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LAGRANGE'S FORMULATION
Unit 1:
In mechanics we study particle in motion under the action of a force.
Equation of motion describes how particle moves under the action of a force.
However, every motion of a particle is not free motion, but rather it is restricted by
putting some conditions on the motion of a particle or system of particles. Hence the
basic concepts like equations of motion, constraints and type of constraints on the
motion of a particle, generalized coordinates, conservative force, conservation
theorems, DAlemberts principle, etc. on which the edifice of mechanics is built are
illustrated in this unit.
Introduction :
Mechanics is a branch of applied mathematics deals with the motion
of a particle or a system of particle with the forces Suppose a bullet is fired from a
fixed point with initial velocity u, not exactly vertically upward but making an angle
y
with the horizontal. Then
what instruments do
mathematicians need to find the
. position of the bullet at some
y = u sin u .
y = u sin - gt instant latter, its velocity at that
instant, the distance covered by
axes in space, then all the three co-ordinates are not independent, hence these three
co-ordinates can not be used for its description. Along a co-ordinate axis only one
co-ordinate varies and other two are constants and only the varying co-ordinate can
be used to describe the motion of the particle.
Basic concepts:
1. Velocity: Let a particle be moving along any path with respect to the fixed
point O. If r is its position vector, then the velocity of the particle is defined as the
time rate of change of position vector. i.e.,
v = r ,
where dot denotes the derivative with respect to time. If further r = xi + yj + zk is
1
r = ut + at 2 . . . . (5)
2
This equation gives the distance covered by the particle at any time t. One can
combine equations (4) and (5) and write
v 2 = u 2 + 2ar . . . . (6)
This equation determines the velocity of the particle at a given distance. Equations
(4), (5) and (6) are the algebraic equations of motion and are derived from the
equation (1) namely
Thus the total force acting on the i th particle of the system is given by
Fi = Fi ( e ) + Fji( int ) ,
j
where F( j
ji
int )
is the total internal force acting on the i th particle due to the
interaction of all other (n-1) particles of the system. Thus the equation of motion of
the i th particle is given by
Fi ( e) + Fji( int ) = p i . . . . (1)
j
The equation of motion of the whole system is obtained by summing over i the
equation (1) we get
F( ) + F(
i
e
ji
int )
= p i .
i i j i
We write this equation as
F( ) +
i
i
e
i , j ,i j
Fji( int ) = p i .
i
. . . (2)
motion. That is the action of one particle on the other is equal but opposite to the
action of second on the first. This implies that the mutual interaction between the
i th and j th particles are equal and opposite. i.e.
This gives
i , j ,i j
Fji( int ) = 0 .
F ( ) = p ,
i
i
e
i
i
F e = P , . . . (3)
where P is the total momentum of the system and F e = P is the total external force
acting on the system.
Conservation Theorem of Linear momentum of the system of particles :
Theorem 1 : If the sum of external forces acting on the particles is zero, the total
linear momentum of the system is conserved.
Proof : Proof follows immediately from equation (3). i.e., if
F e = 0 P = const.
Angular Momentum of the system of particles :
Consider a system of n particles of masses m1 , m2 ,..., mn having position
L = r p .
i
i
i
i i . . . (1)
If N is the total torque acting on the system, then equation of motion of the system is
given by
dL d
N= = ri pi .
dt dt i
dL
N= = ri pi + ri p i . . . . (2)
dt i i
But we have
r p = r m r = 0 .
i
i i
i
i i i . . . (3)
Now consider
r p = r F ( ) + F (
i i i i
e
ji
int )
i i j
r p = r F ( ) + r F (
i
i i
i
i i
e
i
i
j
ji
int )
r p = r F ( ) + r F (
i
i i
i
i i
e
i, j
i ji
int )
. . . (4)
r F(
i, j
i ji
int )
= ( r2 r1 ) F12( int ) + ( r3 r1 ) F13( int ) + ( r3 r2 ) F23( int ) + ...
r F(
i, j
i ji
int )
= ri rj Fji( int ) ,
r F(
i, j
i ji
int )
= rij Fji( int ) , for rij = ri rj . . . (5)
r F(
i, j
i ji
int )
= rij Fji( int ) . . . (6)
r F(
i, j
i ji
int )
=0 . . . (7)
Consequently, on using equations (3), (4) and (7) in equation (2) we readily obtain
dL
= ri Fi ( ) .
e
N= . . . (8)
dt i
This equation shows that the total torque on the system is equal to the vector sum of
torques acting on the individual particles of the system.
Conservation Theorem of Angular momentum of the system of particles:
Theorem 2 : If the total external torque acting on the system of particles is zero,
then the total angular momentum of the system is conserved.
Proof : Proof follows immediately from equation (8). i.e., if
N = 0 L = const.
Some definitions:
Centre of Gravity (Centre of Mass): It is the point of the body at which the whole
mass of the body is supposed to be concentrated. If R is the position vector of the
centre of mass of the body with respect to the origin then its coordinates are given by
m r i i
R = ( x, y ) = i
, where M = mi is the total mass of the body.
M i
Example 1: Show that the total angular momentum of a system of particles can be
expressed as the sum of the angular momentum of the motion of the centre of mass
about origin plus the total angular momentum of the system about the centre of mass.
L = r p .
i
i
i
i i (1)
Let R be the radius vector of the centre of mass with respect to the origin and ri be
the position vector of the i th particle with respect to the centre of mass. Then we have
ri = ri + R. (2)
Differentiating this equation with respect to t we get
ri = ri + R .
i.e., vi = vi + v,
(
L = Li = ri + R mi ( v + vi ) ,
i i
)
L = ri mi v + mi ri v + R mi v + R mi vi,
i i i i
d
L = ri pi + mi ri v + R mi v + R mi ri,
i i i dt i
Consider the term
m r = m ( r R ) ,
i
i i
i
i i
m r = MR MR ,
i
i i
m r = 0.
i
i i
L = ri pi + R mi v,
i i
L = R Mv + ri pi. (4)
i
This shows that the total angular momentum about the point O is the sum of the
angular momentum of the centre of mass about the origin and the angular momentum
of the system about the centre of mass.
Constraint Motion :
Some times the motion of a particle or a system of particles is not free but it
is limited by putting some restrictions on the position co-ordinates of the particle or
system of particles. The motion under such restrictions is called constraint motion or
restricted motion. The mathematical relations establishing the limitations on the
position co-ordinates are called as the equations of constraints. Mathematically, the
constraints are thus the relations between the co-ordinates and the time t.
Consequently, all the co-ordinates are not linearly independent; constraint relations
relate some of them. Thus in general the constraints on the motion of a particle or
system of particles are always possible to express in the form
f r ( xi , yi , zi , t ) or or = 0 ,
where r =1,2,3,...,k the number of constraints and ( xi , yi , zi ) are the position co-
Worked Examples
Example 2 : Consider a system of two particles joined by a mass less rod of fixed
length l . Suppose for simplicity, the system is confined to the horizontal plane xy .
Suppose further that the system is so constrained that the centre of the rod cannot
have a velocity component perpendicular to the rod. Show that the constraint
involved in the system is non-holonomic.
y Solution: Let (x1, y1) and (x2, y2) be the
positions of the two particles connected by
v=0
the mass less rod of length l . The system is
(x2 , y2 ) shown in the fig.
Since the length between the two particles
x1 + x2 y1 + y2
,
(x1, y1 ) 2 2
is constant, clearly one of the constraint
x relations is
O
2 2
( x1 x2 ) + ( y1 y2 ) = l2 . . . (1)
x2 x1 = l cos ,
where, . . . (2)
y2 y1 = l sin
The constraint (1) is clearly holonomic. The other constraint is such that the
centre of the rod cannot have velocity component perpendicular to the rod.
Mathematically this is expressed as
This constraint can not be integrated and hence the constraint is non-holonomic and
consequently, the system is non-holonomic.
Degrees of freedom and Generalized co-ordinates :
Consider the motion of a free particle. To describe its motion we need three
independent co-ordinates, such as the Cartesian co-ordinates x, y, z or the spherical
polar co-ordinates r , , etc. The particle is free to execute motion along any one of
the axes independently with change in only one co-ordinate. In this case we say that
the particle has three degrees of freedom. Thus we define
Generalized co-ordinates:
A system of N particles free from constraints has 3N degrees of freedom. If
however, there exists k holonomic constraints expressed in k equations
f i ( r1 , r2 ,..., rn , t ) = 0, i = 1, 2,..., k , . . . (1)
then 3N co-ordinates are not all independent but related by k equations given in (1).
We may use these k equations to eliminate k of the 3N co-ordinates, and we are left
with 3 N k = n (say) independent co-ordinates. These are generally denoted by
qj, j = 1, 2,..., n called the generalized co-ordinates and the system has 3N-k
degrees of freedom.
ri = ri ( q1 , q2 , q3 ,...qn , t ) , . . . (1)
If the particle is finitely displaced from point P ( r1 ) to P ( r2 ) along any path, then
W = F dr . . . (1)
r1
Conservative Force : The work given in expression (1) is in general depends on the
extreme positions of the particle and also the path along which it travels. If a force is
Worked Examples
This shows that the work does not depend upon the path but depends on the
extreme points. Hence the gravitational force is conservative. Alternately, we say
that, the force F is conservative if the work done by it around the closed path is zero.
i. e. F is conservative iff F dr = 0 . . . (1)
F dr = F .ds,
s
. . . (2)
Example 4: Show that the inverse square law of attractive force (central force) is
conservative.
Solution: The inverse square law of force is the force of attraction between two
particles and is given by
m1m2
F = G . . . (1)
r2
where negative sign indicates that the force is directed towards the fixed point and it
is called the attractive force. We write the force as
k
F = r, for k = Gm1m2 . . . (2)
r3
For r = xi + yj + zk
k ( xi + yj + zk )
We have F = 3
. . . (3)
(x 2 2
+y +z )
2 2
i j k
F =
x y z
Kx Ky Kz
r3 r3 r3
z y x z y x
F = K i 3 3 + j 3 3 + k 3 3 .
y r z r z r x r x r y r
3 yx 3 yx
3 yz 3 yz 3 xz 3 xz
F = K i 5 + 5 + j 5 + 5 + k 5 + 5 .
2 2 2
r r2 r r2 r r 2
F = 0.
This shows that the inverse square law of attractive force F is conservative.
Virtual Work :
If the system of forces acting on a particle be in equilibrium then their
resultant is zero and hence the work done is zero.
Thus in the case of a particle be in equilibrium there is no motion, hence there
arises no question of displacement. In this case we assume the particle receives a
small virtual displacement (the displacement of the system which causes no real
motion is called as virtual or imaginary displacement) and it is denoted by ri .
DAlemberts Principle :
DAlembert started with the equation of motion of a particle Fi = p i , where
Hence ( F p ) = 0,
i
i i
and an equal and opposite effective forces p i . In this way dynamics reduces to
static. Thus
( F p ) = 0
i
i i the system is in equilibrium (the resultant is zero).
Hence the virtual work done by the forces is zero. This implies that
( F p ) r = 0 .
i
i i i
This is known as the mathematical form of DAlembert principle. This states that a
system of particles moves in such a way that the total virtual work done by the
applied forces and reverse effective forces is zero.
Worked Examples
x2 + y 2 = r 2 . . . (1)
2 x x + 2 y y = 0
y
or x= y . . . (2)
x
where x and y are displacement in x and y respectively. Now from
DAlemberts principle, we have
( F mr) r = 0 .
In terms of components we have
mx x ( mg + my) y = 0 .
( F p ) r = 0
i
i i i
Generalized Velocities :
From transformation equations we have
ri = ri ( q1 , q2 , q3 ,...qn , t ) , . . . (1)
Virtual displacement :
We find variation (change) in the transformation equation (1) to get
ri
ri = qj
q j
Note here that t term is absent because virtual displacement is assumed to take
place at fixed instant t, hence t = 0 .
ri
= Fi qj ,
i j q j
r
= Fi i q j ,
j i q j
= Q j q j ,
j
where
ri
Q j = Fi . . . (1)
i q j
V
Consequently, the generalized forces are given by Q j = .
q j
(
Q j = Fi + Fi (
d)
) qr
i
j
Qj =
V
q j
+ Q(j ) ,
d
where
ri
Q (j ) = Fi (
d d)
i q j
are non-conservative forces which are not derivable from the potential V. Such a
situation often arises when frictional forces or dissipative forces are present in the
system.
It is found by experiment that in general the dissipative or frictional forces are
proportional to the velocity of the particle.
