ASSIGNMENT-II

PH 201 CLASSICAL MECHANICS

FULL MARKS: 45
GIVEN DATE: 08/09/16
DUE DATE: 20/09/16

(1) Express the rolling constraints of a sphere on a plane surface in terms of the Eulers
angle(s).
3
(2) Find the vector equation describing the reflection of a vector ~r in a plane having unit
normal n
. Show that if li , where i = 1, 2, 3, are the direction cosines of n
, then the
matrix of transformation has the elements Aij = ij 2li lj and verify that A is an
improper matrix.
1+3+1
(3) Show that any rotation can be represented by the successive reflections in two
planes, both of which passing through the axis of rotation with the planner angle
/2 between them.
3
(4) A rod of mass M and length 2l is oscillating into a circle whose inside is frictionless.
Obtain the equation of motion of the rod.
3
(5) A uniform bar of length 2l and mass M is suspended from one end by a spring of
constant k. The bar can swing freely only in one vertical plane and the spring is constrained to move only in the vertical direction. Find out the Lagrangian of the system.
3
(6) Consider the Euler equations for torque-free motion of an asymmetric rigid body
like a tennis racket. If the moments of inertia satisfy I1 > I2 > I3 , show that
rotational motions close to the first and third axes are stable (i.e., with 2 , 3 << 1
and 1 , 2 << 3 respectively), while rotational motion close to the second axis is
unstable (i.e., with 1 , 3 << 2 ).
6
(7) If A is the matrix of a rotation through an angle about any axis, show that if
P =

1
(1 A) ,
2

then P2 = P . What does this operator do when acted on a vector ?

1

3+2

PH 201 CLASSICAL MECHANICS FULL MARKS: 45 GIVEN DATE: 08/09/16 DUE DATE: 20/09/16

(8) Assuming that the matrix elements of the rotation matrix R(, n
) have the form
X
Rij = a() ij + b() ni nj + c()
ijk nk ,
k

show that a() = cos(), b() = 1 cos(), and

P c() = sin().
Hints: Use (i) Trace(R) = 1 + 2 cos , (ii) j Rij nj = ni , (iii) RT R = I,
~ to first order in , if is small [and recall that
and (iv) R = I
nM
(Mi )jk = ijk ].

(9) Show that a particle moving in one dimension subject to the potential V (x) = k|x|p ,
where k > 0 and p > 1, will oscillate with a period proportional to a(p2)/2 ,
where a is the amplitude. (The particle oscillates back and forth between the points
x = a and x = a with a total energy E = kap ).
4
(10) A particle of mass m is constrained to move on a curve in the vertical plane defined
by the parametric equations
x = l ( + sin )

and z = l (1 cos ) ,

where < < . If the particle is subject to the force of gravity, calculate the
time period of oscillations as a function of the amplitude 0 (assumed to be less
than ).
Note: This is the equation of a cycloid which is the curve traced out by a point
fixed to the circumference of a circle of radius l rolling along the x-axis. There
is no restriction on for the rolling motion, and the curve has a cusp whenever
= (2n+1) .
4
(11) Consider a small spherical ball (of uniform mass density) rolling back and forth due
to gravity near the bottom of a circular track with radius R. If the ball rolls without
slipping, calculate the time period of small oscillations.
3