B depends only on z we can take the partial derivative to be the

full derivative. Furthermore, we note that as z , we get B 0. Equation 62 becomes:

p(t) =

1

0

_

z=

z=0

B

y

dB

y

=

1

2

0

(B(0)

2

B()

2

) =

1

2

0

B(0)

2

Using equation 59 and B

0

= E

0

we then get

p(t) =

1

c

2

0

B

0

E

0

cos

2

(t)

.

Since cos

2

(t) ranges between 0 and 1 and is periodic, this means it has a time-average of

1

2

and the time-average pressure is given by

p =

1

c

1

0

B

0

E

0

6.5 Force on a solar sail

So now we know how much pressure is applied to the sail, we want to calculate the force this

produces. We model our sail as a at surface which has perfect reection.

Firstly, from our denition of pressure (denition 10) we can see that the direction of the force

is normal to the sail. Thus orientating our spacecraft in a desired direction using a solar sail is

relatively straightforward.

g. 6 Force diagram for a solar sail g. 7 Angle for calculating exposed sail

When sunlight hits the sail, it reects at an angle 2 which is bisected by the normal of the sail.

We denote to be the angle between the line in the direction of the normal and the direction

26

of propagation (i.e. the line between the sun and the sail). This is described by g. 6 above.

Note that the direction of propagation is also the direction of pressure.

Theorem 13. The magnitude of the force experienced by a solar sail is

F = F

n

=

2WA

c

cos

2

() (63)

Proof.

10

Our above calculation for pressure is only relevant for a surface which is perpendicular

to the direction of propagation. We know that pressure is in the direction of propagation, so

we must consider the component of the surface area exposed to the incident (a) and reected

(b) waves. We can see how to calculate this angle in g. 7 (the case for the reected ray is

the same, since it is just a reection through the normal of the sail). We have A

a

= Acos ().

Similarly, for the reected wave, the relevant component is A

b

= Acos () .

Furthermore, because the light is not reected directly back to the sun, the pressure for each

force exerted will have half the magnitude calculated above, so

P = P

a

= P

b

=

W

c

(64)

We use the denition of pressure (denition 10) to get that

F

a

= F

b

= PAcos () (65)

Where F

a

is the force due to the incident ray and F

b

is the force due to the reected ray.

We want to calculate the force normal, F

n

. g. 6 shows us this has two components, F

n

=

F

a

cos () +F

b

cos () We then calculate the total force to give the total force using 64 and 65:

F = F

n

= (F

a

+F

b

) cos () = 2PAcos

2

() =

2WA

c

cos

2

() (66)

We note that there are also sin components of the two forces, but these are of equal magnitude

in opposite directions, and so they cancel out.

6.6 Optimum angle for sailing in a Keplar orbit

11

We note that if a spacecraft is in orbit about the sun, it will have velocity v perpendicular to its

displacement from the sun r. We set the vector

i to be in the same direction as the incidence

ray (and thus the same direction as r), then we can decompose the force into two components.

In particular we have:

10

Proof adapted from D. Prodger, A Solar Sail Technology Application Mission for Analysing the Earths

Geomagnetic Tail p42-43 [P4]

11

Section adapted from D. Prodger, A Solar Sail Technology Application Mission for Analysing the Earths

Geomagnetic Tail p44 [P4]

27

F =

2WA

c

cos

2

()(cos ()

i + sin ()

j) (67)

We note that v =

j. We want to maximise the force (and thus the acceleration) in this direction

to increase the speed of our spacecraft.

Theorem 14. The optimal angle for increasing velocity in a Keplerian orbit around the sun is

= arcsin (

1

3

)

Proof. To nd the maximum value of F in the direction

j we dierentiate F

j with respect to

and set it equal to 0. This gives us:

dF

j

d

=

d

d

(

2WA

c

cos

2

() sin ()) = 0 (68)

We divide through by

2WA

c

to give

d

d

(cos

2

() sin ()) = cos

3

() 2 sin

2

() cos()

= cos()(cos

2

() 2 sin

2

()) = 0 (69)

We use that cos

2

() = 1 sin

2

() and divide through by cos() to reduce 69 to

3 sin

2

() 1 = 0 sin() =

1

3

(70)

Taking the arcsin of both sides gives the desired result.

6.7 Accelerating away from the Sun

Before we continue, we will dene a new quantity, luminosity

Denition 23. The luminosity L of a body is the total ux that body emits. For an observer

at a distance r observing a time-averaged energy ux W the luminosity is given by[20]:

L = 4Wr

2

(71)

If we assume that the luminosity of the Sun remains roughly constant then this means that the

ux is actually a function of r

2

. The universal law of gravitation is also an inverse square law.