Fi ( d ) = i ri ,
where i are constants. In such cases the generalized forces are obtained as
ri
Q(j d ) = Fi ( d ) ,
i q j
ri
= i ri
i q j
However, from transformation equation we obtain
ri r
= i .
q j q j
Thus we write
1 2
Q(j d ) = i ri ,
q j 2
R
= ,
q j
Classical Mechanics Page No. 24
1
where R=
2
i ri 2
know the position vectors ri are expressed as the functions of n generalized co-
ri = ri ( q1 , q2 , q3 ,...qn , t ) , . . . (1)
If Fi are the forces acting on the system, then by DAlemberts principle we have
( F p ) r = 0 ,
i
i i i . . . (2)
ri r
F q i q j = mi
ri i q j ,
q j
j i j i, j
ri
or Q q = m r q
j
j j
i, j
i i qj , . . . (3)
j
where
ri
Q, = Fi . . . . (4)
q j
d ri r d r
ri =
ri i + ri i .
dt q j q j dt q j
Substituting this in equation (3) we get
d r d r
j j j
Q q = mi ri i ri i q j . . . . (5)
i, j dt q j dt q j
Now from equation (1) we have
ri r
ri = qk + i . . . . (6)
k qk t
ri r
= i . . . . (7)
q j q j
Also we have
d ri 2 ri 2 ri
= qk + . . . . (9)
dt q j k q j qk q j t
ri d r
= i
q j dt q j
In general we have
d d
= . . . . (10)
q j dt dt q j
On using equation (10) in equation (5) we get
d vi v
Q q = dt m v
j j i i
q j
mi vi i q j .
q j
j i, j
We write this as
d 1 1 2
Q q = dt q 2 m v
j j i i
2
q 2 mi vi q j ,
j j j i j i
d T T
or Q q = dt q
j j
qj ,
j j
j q
j
1
where T=
2 i
mi vi 2
d T T
Qj = 0 ,
dt q j q j
d T T
= Qj , j = 1, 2, 3,...., n . . . . (12)
dt q j q j
These are called the Lagranges equations of motion. We see that, to derive
the Lagranges equations of motion the knowledge of forces acting on the system of
particles will not be necessary.
Note : If the constraints are non-holonomic then the generalized co-ordinates are not
all independent of each other. Hence we cant conclude equation (12) from equation
(11).
Note: In deriving Lagranges equations of motion the requirement of holonomic
constraints does not appear until the last step.
Case (1) : Conservative system :
If the system is conservative so that particles move under the influence of a
potential which is dependent on co-ordinates only, then the forces are derived from
the potential V given by
V
Fi = iV = .
ri
In this case the components of generalized forces becomes
V ri V
Qj = = , and V V ( q j ) .
i ri q j q j
d (T V ) (T V )
= 0.
dt q j q j
d L L
= 0 . j = 1, 2, ..., n . . . (13)
dt q j q j
These are called the Lagranges equations for motion for conservative holonomic
system.
Note : The Lagrangian L satisfying equation (13) is not unique. Refer Example (13)
bellow.
Case (2) : Non-conservative system :
In the case of non-conservative system the scalar potential U may be
function of both position and velocity. i.e., U = U ( q j , q j , t ) . Such a potential is
called as velocity dependent potential. In this case the associated generalized forces
are given by
U d U
Qj = + .
q j dt q j
Substituting this in the equation (12) we get
d L L
= 0 , j = 1, 2,..., n
dt q j q j
which are the Lagranges equations of motion for non-conservative forces.
Case (3) : Partially conservative and partially non-conservative system :
Consider the system is acted upon by conservative forces Fi and non-
j
Qj =
V
q j
+ Q(j ) ,
d
where the non-conservative forces which are not derivable from potential function V
are represented in Q(j d ) . Substituting this in equation (12) we readily obtain
d L L
= Q (j ) , j = 1, 2,..., n
d
. . . (14)
dt q j q j
where the Lagrangian L contains the potential of the conservative forces, and Q(j d )
represents the forces not arising from the potential V. However, it is found by
experiment that, in general the dissipative or frictional forces are proportional to the
velocity of the particles.
Fi ( d ) = i ri , i are constants.
Hence we have
ri
Q(j d ) = Fi ( d ) ,
i q j
ri
= i ri .
i q j
Hence
1 2 R
Q (j d ) = i ri = ,
q j 2 q j
1
where R=
2 i
i ri 2
Worked Examples
Conservation of Energy:
Example 7: Show that the total energy of a particle moving in a conservative force
field remains constant, if the potential energy is not an explicit function of time.
Solution : Let a particle of mass m be moving in the conservative field of force F.
Let r be the position vector of the particle at any instant. The total energy of the
particle is
E = T +V , . . . (1)
where T = kinetic energy,
V = potential energy.
Differentiating (1) with respect to t we get
dE dT dV
= + , . . . (2)
dt dt dt
where the force
dv
F =m
dt
Therefore
dv dr
Fdr = m dt
dt dt
Fdr = mvdv,
1
Fdr = d mv 2
2
Fdr = dT ,
dr dT
F = . . . . (3)
dt dt
Theorem 4 : If the force acting on a particle is conservative then the total energy is
conserved.
Proof : If the particle is acted upon by the force F, then if it moves from position P1
W = F .dr . . . (1)
P1
dv
where F = p = m ,
dt
Classical Mechanics Page No. 32
Therefore,
P2 2 P
dv dr dv
W = m . dt = m .v dt
P1
dt dt P1
dt
P2
d 1
dt 2 mv
2
= dt ,
P1
P2
1
= mv 2 ,
2 P1
1 2 1 2
W = mv2 mv1 .
2 2
Thus W = T2 T1 . . . . (2)
Now, if the force F is conservative then it is derivable from a scalar potential
function V , which is a function of position only. Therefore, we have
V
F = V = , where V is the potential energy. Substituting this value in
r
equation (1) we get
P2
V
W = dr ,
P1
r
P2
= dV ,
P1
P
= (V ) P2 ,
1
W = V1 V2 . . . . (3)
From equations (2) and (3) we have
T2 T1 = V1 V2
T1 + V1 = T2 + V2 = constant
T + V = constant.
This shows that the total energy of the particle is conserved.
Theorem 5 : If the external and internal forces are both conservative, then show that
the total potential energy V of the system is given by
1
V = Vi ( ) + Vij( ) ,
e int
i 2 i, j
where Vi ( e ) is the potential energy arises due to the external forces Fi ( e ) and Vij( int ) is
the internal energy arises due to internal forces Fji( int ) . Further show that the total
where
Fi = Fi ( e ) + Fji( int )
j
2 2
W = Fi dri + (e)
F( ji
int )
dri . . . (1)
i 1 i , j ,i j 1
Vi (
e)
Fi ( ) = i Vi ( ) =
e e
ri
Vi ( )
2 2 e 2
Fi ( ) dri =
i
e
i ri
dri = dVi ( ) ,
i 1
e
1 1
2 2
i Fi dri = i Vi (e)
(e)
. . . (2)
1 1
i , j ,i j 1
Fji dri =
(int )
F(
i , j ,i j 1
ji
int )
dri . . . (3)
i , j ,i j 1
Fji dri =
(int )
F(
i , j ,i j 1
ij
int )
drj
2 2
F
i , j ,i j 1
( int )
ji dri = F(
i , j ,i j 1
ji
int )
drj ( Fji(int ) = Fij( int ) ) . . . (4)
Now if the internal forces Fji( int ) are conservative, there exists a potential Vij( int ) such
that
where ji is the gradient with respect to rji . Thus the above equation becomes
2 2 (int )
1 V
F
i , j ,i j 1
( int )
ji dri = ij drij ,
2 i , j ,i j 1 rij
2 2
1
F
i , j ,i j 1
(int )
ji dri = dVij(int ) ,
2 i , j ,i j 1
2
2
1
F ( int )
ji dri = Vij(int ) . . . . (5)
i , j ,i j 1 2 i, j 1
Substituting the values from equations (2) and (5) we get
2
W = [V ]1 = V1 V2 , . . . (6)
where
1
V = Vi ( ) + Vij( )
e int
. . . (7)
i 2 i, j
represents the total potential energy of the system of particles. Similarly the total
work done by the force on the system in terms of kinetic energy is given by
Example 8 : Find the velocity dependent potential and hence the Lagrangian for a
particle of charge q moving in an electromagnetic field.
Solution : Consider a charge particle of charge q moving with velocity v in an
electric field E and magnetic field B . The force acting on the particle is called
Lorenz force and is given by
F = q(E + v B) , . . . (1)
there exists the magnetic vector potential A which is a function of co-ordinates and
velocities such that
B = A. . . . (3)
Substituting this in the second Maxwell equation we get
E +
t
( A ) = 0,
A
E + = 0,
t
A
E + = 0. . . . (4)
t
We also know the vector identity
= 0 . . . (5)
Comparing equations (4) and (5) we see that, there exists a scalar potential which
is function of co-ordinates and not involving velocities such that
A
E+ =
t
A
E = . . . (6)
t
Using equations (3) and (6) in equation (1) we get
A
F = q + v A . . . (7)
t
where we have
= i +j +k ,
x y z
A A A A
=i x + j y +k z ,
t t t t
Now consider
A A Ax Az Ax A A A A A
vy y x vz = vx + v y y + vz z vx x + v y x + vz x
x y z x x x x x y z
. . . (9)
Also we have
dAx A A A A
= vx x + v y x + vz x + x ,
dt x y z t
Ax A A dA A
vx + v y x + vz x = x x . . . (10)
x y z dt t
Also
( v A ) = ( vx Ax + v y Ay + vz Az )
x x
vx
( v A ) = Ax
d dA
dt vx
( v A) = x
dt
. . . (14)
d T T
= Qj
dt q j q j
can also be written in the form
T T
2 = Qj .
q j q j
T 2T T j 2T 2T
= qk + k + qk +
q j q
k q qk k q j qk q j t
j k
d T 2T 2T 2T
= qk + qk + . . . . (4)
dt q j k qk q j k q
k q j t q j
T d T T
= . . . . (5)
q j dt q j q j
But it is given that
d T T
= + Qj .
dt q j q j
Consequently equation (5) becomes
T T T
+ Qj = .
q j q j q
j
T T
2 = Qj .
q j q j
of mass M moving on a plane under the action of the given field of force
F = ir kr cos , . . . (1)
Since the force is explicitly given, hence the Lagranges equation motion
corresponding to the generalized coordinates r and are given by
Classical Mechanics Page No. 42
d T T
= Q , . . . (2)
dt
d T T
and = Qr , . . . (3)
dt r r
where T is the kinetic energy of the particle and is given by
1 1
T=
2 2
( )
M ( x 2 + y 2 ) = M r 2 + r 2 2 , . . . (4)
The components of generalized force along the radial direction and in the direction of
are given by
Qr = ir kr cos ,
Q = 0.
Hence equations (1) and (2) become
d
dt
(
Mr 2 = 0, )
Mr 2 = const.
Example 11: Show that the Lagranges equation of motion can also be written as
L d L
L q j =0,
t dt q j
d L L L d L
L q j = + q j . . . . (3)
dt q j t q j dt q j
j j
But from Lagranges equation we have,
d L L
= 0. . . . (4)
dt q j q j
Consequently, equation (3) becomes
d L L
L q j =0.
dt j q j t
constant. Find the total energy of the motion, the Lagrangian, and the equations of
motion of the particle.
Solution: A particle is moving in a plane. Let (x, y) be the co-ordinates of the
particle at any instant t. If T and V are the kinetic and potential energies of the
particle then we have
1
T= m ( x 2 + y 2 ) , . . . (1)
2
and V = V ( x, y ) . . . . (2)
dV = k 2 ( 2 x + y ) dx + k 2 ( x + 2 y ) dy,
dV = k 2 ( 2 xdx + d ( xy ) + 2 ydy ) .
On integrating we get,
V = k 2 ( x 2 + xy + y 2 ) . . . (3)
T
ii) when the constraints are rheonomic then q
j
j
q j
= 2T2 + T1 ,
where
ri = ri ( q1 , q2 , q3 ,...qn , t ) ,
ri r
ri = qk + i .
k qk t
Substituting this value in equation (1) we get
1 r r r r
T= mi
i
q j + i i qk + i
2 i j q j t k qk t
1 ri ri ri ri ri
2
T = mi . q j qk + 2 q j + ,
2 i j , k q j qk j q j t t
1 ri ri ri ri 1 ri
2
T = mi q j qk + mi q j + mi
j ,k
2 i q j q k
j
i q j t i 2 t
or T = a jk q j qk + a j q j + a . . . (2)
j ,k j
1 r r
where a jk = mi i i ,
i 2 q j qk
r r
a j = mi i i , ... (3)
i q j t
T = a jk q j qk . . . . (4)
j ,k
Case 2 : If the constraints are rheonomic then we write equation (2) in the form
T = T2 + T1 + T0 , . . . (6)
where
T2 = a jk q j qk ,
j ,k
. . . (7)
T1 = a j q j ,
j
2
1 r
and T0 = a = mi i
i 2 t
are homogeneous function of generalized velocities of degree two, one and zero
respectively.