This means that both acceleration due to the Suns gravity and acceleration due to the solar

radiation pressure should be proportional. This means that if a spacecraft with a solar sail can

produce more acceleration due to solar radiation pressure than the acceleration due to the suns

gravity then this craft can move anywhere within the solar system without limitation.

28

Denition 24. The sail loading of a solar sail is a measure of its eciency. For a sail of mass

m with surface area A, it is dened as =

m

A

.

Theorem 15. A solar sail spacecraft can escape the force of the Suns gravity and accelerate

away from the sun without the use of Keplerian orbits if its sail loading < 1.535gm

2

Proof. For a sail perpendicular to the sun, it generates a force of F =

2WA

c

. Using Newtons

universal law of gravitation (equation 3) we have that the force due to gravity is F =

GMm

r

2

.

We take the sum of these two forces to nd the overall force. It is clear the spacecraft will

accelerate away from the sun if F > 0.

F =

2WA

c

GMm

r

2

> 0

2W

c

GM

r

2

> 0 (72)

Where the implication follows from dividing by m. We now substitute in the ux W =

L

4r

2

to

get:

L

2r

2

c

GM

r

2

> 0 (73)

Multiplying through by

r

2

GM

and rearranging gives us:

L

2GMc

> (74)

The values on the left are all constants and the LHS is equal to 1.535gm

2

. The calculation for

this is in appendix 4.

The value =

L

2GMc

=

1.535

quality which is determined by the ratio

Acceleration away from the sun

Acceleration towards the sun

.

One of the best materials we currently have to make a solar sail is Kapton [21]. Kapton has

a sail loading of 12gm

2

(or = 0.127), so we are still some way o creating such a craft.

Furthermore no sails we can create are perfectly ecient so we would have to account for this

as well. And if we were able to create such a craft, the rest of the craft would have an extremely

low mass .

That said, solar sailing is a technology still in its infancy and it shows a lot of promise, oering

the potential to do things traditional rockets cant (such as travel freely). Solar sailing also

builds upon what traditional rockets do already. Since a solar sail is always accelerating, it can

generate a potentially unlimited v given enough time.

29

7 Conclusion

7.1 Classical space travel

Chemical propulsion methods are still by far the most common is space travel [23]. However,

they have their limitations. Generating v is expensive in terms of fuel. Fuel is not necessarily

expensive, with costs being as low as $16 per kg. However, the more v that is required to be

generated by fuel, the heavier the spacecraft is at launch. A heavier spacecraft costs more fuel

to get into space initially and this causes costs to rise exponentially.

Gravitational slingshots help generate a lot of free v. For the rst three of Cassinis slingshots

alone, the spacecraft saved 68, 000kg of propellant. If the propellant was priced at $16 per kg

as above, that amounts to a saving of over $1 million on the propellant (let alone the extra

launch fuel it would have required to carry that propellant into space).

However, slingshots are not without their drawbacks. A spacecraft can only slingshot around

a planet while it is there. This leads to the idea of launch windows, whereby a rockets

trajectory is only viable for short periods of time. This requires precision in meeting deadlines

and also limits possibilities. And of course, spacecraft are limited by Keplerian trajectories.

7.2 Future space travel

Although the mathematics isnt new, solar sailing is are only very recently being explored as

a practical option. Using a solar sail does not preclude using a gravitational slingshot - the

spacecraft can still follow a Keplerian trajectory and make use of gravitational slingshots and

classical methods of space travel will continue to be utilised. But solar sails have advantages over

traditional rockets. For example, they are reusable - they dont generate thrust by disposing

of mass, so they can theoretically continue to accelerate indenitely. The scales on which this

happen are very small - the pressure generated at the distance of Earth from the Sun is around

4.56 10

6

[P4, p. 41]. Noting that F

j

= PAsin () = ma, this would produce an acceleration

of order

A

m

10

6

N. Given that spacecraft tend to be of order 10

3

kg [11], and that recent sail

designs have order 10

4

m

2

[26] will product an acceleration of order 10

5

ms

2

. The key with

solar sails, however, is that the acceleration is continuous.

The above calculation demonstrates how to maximise the eectiveness of a solar sail. Many

early designs focused on maximising surface area, but the possibility of reducing the mass is

now also being explored for nanosatellites [25]. There are issues with solar sailing, such as

maintenance of the reective surface, and issues caused by tearing from space debris, but these

have to be balanced against all the advantages. The mass of a solar sail can be very low with a

recent design by NASA weighing just 32kg. The majority of Cassinis mass was the propellant

[7], so solar sails oer a huge advantage here. Solar sails are in development and will be used

in upcoming spaceights: NASA are planning to launch a Kapton-based sail in 2014 [26].

30

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nasa.gov/rocketry/tl1.html] [Accessed 3/03/2013].