Classical Mechanics Page No. 47
Now we consider
T T T T
q
j
j
q j
= q j 2 + q j 1 + q j 0
j q j j q j j q j
On applying Eulers theorem for the homogeneous function to each term on the right
hand side we readily get
T
q
j
j
q j
= 2T2 + T1 . . . . (8)
Note : However, the result (8) can also be obtained by direct differentiating equation
(2) w. r. t. q j . Thus
T
= 2 a jk qk + a j .
q j k
T
q
j
j
q j
= 2 a jk q j qk + a j q j
j ,k j
T
q
j
j
q j
= 2T2 + T1 .
The result (5) can similarly be derived by direct differentiating equation (4).
Another way of proving conservation theorem for energy :
Theorem (7): If the Lagrangian does not contain time t explicitly, the total energy of
the conservative system is conserved.
Proof : Consider a conservative system, in which the forces are derivable from a
potential V which is dependent on position only. The Lagrangian of the system is
defined as
L = T V , . . . (1)
where
d L L
= 0. . . . (3)
dt q j q j
Differentiating equation (2) we obtain
dL L L L
= q j + qj + .
dt q j
j q j t
L
Since L does not contain time t explicitly implies = 0.
t
dL L L
= q j + qj .
dt j
q j q j
On using equation (3) we write
dL d L L
= q j + q .
dt
j dt q j j
j q
j
dL d L
= q j ,
dt dt j q j
.
d L
L q j =0
dt j q j
L
L q j = const. . . . . (4)
j q j
Since the potential energy V for the conservative system depends upon the position
co-ordinates only and does not involve generalized velocities. Hence we have
L T
= .
q j q j
p q
j
j j L = const ( H ) . . . . (5)
L does not contain time t means neither the kinetic energy nor the potential energy of
the particle involves time t. In this case the transformation equations do not contain
time t. consequently the constraints are scleronomic. Hence the kinetic energy T is a
homogeneous quadratic function of generalized velocities.
T = a jk q j qk . . . (6)
j ,k
where
1 r r
a jk = mi i i ,
i 2 q j qk
Theorem (8): Show that non-conservation of total energy is directly associated with
the existence of non-conservative forces even if the transformation equation does not
contain time t.
Proof: We know the Lagranges equations of motion for a system in which
conservative forces Fi and non-conservative forces Fi ( d ) are present are given by
Classical Mechanics Page No. 50
d L L
= Q (j ) ,
d
j=1, 2, 3, , n. . . . (1)
dt q j q j
where the Lagrangian L contains the potential of the conservative forces and the
forces which are not arising from potential V are represented by Q(j d ) .
Since L = L ( q j , q j , t )
dL L L L
= q j + qj + . . . . (2)
dt q j
j q j t
L d L (d )
From equation (1) we have = Q j ,
q j dt q j
Therefore
dL d L L L
= q j + qj Q (j ) q j + ,
d
dt
j dt q j q
j t
j j
d L L
= q j Q(j ) q j +
d
,
j dt q j j t
dL d L L
q j Q (j ) q j +
d
= . . . (3)
dt dt j q j j t
dL d T L
= q j Q(j ) q j +
d
. . . . (4)
dt dt j q j j t
where T here is a quadratic function of generalized velocities and hence in this case
we have
T
q
j
j
q j
= 2T . . . . (5)
V
= 0.
t
L
Consequently, we have = 0. Hence equation (6) becomes
t
dE
= Q (j ) q j .
d
...(7)
dt j
This shows that the non-conservation of total energy is directly associated with the
existence of non-conservative forces Q(j d ) . However, if the system is conservative
and the transformation equations do not contain time t then the total energy is
conserved.
d L L
= 0, . . . (2)
dt q j q j
d L L
We prove that = 0.
dt q j q j
Since f = f (q j ,t ) ,
Therefore we have
df f f
= qk + . . . . (3)
dt k qk t
df 2 f 2 f
= q
k + . . . . (4)
q j dt k qk q j t q j
d df 2 f 2 f
= qk + . . . . (5)
dt q j dt k qk q j t q j
d df df
= 0,
dt q j dt q j dt
.
d L L
i.e., =0
dt q j q j
d L L
= 0, . . . (1)
dt q j q j
d T T V
= , . . . (2)
dt q j q j q j
We also know
T
q
j
j
q j
= 2T . . . . (3)
Also we obtain
dT T T
dt
= q q + q q .
j
j
j
j . . . (4)
j j
d T T T V
q j qj q j = q j . . . . (5)
dt j q j j q j j q j j q j
a
k =1
lk dqk + alt dt = 0 , . . . (2)
where alk and alt are functions of q j and t . Constraints of this type will be
holonomic only if, an integrating factor can be found that turns it in to an exact
differential, and hence the constraints can be reduced to the form of equations.
However, neither equations (2) can be integrated nor one can find an
integrating factor that will turn either of the equations in to perfect differentials.
Hence the constraints cannot be reduced to the form (1). Hence the constraints of the
type (2) are therefore non-holonomic.
Note also that non-integrable differential constraints of the type (2) are not
the only type of non-holonomic constraints. The non-holonomic constraint
conditions may involve higher order derivatives or may appear in the form of
inequalities.
There is no general way of attacking non-holonomic problems. However, the
constraints are not integrable, the differential equations of the constraint can be
introduced in to the problem along with the differential equations of motion and the
Classical Mechanics Page No. 55
dependent equations are eliminated by the method of Lagranges multipliers. The
method is illustrated in the following theorem.
a
k =1
lk dqk + alt dt = 0 , . . . (1)
functions of q j and t .
Since the constraints are non-holonomic, hence the equations expressing the
constraints (1) cannot be used to eliminate the dependent co-ordinates and hence all
the generalized co-ordinates are not independent, but are related by constraint
relations.
In the variational (Hamiltons) principle, the time for each path is held fixed
( t = 0 ). Hence the virtual displacement qk must satisfy the following equations of
constraints.
n
a q
k =1
lk k = 0, l = 1, 2, 3,..., m . . . (2)
a q dt = 0
t0 l =1 k =1
l lk k . . . (3)
Ldt = 0 .
t0
t1 n L d L
q qk dt = 0 .
dt qk
. . . (4)
t0 k =1 k
L d L m
+ l alk = 0, for k = n ( m 1) ,..., ( n 1) , n . . . . (6)
qk dt qk l =1
Hence from equation (6) we have
t1
n m L d L m
t0
q
dt qk
l lk k dt = 0 ,
+
l =1
a q
. . . (7)
k = 1 k
where q1 , q2 , q3 ,..., qn m are all independent. Hence it follows that
L d L m
+ l alk = 0, for k = 1, 2,..., n m. . . . (8)
qk dt qk l =1
Combining equations (6) and (8) we have finally the complete set of Lagranges
equations of motion for non-holonomic system
d L L m
Worked Examples
we get
a1r = 1, a1 = 0 . . . . (4)
The Lagranges equations of motion viz.,
d L L m
= l alk , k = 1, 2,..., n
dt qk qk l =1
d L L
become = 1a1 ,
dt
d L L
and = 1a1r .
dt r r
These equations after solving become
g
+ sin = 0 , . . . (5)
r
ml + mg cos = 1 , . . . (6)
where 1 is the force of constraint, in this case it is the tension in the string. Equation
(5) determines the motion of the pendulum under the constraint force given in (6).
Example 16 : Use Lagranges undetermined multipliers to construct the equations of
motion of spherical pendulum.
Solution : Let a particle of mass m move on a frictionless surface of radius r under
the action of gravity. Let P (x, y, z) be the position co-ordinates of the pendulum. If
relations
x = r sin cos ,
y
y = r sin sin , . . . (1)
z = r cos ,
P(x, y, z) = (r, , )
r where x 2 + y 2 + z 2 = r 2 .
z = r cos
This shows that x, y, z are not the generalized
The equation of the constraint on the motion of the particle moving on the sphere is
f1 r l = 0 . . . . (5)
If this constraint is not used to eliminate the dependent variable r, then the
generalized co-ordinates are ( r , , ) . Differentiating equation (5) we get
dr = 0
Comparing this with the standard equation
a1r dr + a1 d = 0, (viz., alk dqk = 0 l = 1, k = 1, 2 ,3).
k
we get
a1r = 1, a1 = 0, a1 = 0 . . . . (6)
dt qk
= l alk , k = 1, 2,..., n
qk l =1
d L L
become = 1a1r , . . . (7)
dt r r
d L L
= 1a1 , . . . (8)
dt
d L L
and = 1a1 . . . . (9)
dt
Consequently, these equations reduce to
g
ml 2 + sin 2 2 cos = 1 . . . . (10)
l
This equation determines the constraint force. Similarly, from equations (8) and (9)
we obtain
g
sin cos 2 sin = 0 , . . . (11)
l
and sin 2 2 = p (const.) . . . (12)
p 2 g
3 cos sin = 0 . . . . (13)
sin l
Equations (10) and (13) determine the motion of the spherical pendulum.
Example 17 : A particle is constrained to move on the plane curve xy = c , where c
is a constant, under gravity. Obtain the Lagrangian and hence the equation of motion.
Solution : Given that a particle is constrained to move on the plane curve
xy = c , . . . (1)
The kinetic energy of the particle is given by
1
T= m ( x 2 + y 2 ) . . . (2)
2
1 2 c 2 mgc
L = m x 1 + 4 . . . . (4)
2 x x
d L L
Therefore the Lagranges equation =0
dt
d
yields
dt
( )
mr 2 = 0 mr 2 = const (l )
Integrating we get
l
= t + 0 , . . . (3)
mr 2
where 0 is a constant of integration. Similarly, z- Lagranges equation of motion
d L L
= 0,
dt z z
1 2
gives z = ut gt , . . . (4)
2
where z = u at t = 0 .
Example 19 : A particle of mass m is projected with initial velocity u at an angle
with the horizontal. Use Lagranges equation to describe the motion of the projectile.
Solution : Let a particle of mass m be projected from O with an initial velocity u unit
making an angle with the horizontal line referred as x-axis. Let P (x, y) be the
position of the particle at any instant t. Since x and y are independent and hence the
generalized co-ordinates. The kinetic of the projectile is given by
1
T= m ( x 2 + y 2 ) ,
2 .
y = u sin .
u y = u sin - gt
and the potential energy is V = mgy
.
x = u cos
mg
x
Thus the Lagrangian function of the O .
x = u cos
projectile is
1
L= m ( x 2 + y 2 ) mgy . . . . (1)
2
The x- Lagranges equation of motion and y-Lagranges equation of motion
respectively give
x = 0 and
y+g =0
. . . (2)
To find the velocity of the projectile and its path at any instant we integrate equations
(2) and using boundary conditions we readily obtain
x = u cos , y = u sin gt . . . (3)
These equations determine velocity at any time t. Integrating (3) once again and
using boundary conditions we get
1 2
x = u cos .t and y = u sin .t gt . . . (4)
2
Eliminating t between equations (4) we get
1 x2
y = x tan g 2 .. . (5)
2 u cos 2
This represents the path of the projectile and it is a parabola.
Atwoods Machine :
x=
( m1 m2 ) g . . . (4)
m1 + m2
The solution of this equation gives
1 ( m1 m2 ) 2
x= gt + x0t + y0 , . . . (5)
2 m1 + m2
1 r 2 2rr
F= 1 .
r2 c2
1 r2 2rr
Qr = F = 2 1 .
r c 2
U d U
Qr = + ,
r dt r
1 r 2
U = 1 + 2 . (1)
r c
We notice that the potential energy U is the velocity dependent potential. The
kinetic energy of the particle is given by
1 2
T= mr . ... (2)
2
Hence the Lagrangian of the particle becomes
1 2 1 r 2
L = mr 1+ 2 . ...(3)
2 r c
2 r 2 1
r m 2 + 2 2 2 = 0.
(4)
rc r c r
Example 23 : Derive the equation of motion of a particle falling vertically under the
influence of gravity, when frictional forces obtainable from dissipation function
1 2
Kv are present. Integrate the equation to obtain the velocity as a function of time.
2
mg
Show also that the maximum possible velocity for fall from rest is v = .
K
Solution : Let a particle of mass m be falling vertically under the influence of
gravity. Let z be the height of the particle at any instant t. Therefore the only
generalized co-ordinate is z. Thus the Kinetic energy and the potential energy of the
particle are given by
t = 0, z = v = 0, z = 0 c1 = 0 .
We have therefore
K
z + z = gt . . . . (7)
m
This is a linear differential equation of first order whose solution is given by
2 Kt
mg m
z= t
g + c2 e m
.
K K
2
m
As t = 0 z = 0 c2 = g ,
K
Hence
2 2 Kt
mg m m
z= t g + g e .
m
. . . (8)
K K
K
Classical Mechanics Page No. 68
Differentiating equation (8) we obtain
Kt
mg m m
z =
g e . . . . (9)
K K
This shows that the velocity z is the function of time only. For maximum velocity
we have
dz
=0.
dt
z = 0 and is given by
Hence the maximum velocity is obtained from (5) by putting
mg
z = .
K
Example 24: Two mass points of mass m1 and m2 are connected by a string passing
through a hole in a smooth table so that m1 rests on the table surface and m2 hangs
suspended. Assuming m2 moves only in a vertical line, what are the generalized co-
ordinates for the system? Write down the Lagrangian for the system. Reduce the
problem to a single second order differential equation and obtain a first integral of
the equation.
Solution: Let the two mass points m1 and m2 be connected by a string passing
through a hole in a smooth table so that m1 rests on the table surface and m2 hangs
suspended. We assume that m2 moves only in a vertical line. The system is shown in
the fig.
Let l be the length of a string. Consider OX as an initial line. Let ( r , ) be
Om2 = l r .
P(r, )
m1
r
O x
l- r
m2
These are the required equations of motion. Now eliminating between (3) and (4)
we obtain
h2
( m1 + m2 ) r 3 + m2 g = 0 . . . . (5)
m1r
2h 2 1
( m1 + m2 ) d ( r 2 ) d 2 + 2m2 g dr = const.
m1 2r
h2
( m1 + m2 ) r2 + + 2m2 gr = const. . . . (6)
m1r 2
This is required first integral of motion which represents total energy of the particle.
then we have
x = OA + AP cos ,
x = vt + r cos . . . (2)
r = u g sin t . . . . (8)
Integrating once again we get
1 2
r = u.t gt sin + c2 .
2
At t = 0, r = 0 c2 = 0.
1 2
r = ut gt sin .
2
Classical Mechanics Page No. 72
Hence the locus of the position of the particle is given by
2
1 2
r = ut gt 2 sin = ( x vt ) + y 2 .
2
. . . (9)
2
Example 26 : Set up the Lagrangian and the Lagranges equation of motion for
simple pendulum.
O x
Solution : Consider a simple pendulum of point
mass m attached to one end of an inextensible light
l
string of length l and other end is fixed at point O.
The system is shown in fig. If B ( x, y ) are the C
B(x, y)
position co-ordinates of the pendulum at any instant
t, then the equation of the constraint is given by
x2 + y2 = l 2 , . . . (1)
where x = l sin , y = l cos , is the angle made by the pendulum with the
vertical. This shows that x and y are not the generalized co-ordinates. We see that
the angle determines the position of pendulum at any given time; hence it is a
generalized co-ordinate. Hence the kinetic and potential energies of the pendulum
become
1 2
T=
2
( )
m l , V = mgl (1 cos ) . . . . (2)
and ( x2 , y2 ) respectively,
where x2 = x1 + l sin ,
y2 = l cos .
We see that the position co-ordinates of the pendulum are related by the constraint
equation; hence these are not the generalized co-ordinates. The generalized co-
ordinates in this case are x1 and . The kinetic energy of the system is the sum of the
kinetic energy of the pendulum and the kinetic energy of the block. It is given by
1 1
T=
2 2
( )
Mx12 + m x12 + l 2 2 + 2lx1 cos .
d L L d L L
= 0 and =0,
dt dt x1 x1
respectively reduces to
ml 2 + ml cos
x1 + mgl sin = 0 , . . . (2)
=
( M + m) g . . . . (5)
Ml
This is the required equation of simple harmonic motion. The periodic time T is
given by
2
T=
accel n . per unit displacement
Ml
T = 2 .
( M + m) g
Spherical Pendulum: A point mass constrained to move on the surface of a
sphere is called spherical pendulum.
Example 28 : In a spherical pendulum a particle of mass m moves on the surface of
a sphere of radius r in a gravitational field. Show that the equation of motion of the
particle may be written as
p2 cos g
2 4 3
sin = 0,
m r sin r
where p is the constant of angular momentum.
Classical Mechanics Page No. 75
Solution : Let P (x, y, z) be the position co-ordinates of the particle moving on the
surface of a sphere of radius r. If ( r , , ) are its spherical co-ordinates, then we have
z x = r sin cos ,
y = r sin sin , . . . (1)
P(r, , ) z = r cos
It clearly shows that x, y, z are not the generalized
r
z = r cos co-ordinates, as they are related by the constraint
equations (1). The generalized co-ordinates are
y
( , ) . Hence the kinetic and potential energies of
L
particle are respectively given by
x
1 2 2
T=
2
( )
mr + sin 2 2 ,
V = mgr cos
Hence the Lagrangian function becomes
1 2 2
L=
2
(
mr + sin 2 2 mgr cos . ) . . . (2)
p2 cos g
2 4 3
sin = 0, . . . (5)
m r sin r
where p is a constant of angular momentum.
Compound Pendulum :
A rigid body capable of oscillating in a vertical plane about a fixed horizontal
axis under the action of gravity is called a compound pendulum.
I
T = 2 . . . . (5)
mgl
1 l1
the lengths of the strings and ( x1 , y1 ) , ( x2 , y2 ) be the
(x 1, y 1)
rectangular position co-ordinates of the masses m1 and l2
2
m2 respectively at any instant t. From the fig. we have (x 2, y 2)
y
x1 = l1 sin 1 , y1 = l1 cos 1 ;
x2 = l1 sin 1 + l2 sin 2 , . . (1)
y2 = l1 cos 1 + l2 cos 2
The total kinetic energy of the system is given by
1 1
T= m1 ( x12 + y12 ) + m 2 ( x22 + y 22 ) . . . . (2)
2 2
Using equation (1) we obtain
1 1
T= m1l1212 + m2 l1212 + l2 222 + 2l1l212 cos (1 2 ) . . . . (3)
2 2
Taking the reference level as a horizontal plane through the point of suspension O,
the total potential energy of the system is given by
V = m1 gl1 cos 1 m2 g ( l1 cos 1 + l2 cos 2 ) . . . . (4)
( m1 + m2 ) l121 + m2l1l2 cos (1 2 ) 2 + m2l1l2 sin (1 2 ) 212 + ( m1 + m2 ) gl1 sin 1 = 0 , . . (6)
and
m2l222 + m2l1l2 cos (1 2 ) 1 m2l1l2 sin (1 2 )112 + m2 gl2 sin 2 = 0 . . . . (7)
Equations (6) and (7) describe the motion of the double pendulum.
Classical Mechanics Page No. 78
Note : If in particular, two masses are equal, the lengths of the pendula are also
equal and 1 2 is very small, then for small angle we have sin = , cos = 1
and hence neglecting the terms involving 2 we get from equations (6) and (7) that
2l1 + l2 + 2 g1 = 0,
. . . (8)
l + l + g = 0.
2 1 2
We see that the system has one degree of freedom and is the only generalized co-
ordinate. Hence the Lagranges equation of motion is obtained as
g
tan 2 + tan = 0 . . . . (7)
4a
Example 32: Obtain the expression for kinetic energy of a particle constrained to
move on a horizontal xy plane which is rotating about the vertical z-axis with
angular velocity . Show that
T T
x + y = 2T2 + T1 ,
x y
1
where T2 = m ( x 2 + y 2 ) ,
2
T1 = m ( xy yx )
particle with respect to the fixed co-ordinate system and ( x, y, z ) the co-ordinates of
the particle with respect to rotating axes. The co-ordinates with respect to the rotating
axes are taken as the generalized co-ordinates. The transformation equations for
rotation are given by
x1 = x cos t y sin t ,
. . . (1)
y1 = x sin t + y cos t ,
z1 = z . . . (2)
Since z fixed is the constraint, therefore, the system has only two degrees of freedom
and hence only two generalized co-ordinates and that are x and y. We note here that
m k
L=
2
( + cy 2 ) ( ax 2 + 2bxy + cy 2 ) , a, b, c
ax 2 + 2bxy
2
are arbitrary constants such that b 2 4ac 0 . Write down the equation of motion.
Examine the two cases a = 0, c = 0 and b = 0, c = a and interpret physically.
Solution: Given that
m k
L=
2
( + cy 2 ) ( ax 2 + 2bxy + cy 2 ) ,
ax 2 + 2bxy
2
. . . (1)
a, b, c are arbitrary constants. We notice that x and y are the generalized co-ordinates.
Hence the corresponding Lagranges equations of motion are
m ( ax + by) + k ( ax + by ) = 0 , . . . (2)
Case (i) If a = 0, c = 0 .
Equations (2) and (3) reduce to
k
y + y = 0,
. . . (4)
m
k
and x+ x = 0.
. . . (5)
m
Case (ii) b = 0, c = a . Putting this in equations (2) and (3) we get
k
x+ x = 0,
. . . (6)
m
k
and y + y = 0.
. . . (7)
m
We see from the equations (4), (5) and (6), (7) that in both the cases we get the same
set of equations of motion. These are the differential equations of particle performing
k
particle with the frequency of oscillation = .
m
d L L
= 0, . . . (1)
dt q j q j
d L
= 0 . . . (3)
dt q j
L
But we have pj = .
q j
This proves that the generalized momentum corresponding to the cyclic co-ordinate
is conserved.
Conservation Theorem for Linear momentum :
We will show that the conservation Theorems are continued to be true for
cyclic generalized co-ordinates.
Theorem 12 : If the cyclic generalized co-ordinate q j is such that dq j represents
the translation of the system, then prove that the total linear momentum is conserved.
Proof : Consider a conservative system so that the potential y
energy V is a function of generalized co-ordinates only.
P
i.e. V = V ( q j ) .
>
dqj n
ri(q j)
Hence we have Q
V ri (q j + dq j)
=0. . . . (1)
q j O x
Q = ri ( q j + dq j ) , so that
PQ = dq j n, ...(2)
where n is the unit vector along the direction of translation and dq j represents the
ri ri ( q j + dq j ) ri ( q j )
= lim as dq j 0,
q j dq j
ri PQ
= lim as dq j 0,
q j dq j
ri dq
= lim j n as dq j 0.
q j dq j
where F is the total force acting on the system. Equation (4) implies that Q j are the
T
pj = , . . . (5)
q j
Thus we have
1
pj =
q j
2m r ,
i
i i
2
ri
p j = mi ri ,
i q j
ri ri r
p j = mi ri , as = i .
i q j q j q j
p j = pi n,
i
p j = p n,
where p is the total linear momentum of the system. This equation shows that p j are
the components of total linear momentum of the system along the displacement dq j .
Since in the translation of the system, velocity is not affected and hence the kinetic
energy of the system. This means that q j will not appear in kinetic energy
expression. That is, change in the kinetic energy due to change in q j is zero.
Consequently, we have
T
=0. . . . (6)
q j
Thus from the Lagranges equation of motion on using equations (1) and (6) we
have,
d T V
+ =0
dt q j q j
L
=0
q j
This shows that corresponding to the cyclic co-ordinate q j the total linear
momentum is conserved.
Note : This can also be stated from equation (7) that if the components of total force
Q j are zero, then the total linear momentum is conserved.
the rotation of the system of particles around some axis n , then prove that the total
angular momentum is conserved along n .
>
dri = MPdq j ,
= OP sin dq j ,
dri = ri ( q j ) sin dq j
dri
= ri sin . . . . (2)
dq j
ri
= n ri . . . . (3)
q j
ri
This shows that is perpendicular to both n and ri .
q j
Q j = n ( ri Fi ) . . . (4)
i
= n N i ,
i
acting on the system, then equation (4) shows that Q j are the components of the total
torque along the axis of rotation. Now the generalized momentum p j is defined by
Thus we have
1
pj =
q j
2m r ,
i
i i
2
ri
p j = mi ri ,
i q j
ri ri r
p j = mi ri , as = i .
i q j q j q j
p j = pi ( n ri ) ,
i
p j = n ( ri pi ),
i
p j = n ( ri pi )
i
p j = n Li
i
Thus we have
p j = nL
. . . . (6)
This equation shows that p j are the components of total angular momentum of the
system along the axis of rotation. Since the rotation of the system does not change
the magnitude of the velocity and hence the kinetic energy of the system. This means
T
=0. . . . (7)
q j
Thus from the Lagranges equation of motion on using equations (1) and (7) we
have,
d T V
+ =0
dt q j q j
V
p j = = Qj . . . . (8)
q j
L
=0.
q j
This shows that corresponding to the cyclic co-ordinate q j the total angular
momentum is conserved.
Note : From equation (8) the Theorem can also be stated as, if the applied torque is
zero then the total angular momentum is conserved.
d T
i) L = p j q j , ii) 2 = q j , iii) T + V = 0
dt j p j
d T T
= Qj ,
dt q j q j
where T is the kinetic energy of the particle and is given by
1
T= m ( x 2 + y 2 + z 2 ) .
2
3. A particle is moving on a cycloid s = 4a sin under the action of gravity.
2
Obtain the Lagrangian and the equation of motion.
L = 2a 2 m cos 2 2 mga (1 cos ) ,
2
Ans:
1 g
tan 2 + tan = 0
2 2 2a 2
4. Show that the force F defined by
F = ( y 2 z 3 6 xz 2 ) i + 2 xyz 3 j + ( 3 xy 2 z 2 6 x 2 z ) k
Ans : Both the Lagrangians produce the same equation of motion q q = 0 .