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wiki/File:Conic_Sections.svg] [Accessed 27/01/2013]. Image used under the Creative

Commons Attribution-Share Alike 3.0 License

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the Major Planets, [http://ssd.jpl.nasa.gov/?planet_pos] [Accessed 10/03/2013].

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//saturn.jpl.nasa.gov/multimedia/products/pdfs/cassini_msn_overview.pdf]

[Accessed 26/02/2013]

[8] Jet Propulsion Laboratory NASA (n.d.) Cassini Solstice Mission, [http://saturn.jpl.

nasa.gov/faq/FAQTechical/] [Accessed 26/02/2013]

[9] NASA, (1999) FAQs, [http://quest.arc.nasa.gov/saturn/qa/cassini/Rocket_fuel_

saved_by_gravity_assist.txt] [Accessed 26/02/13]

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tudelft.nl/en/organisation/departments-and-chairs/space-engineering/

space-systems-engineering/expertise-areas/spacecraft-engineering/

blind-documents/delta-v/] [Accessed 25/02/2013]

[11] K. Gatland, (1965) Spacecraft and Boosters, London: Ilie Books.

[12] D Williams, (2010) Moon Fact Sheet [http://nssdc.gsfc.nasa.gov/planetary/

factsheet/moonfact.html] [Accessed 01/03/2013]

[13] D Williams, (2012) Jupiter Fact Sheet [http://nssdc.gsfc.nasa.gov/planetary/

factsheet/jupiterfact.html] [Accessed 01/03/2013]

[14] L. Spector, (2012) Trigonometric identities, Topics in trigonometry, [http://www.

themathpage.com/atrig/trigonometric-identities.htm] [Accessed 29/01/2013]

[15] Rauner Special Collections Library (2011) The Pressure of Light, [http://raunerlibrary.

blogspot.co.uk/2011/08/pressure-of-light.html] [Accessed 05/02/2013]

31

[16] S. Boughn & T. Rothman (2008) The Lorentz Force and the Radiation Pressure of Light,

Princeton University, [http://arxiv.org/pdf/0807.1310v5.pdf][Accessed 27/01/2013]

[17] Massachusetts Institute of Technology (2010) Physics II: Electric-

ity and Magnetism, p.11 [http://ocw.mit.edu/courses/physics/

8-02sc-physics-ii-electricity-and-magnetism-fall-2010/maxwells-equations/

the-displacement-current-and-maxwells-equations/MIT8_02SC_notes26to30.pdf]

[Accessed 13/03/13]

[18] Rice University (n.d.) Waves and the Wave Equation, [http://www.ece.rice.edu/

~

daniel/262/pdf/lecture02.pdf] [Accessed 15/03/13]

[19] R. Paschotta, (2013) Phase Velocity, [http://www.rp-photonics.com/phase_velocity.

html][Accessed 15/03/13]

[20] J. Palmer & A. Davenhall, (2001) Starlink Cookbook, Intensity, Flux Density and Lumi-

nosity [http://www.starlink.rl.ac.uk/docs/sc6.htx/node8.html][Accessed 16/03/13]

[21] U. Geppert (2008), Solar Sails - Problems and Progress, [http://www.dlr.de/irs/

Portaldata/46/Resources/images/systemkonditionierung/solar_sailing/Solar_

Sails___Problems_and_Progress.pdf][Accessed 17/03/13]

[22] JAXA Space Exploration Centre (n.d.) Solar Power Sail Demonstrator IKAROS, [http:

//www.jspec.jaxa.jp/e/activity/ikaros.html] [Accessed 20/03/13]

[23] R. Stillwater, (2003) Spacecraft Propulsion [http://www.sv.vt.edu/classes/ESM4714/

Student_Proj/class03/stillwater/prj/background/sp_chemical.htm] [Accessed

01/04/2013]

[24] R. Synott, Rocket fuel; Not as expensive as youd think, [http://myblog.rsynnott.com/

2010/03/rocket-fuel-not-as-expensive-as-youd.html] [Accessed 23/03/2013]

[25] M. Souder & M. West, Solar Sail Technology for Nanosatellites [http://lagrange.mechse.

illinois.edu/mwest/pubs/SoWe2008/SoWe2008.pdf] [Accessed 25/03/2013]

[26] NBC News, NASA to launch worlds largest solar sail in 2014, [http:

//www.nbcnews.com/id/50657752/ns/technology_and_science-space/t/

nasa-launch-worlds-largest-solar-sail/] [Accessed 26/03/2013]

The following sources are not cited directly in the body of this paper, but the

ideas contained within were helped by them and their inuence is acknowledged

[R1] Chenciner et al., (2002) Celestial Mechanics, USA: American Mathematical Society.

[R2] J. Kovakevsky (1967) Introduction to Celestial Mechanics, Dordrecht-Holland: D Reidel

Publishing Company.