7. For a mechanical system the generalized co-ordinates appear separately in the
kinetic energy and the potential energy such that
T = f i ( qi ) qi2 , V = Vi ( qi ) .
1 1
r r2 + g = 0 .
Equation of motion
2 2
11. Describe the motion of a particle of mass m moving near the surface of the
earth under the earths gravitational field by Lagranges procedure.
VARIATIONAL PRINCIPLES
x2 1
dy
I ( y ( x)) = (1 + y ) dx,
2 2
y =
x1
dx
I ( y ( x)) = f ( x, y, y)dx.
x1
. . . (1)
This integral may represents the total path between two given points, the surface
area of revolution of a curve, the time for quickest decent etc. depending upon the
situation of the problem. The functional I in general depends upon the starting point
( x1 , y1 ) , the end point ( x2 , y2 ) and the curve between two points. The question is
this chapter we first find the condition to be satisfied by y(x) such that the functional
I ( y ( x ) ) defined in (1) must have extremum value. The fascinating principle in
calculus of variation paves the way to find the curve of extreme distance between
two points. Its object is to extremize the values of the functional. This is one of the
most fundamental and beautiful principles in applied mathematics. Because from this
principle one can determine the
Classical Mechanics Page No. 96
(a) Newtons equations of motion,
(b) Lagranges equations of motion,
(c) Hamiltons equations of motion,
(d) Schrdingers equations of motion,
(e) Einsteins field equations for gravitation,
(f) Hoyle-Narlikars equations for gravitation and so on and so forth by
slightly modifying the integrand.
Note : A functional means a quantity whose values are determined by one or several
functions. i.e., domain of a functional is a set of all admissible functions.
e.g. The length of the path l between two points is a function of curves y(x),
which it self is a function of x. Such functions are called functional.
Basic Lemma :
If x1 and x2 ( > x1 ) are fixed constants and G ( x ) is a particular continuous
x2
in x1 x x2 .
Proof : Let the lemma be not true. Let us assume that there is a particular value x of
x in the interval such that G ( x ) 0 . Let us assume that G ( x ) > 0.
x
[ ( ) ]
x1 x1 x2 x2
of ( x ) .
( x) = 0 for x1 x x1
2 2
= ( x x1 ) ( x x2 ) for x1 x x2 . . . (1)
= 0 for x2 x x2
( x1 ) = ( x2 ) = 0 ,
x2
x2 x1 x2 x2
G ( x ) ( x ) dx = G ( x ) ( x ) dx + G ( x ) ( x ) dx + G ( x ) ( x ) dx
x1 x1 x1 x2
x2 x2
G ( x ) ( x ) dx = ( x x ) ( x x ) G ( x ) dx
2 2
1 2 . . . (2)
x1 x1
Since
G ( x ) > 0 in x1 x x2 ,
( x )G ( x ) dx > 0,
x1
G ( x ) ( x ) dx = 0 .
x1
If G ( x ) < 0 ,
I ( y ( x )) = f ( x, y, y)dx
x1
Let also the value of the functional along the curve c be extremum and is given by
x2
I ( y ( x )) = f ( x, y, y)dx
x1
. . . (1)
We can label all possible paths starting from P and ending at Q by the family of
equations
y ( x, ) = y ( x, 0 ) + ( x ) , . . . (2)
Conversely, the condition (3) ensures us that the curves of the family that all pass
through the points P and Q. Let the value of the functional along the neighboring
curve be given by
x2
I ( y ( x, ) ) = f ( x, y ( x, ) , y ( x, ) ) dx
x1
. . . (4)
I
From differential calculus, we know the integral I is extremum if = 0,
= 0
since for = 0 the neighboring curve coincides with the curve which gives
extremum values of I .
x2
I f f
Thus = 0,
= 0
x1
( x ) + ( x ) dx = 0 .
y y
Integrating the second integration by parts, we get
x2 x2 x
f f 2
d f
x y ( x ) dx +
y
( x ) ( x ) dx = 0
x1 x1 dx y
. . . (5)
taken only on the extremal between two points and hence we must have the Euler-
Lagrange equation is true. Consequently, in this case we must have from equation (5)
that
x2
f f f
= 0 = 0 and = 0. . . . (7)
y x1 y x1 y x2
We will prove this result a little latter in Theorem No. 2.
Aliter : (Proof of the above Theorem (1)):
Let P ( x1 , y1 ) and Q ( x2 , y2 ) be two fixed points in xy plane. Let c be the
curve between P and Q whose equation is given by y = y(x).Let the extremum value
of the functional along the curve c be given by
x2
I ( y ( x ) ) = f ( x, y, y )dx . . . . (1)
x1
I = f ( x, y + y, y + y)dx .
x1
. . . (3)
Hence the change in the value of the functional due to change in the path is given by
x2
I I = f ( x, y + y, y + y ) f ( x, y, y ) dx ,
x1
x2
Let I I = I = f ( x, y + y, y + y ) f ( x, y, y ) dx . . . . (4)
x1
We recall the Taylors series expansion for the function of two variables
f f
f ( x, y + y , y + y ) = f ( x , y , y ) + y + y + ...
y y
Since y is very small, therefore by neglecting the higher order terms in y and
y we have
f f
f ( x, y + y , y + y ) f ( x, y , y ) = y + y .
y y
Substituting this in the equation (4) we get
x2
f f
I = y + y dx
x
y1
y
dy d
We know = y,
dx dx
hence we have
x2
f f d
I = y+ ( y ) dx .
x1
y y dx
Integrating the second integral by parts we get
x2 x2 x
f f 2
d f
I = y dx + y y dx .
x1
y y x1 x1 dx y
f d f
= 0.
y dx y
This is the Euler-Lagranges differential equation to be satisfied by y(x) for the
extremum of the functional between two points.
Generalization of Theorem (1) : Euler-Lagranges equations for several
dependent variables.
Theorem 1a : Derive the Euler-Lagranges equations that are to be satisfied by twice
differential functions y1 , y2 ,..., yn that extremize the integral
x2
with respect to those functions y1 , y2 ,..., yn which achieve prescribed values at the
fixed points x1 , x2 .
Proof: The functional which is to be extremized can be written as
x2
I= f ( x, y , y )dx,
x1
i i i = 1, 2,..., n .
f d f
= 0, i = 1, 2,..., n .
yi dx yi
Worked Examples
Example 1 : Show that the geodesic (shortest distance between two points) in a
Euclidian plane is a straight line.
Solution: Take P ( x1 , y1 ) and Q ( x2 , y2 ) be two fixed points in a Euclidean plane.
Let y = f ( x ) be the curve between P and Q. Then the element of distance between
ds 2 = dx 2 + dy 2
Hence the total distance between the point P and Q along the curve is given by
Q
I = ds
P
x2 1
dy
(1 + y ) dx,
2 2
I= y = . . . (1)
x1
dx
d y
= 0.
dx 1 + y2
Integrating we get
y = c 1 + y 2 .
Squaring we get
c
y = c1 , where c1 = .
1+ c2
Integrating we get
y = c1 x + c2 . . . . (4)
This is the required straight line. Thus the shortest distance between two points in a
Euclidean plane is a straight line.
Example 2 : Show that the shortest distance between two polar points in a plane is a
straight line.
Solution: Define a curve in a plane. If A ( x, y ) and B ( x + dx, y + dy ) are
d r 2
=0,
dr 1 + r 2 2
r 2 = h 1 + r 2 2 .
Squaring and solving for we get
d h
= 1
.
dr
r (r h
2
)
2 2
On integrating we get
h
= cos 1 + 0 ,
r
where 0 is a constant of integration. We write this as
h = r cos( 0 ) . . . . (6)
This is the polar form of the equation of straight line. Hence the shortest distance
between two polar points is a straight line.
Note : If r = r ( ) is the polar equation of the curve, then the length of the curve is
given by
1 2
dr
I=
0
r2 + d .
d
joining the points P and Q. Then the infinitesimal distance between A and B along
the curve is given by
ds 2 = dx 2 + dy 2 + dz 2 , . . . (2)
where from equation (1) we find
dx = r cos cos d r sin sin d ,
dy = r cos sin d + r sin cos d , . . . (3)
dz = r sin d .
Squaring and adding these equations we readily obtain
ds 2 = r 2 d 2 + r 2 sin 2 d 2 . . . . (4)
Hence the total distance between the points P and Q along the curve = ( ) is
given by
2 1
d
I = r (1 + sin 2 2 ) 2 d , = . . . (5)
1 d
where
1
f = r (1 + sin 2 2 ) 2 . . . . (6)
d r sin 2
= 0.
d 1 + sin 2 2
Integrating we get
sin 2 2
= c,
1 + sin 2 2
c cos ec 2
= 1
.
(1 c 2
cos ec )
2 2
On simplifying we get
d k cos ec 2
= 1
. . . . (8)
d
(1 k 2
cot ) 2 2
k cot = sin ( ) ,
k cos = sin sin cos cos sin sin ,
kz = x sin y cos . . . . (9)
ds = 1 + y2 dx .
2 x 1 + y2 dx .
Hence the total area of the surface of revolution of the curve y = y ( x ) about y- axis
is given by
x2
I = 2 x 1 + y2 dx . . . . (1)
x1
f = 2 x 1 + y2 . . . (2)
must satisfy Euler-Lagranges equation
d 2 x y
= 0,
dx 1 + y2
d x y
= 0.
dx 1 + y2
Integrating we get
xy = a 1 + y2 .
d y
=0
dx 2 gx(1 + y2 )
d y
=0
dx x(1 + y2 )
Integrating we get
y = c x(1 + y2 ) .
dy x
=
dx ax
Integrating we get
x
y= dx + b . . . (6)
ax
Put
x = a sin 2 ( / 2)
. . . . (7)
dx = 2a sin( / 2) cos( / 2)d
Hence
y = a sin 2 ( / 2)d + b .
a
y= ( sin ) + b ,
2
If y = 0, = 0 b = 0 ,
hence
( y y 2 + 2 xy )dx
2
d x3
= 0.
dx y3
Integrating we get
x3 = cy3
or y = ax .
Integrating we get
a 2
y= x +b. . . . (4)
2
Now using the boundary conditions we get
a
y (1) = 0 + b = 0,
2
y ( 2 ) = 3 2a + b = 3.
Example 8 : Show that the time taken by a particle moving along a curve y = y ( x )
ds
with velocity = x, from the point (0,0) to the point (1,1) is minimum if the curve
dt
is a circle having its center on the x-axis.
Solution: Let a particle be moving along a curve y = y(x) from the point (0, 0) to the
point (1, 1) with velocity
where the infinitesimal distance between two points on the path is given by
dy
ds = 1 + y2 dx, y = .
dx
Hence the equation (1) becomes
1
1 + y 2
t= dx . . . (2)
0
x
1 + y 2
f = . . . (3)
x
must satisfy the Euler-Lagranges equation
f d f
= 0. . . . (4)
y dx y
d y
= 0,
dx x 1 + y2
y = cx 1 + y2 .
Solving for y we get
x 1
y = , for a= .
a 2 x2 c
Integrating we get
y = a cos + b . . . . (6)
Squaring and adding equations (5) and (6) we get
2
x2 + ( y b ) = a 2 ,
f = a 2 + z 2 . . . . (3)
d z
=0.
d f
Integrating the equation and solving for z we get
z = a (constant).
Integrating we get
z = a + b, a 0 , . . . (5)
where a, b are constants. Equation (5) gives the required equation of helix. Thus the
geodesic on the surface of a cylinder is a helix.
Hence the total length of the curve = ( r ) on the surface of the cone is given by
d
s = 1 + a 2 r 2 2 dr , = . . . (4)
dr
f = 1 + a 2 r 2 2 . . . (5)
must satisfy the Euler-Lagranges equation
f d f
= 0. . . . (6)
dr
d a 2 r 2
= 0,
dr f
where c1 = constant.
This is the required differential equation of geodesic, and the geodesic on the surface
of the cone is obtained by integrating equation (7). This gives
c1
= dr + .
ar a r c12
2 2
1 ar
= sec 1 + ,
a c1
c1
r= sec a ( ) .
a
Example 11 : Find the curve for which the functional
4
I y ( x ) = ( y 2 y2 )dx
0
can have extrema, given that y(0)=0, while the right hand end point can vary along
the line x = .
4
where f = y 2 y2 . . . (3)
y + y = 0 . . . . (4)
This is the second order differential equation, whose solution is given by
y = a cos x + b sin x . . . . (5)
y = b sin x . . . . (6)
The second boundary point moves along the line x = .
4
f
=0
y x =
4
( y) = 0,
x=
4
where from equation (6) we have y = b cos x . Thus y at x = gives
4
b= 0. This implies the extremal is attained on the line y = 0.
Example 12 : If f satisfies Euler-Lagranges equation
f d f
= 0.
y dx y
dg
Then show that f is the total derivative of some function of x and y and
dx
conversely.
f d f
= 0. . . . (1)
y dx y
dg
We claim that f = ,
dx
where g = g ( x, y ) .
As f = f ( x, y , y ) ,
2 f
= 0.
y2
Integrating w. r. t. y we get
f
= q ( x, y ) .
y
Integrating once again we get
f = q ( x, y ) y + p ( x, y ) , . . . (3)
y only. Then the function f so determined must satisfy the Euler Lagranges
equation (1). From equation (3) we find
f q p
= y + ,
y y y
f
and = q ( x, y ) .
y
Classical Mechanics Page No. 121
Therefore equation (1) becomes
q p d
y + ( q ( x, y ) ) = 0 .
y y dx
q p q q
y + y = 0 .
y y x y
p q
= . .(4)
y x
This is the condition that the equation pdx + qdy is an exact differential
equation dg .
dg = pdx + qdy,
dg
= p + qy = f by (3)
dx
Therefore,
dg
f = . . . . (5)
dx
This proves the necessary part.
dg
Conversely, assume that f = . We prove that f satisfies the Euler-Lagranges
dx
equation
f d f
= 0.
y dx y
dg g g
Since f = = + y ,
dx x y
Therefore, we find
f 2 g 2 g
= + y,
y xy y 2
g g
= .
y y
f d f 2 g 2 g 2 g 2 g
= + y y .
y dx y xy y 2 xy y 2
f d f
=0
y dx y
dg
f =
dx
satisfies Euler-Lagranges equation.
I ( y ( x )) = f ( x, y, y)dx
x1
f
has the first integral f y = const , if the integrand does not depend on x.
y
Solution: The Euler-Lagranges equation of the functional
x2
I ( y ( x )) = f ( x, y, y)dx
x1
to be extremum is given by
f d f
= 0. . . . (1)
y dx y
f 2 f 2 f 2 f
y 2 2 y = 0
y xy yy y
f
If f does not involve x explicitly, then = 0.
x
Therefore, we have
f 2 f 2 f
y y2 2 2 yy = 0 . . . (3)
y yy y
But we know that
d f f f f 2
2 f 2 f
f y = y + y y y y y ,
dx y y y y yy y2
d f f 2
2 f 2 f
f y = y y y y . . . . (4)
dx y y yy y2
From equations (3) and (4) we see that
d f
f y = 0 ,
dx y
f
f y = const. . . . (5)
y
This is the first integral of Euler-Lagranges equation, when the functional
f = f ( y, y ) .
Worked Examples
the integrand
Classical Mechanics Page No. 124
1 2
f = y + yy + y + y . . . (2)
2
must satisfy the Euler-Lagranges equation
f d f
= 0. . . . (3)
y dx y
d
y + 1 ( y + y + 1) = 0 ,
dx
y = 1 . . . . (4)
Integrating we get
y = x + c1 , . . . (5)
Further integrating we get
x2
y= + c1 x + c2 , . . . (6)
2
where c1 , c2 are constants of integration and are to be determined.
However, note that the values of y at the end points are not prescribed. In this case
the constants are determined from the conditions.
f f
= 0, and = 0. . . . (7)
y x = 0 y x =1
These two conditions will determine the values of the constants.
( y + y + 1) x =0 = 0, and ( y + y + 1) x=1 = 0 , . . . (8)
1
similarly, y (1) = 1 + c1 and y (1) = + c1 + c2 .
2
Thus the equations (8) become
5
c1 + c2 + 1 = 0, 2c1 + c2 + = 0.
2
Theorem 3 : Find the Euler- Lagrange differential equation satisfied by four times
differentiable function y(x) which extremizes the functional
x2
I ( y ( x )) = f ( x, y, y, y)dx
x1
under the conditions that both y and y are prescribed at the end points.
and Q can be joined by infinitely many curves. Accordingly the value of the integral
I will be different for different paths. We shall look for a curve along which the
functional I has an extremum value. Let c be a curve between P and Q whose
equation is given by y = y(x, 0). Let also the value of the functional along the curve c
be extremum and is given by
x2
I ( y ( x )) = f ( x, y, y, y)dx
x1
. . . (1)
We can label all possible paths starting from P and ending at Q by the family of
equations
y ( x, ) = y ( x, 0 ) + ( x ) , . . . (2)
and also
y ( x1 , ) = y ( x1 , 0 ) = y1,
y ( x2 , ) = y ( x2 , 0 ) = y2
( x1 ) = 0 = ( x2 ) , . . . (3a)
and ( x1 ) = 0 = ( x2 ) . . . . (3b)
Conversely, the conditions (3) ensure us that the curves of the family that all pass
through the points P and Q. Let the value of the functional along the neighboring
curve be given by
x2
I ( y ( x, ) ) = f ( x, y ( x, ) , y ( x, ) , y ( x, ) ) dx .
x1
. . . (4)
I
From differential calculus, we know the integral I is extremum if = 0,
= 0
because for = 0 the neighboring curve coincides with the curve which gives
extremum values of I . Thus
I
= 0,
= 0
x2
f f f
x1
( x ) + ( x ) + ( x )
y y y
dx = 0 .
Integrating the second and the third integrations by parts, we get
x2
. . . (5)
d f x2
d 2 f
( x ) + 2 ( x )dx = 0,
dx y x1 x1 dx y
x2
x2
f f d f x2
d f
x y ( ) y dx y ( ) x dx y ( x ) dx +
x dx + x
1 1 x1
. . . (6)
x2 x2
f d f 2
+ ( x) + 2 ( x ) dx = 0.
y x1 x1 dx y
As y and y are both prescribed at the end points, hence on using equations (3) we
obtain
x2
f d f d 2 f
y dx y + dx 2 y ( x ) dx = 0 .
x1
. . . (7)
Note : If the functions y and y are not prescribed at the end points then we must
have unlike the fixed end point problem, ( x ) and ( x ) need no longer vanish at
the points x1 and x2 . In order that the curve y =y(x) to be a solution of the variable
end point problem, y must be an extremal. i.e., y must be a solution of Eulers
equation (8). Thus for the extremal we have from equation (6)
x =b x =b
f f d f
y = 0, y dx y = 0. . . . (9)
x =a x =a
Theorem (3a) : Derive the differential equation satisfied by four times differentiable
function y ( x ) , which extremizes the integral
x1
I= f ( x, y, y, y)dx
x0
under the condition that both y, y are prescribed at both the ends. Show that if
neither y nor y is prescribed at either end points then
f f
= =0
y x = x0 y x = x1
x = x1
f d f
=0
y dx y x = x0
Remark: (General case of Theorem (3)) If the integrand in equation (1) of the
Theorem (3) is of the form f = f ( x, y, y, y,..., y n ) with the boundary conditions
y ( x1 ) = y1 , y ( x1 ) = y1,....., y n 1 ( x1 ) = y1n 1 ,
y ( x2 ) = y2 , y ( x2 ) = y2 ,....., y n 1 ( x2 ) = y2n 1 ,
Worked Examples
the integrand
f = y2 y 2 + x 2 . . . (2)
must satisfy the Euler-Lagranges equation
f d f d 2 f
+ = 0. . . . (3)
y dx y dx 2 y
d2
2y + ( 2 y ) = 0 ,
dx 2
d4y
i.e., y = 0. . . . (4)
dx 4
The solution of equation (4) is given by
y = ae x + be x + c cos x + d sin x . . . (5)
where a, b, c, d are constants of integration and are to be determined.
Thus
y ( 0 ) = 0 a + b + c = 0,
1 1 1 1
y = ae 4 + be 4 + c+ d= ,
4 2 2 2 2
y ( 0 ) = 1 a b + d = 1,
1 1 1 1
y = ae 4 be 4 c+ d=
4 2 2 2 2
satisfies
x ( 0 ) = 1, x ( 0 ) = 1, x ( 2 ) = 1, x ( 2 ) = 0 .
the integral
1 2
f = x
. . . (2)
2
must satisfy the Euler-Lagranges equation
f d f d 2 f
+ = 0. . . . (3)
x dt x dt 2
x
d4x
This implies = 0. . . . (4)
dt 4
Integrating we get
t3 t2
x = c1 + c2 + c3t + c4 . . . . (5)
6 2
where x given in (5) must satisfy the conditions
x ( 0 ) = 1 c4 = 1,
x ( 0 ) = 1 c3 = 1,
x ( 2 ) = 1 4c1 + 6c2 = 3,
x ( 2 ) = 0 2c1 + 2c2 = 1.
t2
x= + t +1.
4
Example 17 : Find the function on which the functional
1
I ( y ( x ) ) = ( y2 2 xy )dx ,
0
the integrand
f = y2 2 xy . . . (2)
must satisfy the Euler-Lagranges equation
f d f d 2 f
+ = 0. . . . (3)
y dx y dx 2 y
d2
2x + ( 2 y ) = 0,
dx 2
d4y
= x.
dx 4
Integrating we obtain
x2
y = +a,
2
x3
y = + ax + b ,
6
condition that
f
= 0 y (1) = 0 .
y x =1
This gives from above equation that
6a + 6b = 1 .
Solving the equations for a and b we get
1 1
a = , and b = .
4 12
Substituting these values in equation (4) we get
x5 1
y= + ( x 2 x3 ) . . . . (5)
120 24
This is the required curve.
We know the functional I is shortest if the function f must satisfy the Euler-
Lagranges equations.
f d f
= 0, . . . (3)
y dx y
f d f
and = 0. . . . (4)
z dx z
d y
=o y = af , a = constant
dx f
and
y 2 (1 a 2 ) a 2 z 2 = a 2 . . . . (5)
z = c2 x + ( y ) , . . . (10)
respectively. Thus the required curve is given by equations (9) and (10). But these
equations represent a pair of planes. The common point of intersection of these
planes is the straight line. Hence the shortest distance between two points in
Euclidean 3-space is a straight line.
Example 19 : Show that the geodesic defined in the 3-dimentional Euclidean space
by the equations x = x ( t ) , y = y ( t ) , z = z ( t ) is a straight line.
Solution : Let
x = x (t ) , y = y (t ) , z = z (t ) . . . (1)
Hence the total length of the curve between the points P ( t0 ) and P ( t1 ) is given by
1
t1 2
I = ( x 2 + y 2 + z 2 ) dt . . . (2)
t0
The curve is geodesic if the length of the curve I is extremum. This is true if the
integrand
f d f
= 0 i = 1, 2,3 with xi = ( x, y, z ) , . . . (4)
xi dt xi
where
f f x
= 0 and = i i = 1, 2,3 .
xi xi f
x = af , y = bf , z = cf .
Thus the Euler-Lagranges equations become
(a 2
1) x 2 + a 2 y 2 + a 2 z 2 = 0,
b 2 x 2 + ( b 2 1) y 2 + b 2 z 2 = 0, . . . (5)
c 2 x 2 + c 2 y 2 + ( c 2 1) z 2 = 0.
a2 + b2 + c2 = 1 .
Solving equations (5) we obtain
a
x = z, . . . (6)
1 a2 b2
b
y = z, z 0 . . . . (7)
1 a 2 b2
Integrating equations (6) and (7) we obtain
a
x = c1 z + ( y ) , c1 = , . . . (8)
1 a 2 b2
b
y = c2 z + ( x ) , c2 = . . . . (9)
1 a2 b2
Classical Mechanics Page No. 136
where ( x ) and ( y ) are constants of integration and may be functions of x and y
respectively. Equations (8) and (9) represent planes. The locus of the common points
of these planes is the straight line. Hence the geodesic in 3-dimentional Euclidean
space is the straight line.
I ( y ( x)) = f ( x, y, y)dx
x1
J = g ( x, y, y )dx = constant.
x1
by
x2
I ( y ( x)) = f ( x, y, y)dx
x1
. . . (1)
x such that
1 ( x1 ) = 0 = 1 ( x2 ) ,
. . . (5)
2 ( x1 ) = 0 = 2 ( x2 )
These conditions ensure us that the curves of the family that all pass through the
points P and Q.
Note that, we can not however, express Y(x) as merely a one parameter family of
curves, because any change in the value of the single parameter would in general
alter the value of J, whose constancy must be maintained as prescribed. For this
reason we introduce two parameter families of curves. We shall look for a curve
along which the functional I has an extremum value under the condition (3). Let c
be such a curve between P and Q whose equation is given by y = y (x) such that the
functional (1) along the curve c has extremum value. The values of the integrals (1)
and (3) along the neighboring curve (4) are obtained by replacing y by Y in both the
equations (1) and (3). Thus we have
x2
I ( 1 , 2 ) = f ( x, Y , Y ) dx
x1
. . . (6)
Equation (7) shows that 1 and 2 is not independent, but they are related by
J ( 1 , 2 ) = const. . . . (8)
Thus the changes in the value of the parameters are such that the constancy of (7) is
maintained. Thus our new problem is to extremizes (6) under the restriction (7). To
solve the problem we use the method of Lagranges multipliers.