32

[R3] S. McCuskey (1963) Introduction to Celestial Mechanics, Reading, Massachusetts:

Addison-Wesley Publishing Company, Inc.

[R4] E. Mallove & G. Matlo (1989) The Staright Handbook: A Pioneers Guide to Interstellar

Travel, Canada: John Wiley & Sons, Inc.

[R5] S. Penner (1961) Advanced Propulsion Techniques, London: Pergamon Press Ltd.

[R6] L. Rogers (2008) Its Only Rocket Science: An Introduction in Plain English, New York:

Springer Science.

[R7] P. Van de Kamp (1964) Elements of Astromechanics, San Francisco: W. H. Freeman and

Company.

The following references were used as the basis for proofs within this paper

[P1] Y. Moschovakis, (2010) The Two Body Problem, [http://www.math.ucla.edu/

~

anush/

32ah.1.11f/twobody.pdf] [Accessed 14/03/2013]

[P2] R.C. Johnson, (2003) The Slingshot Eect, [http://maths.dur.ac.uk/

~

dma0rcj/

Psling/sling.pdf] [Accessed 26/02/2013]

[P3] S. Boughn & T. Rothman, (2008) The Lorentz Force and the Radiation Pressure of Light,

Princeton University, [http://arxiv.org/pdf/0807.1310v5.pdf] [Accessed 25/02/2013]

[P4] D. Prodger, (2002) A Solar Sail Technology Application Mission for Analysing the Earths

Geomagnetic Tail, p.41-50 [https://curve.carleton.ca/system/files/theses/26457.

pdf] [Accessed 26/02/2013]

All gures in this paper are original work unless otherwise stated. Original gures

created using GeoGebra.

33

8 Appendix

8.1 Appendix 1: Elliptical Orbits

You may recall Keplers rst law of planetary motion: that all orbits are elliptical. The following

diagram explains the important features of a planets orbit:

g. 8 Points of interest on an elliptical orbit

Denition 25. The major axis of an ellipse is the longest line connecting two points on the

ellipse. It always passes through the centre.

The semi-major axis a is the longest distance from the centre to the edge

The semi-major axis b is the shortest distance from the centre to the edge.

The foci F

1

and F

2

are the two points along the major axis whose distance from the centre is

given by |f| =

a

2

b

2

. For an object orbiting a body, the body is at one of the foci.

When referring to orbits, the point on the major axis closest to the body is the periapsis and

the point on the major axis furthest from the body is the apoapsis.

The eccentricity of the ellipse is calculated as =

f

a

.

For any orbit, 0 < 1. An orbit with an = 1 is a circle. If = 0 the shape is a parabola. If

> 1 the shape is a hyperbola.

8.2 Appendix 2: Cartesian equations for conic sections

The following are the equations for conic sections in cartesian co-ordinates in the x y plane,

where a, b, c, d are all constants.

34

Circle (x a)

2

+ (y b)

2

= c

2

Parabola y = a(x b)

2

+c

Ellipse

(x c)

2

a

2

+

(y d)

2

b

2

= 1

Hyperbola

(x c)

2

a

2

(y d)

2

b

2

= 1

8.3 Appendix 3: Trigonometric laws

sin( ) = sin() cos() cos() sin()

cos( ) = cos() cos() sin() sin()

cos (A) + cos (B) = 2 cos (

A+B

2

) cos (

AB

2

)

cos (A) cos (B) = 2 sin (

A+B

2

) sin (

AB

2

)

sin

2

() + cos

2

() = 1

Sine and cosine laws

g. 9 Triangle for sine and cosine laws

For a triangle as shown in g. 9 we have that:

a

sin(A)

=

b

sin(B)

=

c

sin(C)

c

2

= a

2

+b

2

2ab cos(C)

35

8.4 Appendix 4: Calculation of the critical sail loading

We are looking to calculate the value of

L

GMc

,using the following constants

Constants

L = 3.839 10

26

kgm

2

s

3

M = 1.989 10

30

kg

c = 2.998 10

8

ms

1

G = 6.674 10

11

m

3

kg

1

s

2

Then

L

GMc

should be dimensionless (where = kgs

2

). We do dimensional analysis to

conrm:

[W]

2

[L]

2

[T]

3

[W][T]

2

[L]

3

[T]

[L]

1

[W]

[L]

2

[W]

=

[W]

2

[L]

4

[T]

3

[T]

3

[W]

2

[L]

4

= 1

Now we calculate the order of the fraction:

10

26

10

11

10

30

10

8

= 10

1

Finally, we calculate the constant term:

3.839

6.674 2.998 1.989 2

= 1.535 10

2

Which gives us that

L

GMc

= 1.535 10

3

kgs

1

= 1.535gs

1

36

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