Multiply equation (7) by and adding it to equation (6) we get
x2
I ( 1 , 2 ) = I + J = f ( x, Y , Y )dx ,
* *
. . . (9)
x1
As any curve is prescribed at the end points, hence on using conditions (5) we obtain
f * d f *
= 0. . . . (13)
y dx y
Remark : If y is not prescribed at either end point then from equation (12) we have
f *
= 0 at that end point.
y
I= f ( x, y , y )dx,
x1
i i i = 1, 2,..., n
f * d f *
= 0, i = 1, 2,..., n
yi dx yi
where f * = f + g .
Theorem 5 : Obtain the differential equation, which is satisfied by four times
differential function y (x) which extremizes the functional
x2
I ( y ( x)) = f ( x, y, y, y)dx
x1
J = g ( x, y, y, y )dx = constant.
x1
f * d f * d 2 f *
+ = 0,
y dx y dx 2 y
where f * = f + g .
f * d f *
= 0 at that end point.
y dx y
f *
2. If y is not prescribed at either end point then we have = 0 at that point.
y
3. In general if
f = f ( x, y, y, y,..., y n )
g = g ( x, y, y, y,..., y n )
with the boundary conditions that y, y, y,..., y n 1 are prescribed at both the
ends, then in this case the Euler-Lagranges equation is
f * d f * d 2 f * n d
n
f *
+ + ... + ( ) n n =0.
1
y dx y dx 2 y dx y
Worked Examples
Example 20 : Find the plane curve of fixed perimeter that encloses maximum area.
(The problem is supposed to have arisen from the gift of a king who was
happy with a person and promised to give him all the land that he could enclose by
running round in a day. The perimeter of his path was fixed.)
Solution: Let c : y = y (x) be a plane curve of fixed perimeter l .
x2
l = ds , . . . (1)
x1
where the infinitesimal distance between two points on the curve is given by
dy
ds = 1 + y2 dx, y = .
dx
x1
1 + y2 dx = l . . . . (2)
A ( y ( x )) = ydx .
x1
. . . (3)
Thus we maximize (3) subject to the condition (2). Hence the required Euler-
Lagranges equation to be satisfied is
f * d f *
= 0, . . . (4)
y dx y
where
f * = f + g,
. . . (5)
f * = y + 1 + y 2 .
d y
1 = 0,
dx 1 + y2
y
x =a.
1 + y 2
2 2 y 2
( x a) = ,
(1 + y )
2
xa
or y = . . . . (6)
2
2 ( x a)
Integrating we get
y = sin tdt + b,
y = cos t + b . . . (9)
Squaring and adding equations (8) and (9) we get
2 2
( x a) + ( y b) = 2 . . . . (10)
A ( y ( x )) = ydx
x1
. . . (1)
J = ds = 1 + y2 dx = l . . . (2)
x1 x1
The area given in equation (1) is maximum under the condition (2), if
where
f * = f + g,
. . . (4)
f * = y + 1 + y 2
d y
1 = 0,
dx 1 + y2
y
x =a
1 + y 2
2 2 y 2
( x a) = ,
(1 + y )
2
xa
or y = . . . . (5)
2
2 ( x a)
Integrating we get
y=
( x a) dx . . . . (6)
1
2 ( x a ) 2 2
Put
x a = sin t ,
. . . (7)
dx = cos tdt
y = sin tdt + b,
y = cos t + b . . . . (8)
Squaring and adding equations (7) and (8) we get
2 2
( x a) + ( y b) = 2 . . . . (9)
y dx = 2, y ( 0 ) = 0, y (1) = 0 .
2
such that
1
y dx = 2
2
. . . (2)
0
and
y ( 0 ) = 0, y (1) = 0 . . . (3)
Thus for the extremizes of (1) under (2), we know the condition to be satisfied is
f * d f *
= 0, . . . (4)
y dx y
where
f * = f + g,
. . . (5)
f * = y 2 + x 2 + y 2 ,
where is Lagranges multiplier.
ydx = 1,
0
y ( 0 ) = 0, y ( ) = 1 .
ydx = 1,
0
. . . (2)
and y ( 0 ) = 0, y ( ) = 1 . . . (3)
f * d f *
= 0, . . . (4)
y dx y
where
f * = f + g,
. . . (5)
f * = y 2 y 2 + y
Hence the equation (4) becomes
y + y = . . . . (6)
2
The C.F. of equation (6) is given by
y = a cos x + b sin x ,
ydx = 1,
0
1 1
cos xdx +b sin xdx + dx = 1.
20 0
20
ydx = 36
1
is a parabola.
Solution: Here f * = y2 + y .
The corresponding Euler-Lagranges differential equation is
2 y = 0 . . . . (1)
Integrating two times we get
y= x 2 + ax + b , . . . (2)
4
where the constants of integration are to be determined. Now the boundary
conditions
y (1) = 3 + 4a + 4b = 12,
. . . (3)
y ( 4 ) = 24 4 + 4a + b = 24.
ydx = 36 ,
1
gives
4
4 x
2
+ ax + b dx = 36 ,
1
21 + 30a + 12b = 144 . . . . (4)
Solving equations (3) and (4) we obtain
a = 2, b = 0, = 4.
Thus the required curve is obtain by putting these values in equation (2) and is
y = x2 + 2 x .
2
We write this as ( x + 1) = y +1
J = x 2 + y 2 dt = l , . . . (2)
t1
x ( t1 ) = x ( t2 ) = x0 ,
. . . (3)
y ( t1 ) = y ( t2 ) = y0 .
Solution : We wand to find the function for which equation (1) is extremum w. r. t.
the functions x(t), y(t) satisfying the conditions (2) and (3). We know the conditions
that the integral (1) is extremum under (2) if the following Euler Lagranges
equations are satisfied.
f * d f *
= 0, . . . (4)
x dt x
f * d f *
= 0, . . . (5)
y dt y
where
f * = f + g,
1
f* = ( xy yx ) + x 2 + y 2 . . . . (6)
2
Hence the equations (4) and (5) reduce to
y d y x
+ =0
2 dt 2 x 2 + y 2
Classical Mechanics Page No. 151
x d x y
+ = 0.
2 dt 2 x 2 + y 2
Integrating these equations w. r. t. t we get
y y x
+ =a
2 2 x 2 + y 2
x
ya =
x + y 2
2
x x y
+ + = b,
2 2 x
2
+ y
2
and
y
xb = .
x 2 + y 2
This is a circle of radius and centered at (b, a). Thus the closed curve for which
the enclosed area is maximum is a circle. The length of the circle is
l
2 = l = . This gives the radius of the curve.
2
Exercise:
1. Show that the shortest distance between two points along the curve
x = x (t ) , y = y ( t ) in a Euclidean plane is a straight line.
line.
3. Show that the stationary (extremum) distance between two points along the
curve = (t ) , = (t ) on the sphere
1+ u2
v = c1 du + c2 .
u u 2 c12
5. Derive the Euler-Lagranges equations that are to be satisfied by twice
differential functions x ( t ) , y ( t ) ,..., z ( t ) , that extremize the integral
t2
dx
I = f ( x, y,..., z , x, y ,..., z, t )dt , x =
t1
dt
f d f f d f f d f
Ans : = 0, = 0,..., = 0,
x dt x y dt y z dt z
6. Find the curve which generates a surface of revolution of minimum area
when it is revolved about x axis.
Ans : Area of revolution of a curve about x-axis is
x1
I= y
x0
1 + y2 dx .
xb
The curve is a catenary given by y = c sec , or y = a cosh .
a
7. Find the function on which the functional can be extremized
1
1
I y ( x ) = ( y2 2 xy )dx, y ( 0 ) = 0, y (1) = ,
0
120
boundary conditions y ( 0 ) = 0, y ( 4 ) = 3.
x2 x
Ans : y = .
4 4
2
x3
9. Find the extremum of I y ( x ) = 2 dx, y (1) = 1, y ( 2 ) = 4.
1
y
Ans: y = x 2 .
x1
y2
10. Find the extremal of I y ( x ) =
x0
x3
dx.
x4
Ans: y = c1 + c2 .
4
( y y 2 + 4 y cos x )dx, y ( 0 ) = 0, y ( ) = 0.
2
11. Find the extremal of
0
Ans: y = ( c2 + x sin x ) .
( y 12 xy )dx, y ( 0 ) = 1, y (1) = 2.
2
Ans: y = x 3 + 2 x + 1 .
x3 x
Ans: z = + .
3 6
2
I = ( z 2 z 2 )dx, z ( 0 ) = 0, z = 1
0 2
is extremal.
Ans: z = sin x .
15. Find the extremal of the functional
2
I y ( x ) = ( y2 y 2 + x 2 )dx, y ( 0 ) = 1, y = 0, y ( 0 ) = 0, y = 1.
0 2 2
Ans : y = cos x. .
16. Obtain the differential equation in which the extremizing function makes the
integral
x2
I ( y ( x)) = f ( x, y, y)dx
x1
f ( x, y, y)dx ,
* *
I =
x1
n n
where I * = I + k J k and f * = f + k g k .
k =1 k =1
f * d f *
The required differential equation is = 0.
y dx y
I=
x0
y2 dx, s.t. ydx = c.
x0
x2
Ans: y = + ax + b .
4
18. Find the extremal of the functional
1
I y ( x ) = (1 + y2 )dx, y ( 0 ) = 0, y (1) = 1, y ( 0 ) = 1, y (1) .
0
Ans: y = x .
19. Find the extremal of the functional
x1
I y ( x ) , z ( x ) = ( 2 yz 2 y + y2 z 2 )dx.
2
x0
I y ( x ) = (y + y2 + 2 ye x )dx.
2
x0
xe x
Ans: y = + c1e x + c2 e x .
2
I = (T + W )dt
t0
is extremum for the actual path followed by the system , where T is the kinetic
energy and W is the work done by the particle.
It is equivalent to say that variation in the actual path followed by the
system is zero. Mathematically, it means that
I = (T + W )dt = 0
t0
Note : We will show bellow in the Theorem (2) that the Hamiltons principle
t1
Action in Mechanics :
Let L = L ( q j , q j , t ) be the Lagrangian for the conservative system. Then the
integral
t1
I = Ldt
t0
I = Ldt = 0
t0
( F p ) r = 0 .
i
i i i . . . (1)
Note that in this principle the knowledge of force whether it is conservative or non-
conservative and also the requirement of holonomic or non-holonomic constraints
does not arise. We write the principle in the form
F r = p r .
i
i i
i
i i
W = p i ri . . . . (2)
i
Now consider
p r = m r r ,
i
i i
i
i i i
d d
= ( mi ri ri ) mi ri ( ri ) .
i dt i dt
d
Since we have ri = ri , therefore, we write
dt
d 1
p r = dt m r r 2 m r
i
i i
i
i i i
i
i i
2
.
d
p r = dt m r r T ,
i
i i
i
i i i
is the kinetic energy of the system. Substituting this in equation (2) we get
d
W =
dt i
mi ri ri T
d
(W + T ) =
dt i
mi ri ri .
Integrating the above equation with respect to t between t0 to t1 we get
t1 t1
(W + T )dt = mi ri ri .
t0 i t0
Since, there is no variation in co-ordinates along any paths at the end points. i.e.,
t1
( ri )t
0
= 0 . Hence from above equation we have
t1
(W + T )dt = 0 . . . . (3)
t0
(T V )dt = 0,
t0
t1
Ldt = 0. . . . (4)
t0
Theorem 2 : Show that the Hamiltons principle Ldt = 0 also holds for the
t0
(T + W )dt = 0 . . . (1)
t0
for actual path. The expression for the virtual work is given by
ri
W = Fi ri = Fi q j
i i j q j
.
r
W = Fi i q j
i
j q j
W = Q j q j , . . . (2)
j
ri
where Q j = Fi
i q j
are the components of generalized forces. In the case of non-conservative system the
potential energy is dependent on velocity called the velocity dependent potential. In
this case the generalized force is given by
U d U
Qj = + .
q j dt q j
Substituting this in equation (2) and integrating it between the limits t0 to t1 we find
t1 t1 t1 U d U
Wdt = Q j q j dt = q + q j dt ,
dt q j
t0 t0 j t0 j j
Substituting this in equation (1) we get
t1
t1 t1
U d U
Tdt = q j
q j dt j dt q q j dt .
t0 t0 j
t0 j
d
and also
dt
( q j ) = q j ,
then we have
t1 t1
U U
Tdt = j q j q j dt .
q
+ q
t0 t0
j j
Since time t is fixed along any path hence, there is no variation in time along any
path therefore change in time along any path is zero. i.e., t = 0
Hence we write above equation as
t1 t1
U U U
Tdt = j q j q j + t t dt .
q
+ q
t0 t0
j j
t1 t1
Tdt = Udt .
t0 t0
t1
(T U ) dt = 0,
t0
t1
Ldt = 0.
t0
This proves that the Hamilton's principle holds good even for non-conservative
systems.
W = Q j q j , . . . (2)
j
ri
where Q j = Fi
i q j
Wdt = Q j q j dt .
t0 t0 j
. . . (3)
T T T
T = q j + q j + t . . . . (4)
j q j j q
j t
t1 t1
T d T
Tdt = q j
dt q j
q j dt . . . . (6)
t0 t0 j
Using equations (3) and (5) in equation (1) we get
t1
T d T
q
dt q j
+ Q j q j dt = 0 . . . . (7)
t0 j
j
If the constraints are holonomic then q j are independent. (Note that if the
constraints are non-holonomic, then q j are not all independent. In this case
vanishing of the integral (7) does not imply the coefficient vanish separately) Hence
the integral (7) vanishes if and only if the coefficient must vanish separately.
d T T
= Qj . . . . (8)
dt q j q j
These are the Lagranges equations of motion for non-conservative holonomic
system.
( F p ) r = 0 .
i
i i i . . . (1)
F r = p r ,
i
i i
i
i i . . . (2)
p r = m r r ,
i
i i
i
i i i
d d .
= ( i i i) i i ( i)
m r r m r
r
i dt i dt
d
Since we have ri = ri ,
dt
therefore we write
d 1
p r = dt m r r 2 m r
i
i i
i
i i i
i
i i
2
.
d
p r = dt m r r T
i
i
i
i i i . . . (3)
where
1
T = mi ri 2
i 2
is the kinetic energy of the system. Substituting equation (3) in equation (2) we get
d
F r = dt m r r T
i
i i
i
i i i . . . (4)
d V
dt i
mi ri ri = T
i ri
ri
.
= T V
i i i
m r
r = Ldt .
i t0 t0
Since, there is no variation in co-ordinates along any paths at the end points.
t
i.e. ( ri )t1 = 0 . Hence from above equation we have
0
t1
Ldt = 0 . . . . (5)
t0
I = Ldt . . . (1)
t0
I = Ldt ,
t0
t1
L L
= qj + q j dt
j q j
t0 j q
j
As there is no variation in time along any path, hence t = 0 .
dq j d
Since
dt
=
dt
( q j ) ,
therefore, we write
t1 t1 t
L 1
L d
Ldt = q j dt + ( q j )dt . . . (2)
t0 t0 j
q j t0 j
q j dt
Thus we have
t1 t1
L d L
Ldt = q j dt. . . . (3)
t0 t0 j q j dt q j
If the system is holonomic, then all the generalized co-ordinates are linearly
independent and hence we have
t1 t1
L d L
Ldt = 0 q j dt = 0
t0 t0 j
q j dt q j
L d L
t1
Ldt = 0 = 0. . . . (4)
t0
q j dt q j
These are the required Lagranges equations of motion derived from the Hamiltons
principle. The equation (4) also shows that the Lagranges equations of motion for
holonomic system are necessary and sufficient conditions for action to have a
stationary value.
Classical Mechanics Page No. 167
Worked Examples
Ldt = 0, . . . (2)
t0
t1
L L L L
x x + y y + x x + y y dt = 0 ,
t0
t1
V V
( x x + y y ) x x y y dt = 0 .
t0
. . . (3)
Consider
t1 t1
d
x xdt
t0
= x
t0
dt
( x )dt
x xdt
= ( x x )t1
t
x ( x )dt .
0
t0 t0
x xdt
t0
=
x ( x )dt .
t0
. . . (4)
Similarly, we have
t1 t1
y ydt
t0
=
y ( y )dt .
t0
. . . (5)
Ldt = 0 ,
t0
t1
1
2 ml mgl (1 cos ) dt = 0 ,
2 2
t0
t1
ml
mgl sin dt = 0 .
2
t0
d d
Since, we have = .
dt dt
Therefore
t1
d
ml dt ( ) mgl sin dt = 0 .
2
t0
t
Since ( )t1 = 0 , we have therefore,
0
t1
m l + gl sin dt = 0 .
2
t0
As is arbitrary, we have
l 2 + gl sin = 0
g
+ sin = 0 .
l
This is the required equation of motion of the simple pendulum.
The Hamiltons Principle states that the path followed by the particle between two
time instants t0 and t1 is one along which the line integral of Lagrangian is
extremum. i.e.,
t1
Ldt = 0 ,
t0
t1
1
2 mr ( )
+ sin 2 2 mgr cos dt = 0,
2 2
t0
t1
mr (
+ sin + sin cos 2 ) + mgr sin dt = 0.
2 2
t0
d d
Since, we have = .
dt dt
Therefore,
t1
d d
mr
2
dt
2
2
(
( ) + sin ( ) + mr sin cos + mgr sin dt = 0.
2 )
t0
dt
Integrating the first two integrals by parts we get
) mr 2 g
t1 t1
2
mr ( ) 2
+ mr sin 2
( 2
sin cos sin dt
t0 t0
t0
r
t1
d
mr 2
dt
( )
sin 2 dt = 0.
t0
t1 t
Since ( )t 0
= 0 = ( )t1 ,
0
we have therefore,
t1 t
2 g
1
2 d
(
t mr sin cos r sin dt + t mr dt sin dt = 0
2 2
)
0 0
Eliminating we obtain
p2 cos g
2 4 3
sin = 0 . . . . (2)
m r sin r
as the required differential equation of motion for spherical pendulum.
Unit 2:
Hamiltonian Formulation :
Introduction:
We have developed Lagrangian formulation as a description of mechanics in
terms of the generalized co-ordinates and generalized velocities with time t as a
parameter in Chapter I and the equations of motion were used to solve some
problems. We now introduce another powerful formulation in which the independent
variables are the generalized co-ordinates and the generalized momenta known as
Hamiltons formulation. This formulation is an alternative to the Lagrangian
Thus H = H ( q j , p j , t ) = p j q j L .
j
Now consider H = p j q j L .
j
Similarly we find
dH = q j dp j + dq j p j dL,
j j
L L L
dH = q j dp j + dq j p j dq j dq j dt . . . . (4)
j j j q j j q
j t
Now comparing the coefficients of dp j , dq j and dt in equations (3) and (5) we get
H L H L H
q j = , = , = . . . . (6)
p j q j q j t t
These are the required Hamiltons canonical equations of motion. These are the set of
2n first order differential equations of motion and replace the n Lagranges second
order equations of motion.
Derivation of Hamiltons equations of motion from Hamiltons Principle :
Theorem 7 : Obtain Hamiltons equations of motion from the Hamiltons principle.
Proof: We know the action of a particle is defined by
t1
I = Ldt . . . (1)
t0
Since time is fixed along any path, hence change in time along any path is zero. i.e.,
t = 0 along any path. Hence above equation becomes
t1 t1
H H
Ldt = q j p j + p j q j q j dt . . . (5)
p j j q j
t0 t0 j j
t1
Since ( q j )t = 0 . We have therefore
0
t1 t1
p j q j dt = p j q j dt .
t0 j t0 j
have
L df
Thus pj = + ,
q j q j dt
f f
pj = p j + qk + ,
q j k qk t
f
pj = p j + . . . . (3)
q j
L df
H = q j L + .
j q j dt
On using equation (3) we get
f df
H = pj + q j L + ,
j q j dt
f
H = ( p j q j L ) ,
j t
f
H = H . . . . (4)
t
This is a required Jacobi integral for the new Lagrangian L .
Now we show that the new Lagrangian L also satisfies the Hamiltons principle.
Therefore, consider
1 1
2
2 2
f f
Ldt = Ldt + qj + t .
1 1 j q j t
1
But in variation time is held fixed along any path and hence t = 0 along any
path.
Further, co-ordinates at the end points are held fixed.
2
( q )
j 1 = 0.
This shows that the new Lagrangian L satisfies the Hamiltons principle.
Lagrangian from Hamiltonian and conversely :
Example 5: Obtain Lagrangian L from Hamiltonian H and show that it satisfies
Lagranges equations of motion.
Solution: The Hamiltonian H is defined by
H = p j q j L . . . . (1)
j
and show that it satisfies Lagranges equations of motion. Thus from equation (3) we
have
L H L
= , and = pj .
q j q j q j
Now consider
L d L H d
= ( pj ),
q j dt q j q j dt
L d L
= p j p j ,
q j dt q j
L d L
= 0.
q j dt q j
This shows that the equation (3) gives the required Lagrangian which satisfies the
Lagranges equations of motion.
Example 6 : Obtain the Hamiltonian H from the Lagrangian and show that it
satisfies the Hamiltons canonical equations of motion.
Solution: The Hamiltonian H in terms of Lagrangian L is defined as
H = p j q j L . . . . (1)
j
L d L
= 0 , . . . (2)
q j dt q j
L d L
= ,
q j dt q j
d
= ( p j ).
dt
Equations (5) and (6) are the required Hamiltons equations of motion.
is the generalized momentum. This implies from Lagranges equation of motion that
where
1 r r
a jk = mi i i ,
i 2 q j qk
. . . (11)
r r
a j = mi i i ,
i q j t
2
1 r
a = mi i .
i 2 t
We see from equation (10) that each term is a homogeneous function of generalized
velocities of degree two, one and zero respectively. On applying Eulers theorem for
the homogeneous function to each term on the right hand side, we readily get
where
T2 = a jk q j qk ,
j ,k
T1 = a j q j ,
j
T0 = a
are homogeneous function of generalized velocities of degree two, one and zero
respectively. Substituting equation (12) in the Hamiltonian (1) we obtain
H = T2 T0 + V
showing that the Hamiltonian H does not represent total energy. Thus for the
conservative rheonomic systems H may represent the constant of motion but does not
represent total energy.
Cyclic Co-ordinates In Hamiltonian :
Theorem 9 : Prove that a co-ordinate which is cyclic in the Lagrangian is also cyclic
in the Hamiltonian.
Solution: We know the co-ordinate which is absent in the Lagrangian is called cyclic
L
co-ordinate. Thus if q j is cyclic in L =0.
q j
d L
= 0 p j = 0 , . . . (1)
dt q j
L
where p j = is the generalized momentum. However, from Hamiltons
q j
This shows that the co-ordinate q j is also absent in the Hamiltonian, and
Worked Examples
Example 7 : Describe the motion of a particle of mass m moving near the surface of
the Earth under the Earths constant gravitational field by Hamiltons procedure.
Solution: Consider a particle of mass m moving near the surface of the Earth under
the Earths constant gravitational field. Let (x, y, z) be the Cartesian co-ordinates of
the projectile, z being vertical. Then the Lagrangian of the projectile is given by
1
L= m ( x 2 + y 2 + z 2 ) mgz . . . . (1)
2
We see that the generalized co-ordinates x and y are absent in the Lagrangian,
hence they are the cyclic co-ordinates. This implies that any change in these co-
ordinates can not affect the Lagrangian. This implies that the corresponding
generalized momentum is conserved. In this case the generalized momentum is the
linear momentum and is conserved.
px = mx = const.
i.e., . . . (2)
p y = my = const.
pz = mz .
This shows that the horizontal components of momentum are conserved.
The Hamiltonian of the particle is defined by
H = p j q j L,
j
H px H p y H pz
and x = = , y = = , z = = . . . . (6)
px m p y m pz m
g
+ sin = 0. . . . (5)
l
Now we claim that H represents the constant of motion.
Thus differentiating equation (3) with respect to t we get
dH p p
= + mgl sin ,
dt ml 2
+ mgl sin ,
= ml 2
g
= ml 2 + sin ,
l
dH
=0.
dt
This proves that H is a constant of motion. Now to see whether H represents total
energy or not, we consider
1 2 2
T +V = ml + mgl (1 cos ) .
2
Find the Hamiltonian H and show that it is constant of motion. Prove or disprove that
H represents the total energy. Is the energy of the particle constant? Justify your
claim.
Solution: We are given the Lagrangian of a particle moving on the surface of a
sphere (Spherical Pendulum) in the form
1 2 2
L=
2
( )
mr + sin 2 2 mgr cos . . . . (1)
1 p2 p2
H= 2+ 2 2 + mgr cos . . . . (5)
2 mr mr sin
2
cos p2
mr 2 3 mgr sin = 0 . . . . (7)
mr sin
(i) Now we claim that H is a constant of motion, differentiate equation (5) with
respect to t, we get
dH p p p p p2 cos
= 2
+ 2 2
2 3
mgr sin ,
dt mr mr sin mr sin
Putting the values of p , p from equation (6) we get
p cos p p cos p 2
2
dH p
= 2 2 3 + mgr sin 2 4 3 2 mgr sin
dt mr mr sin m r sin mr
dH
= 0,
dt
showing that H is a constant of motion.
(ii) Now consider the sum of the kinetic and potential energy of the spherical
pendulum, where
1 2 2
T=
2
(
mr + sin 2 2 , )
V = mgr cos
1 p2 p2
T + V = 2 + 2 2 + mgr cos . . . . (9)
2 mr mr sin
We see from equations (5) and (9) that the total energy of the spherical pendulum is
the Hamiltonian of motion. Now to see it is constant or not, multiply equation (7) by
we get
p2 cos
mr 2 mgr sin = 0
mr 2 sin 3
d 1 2 2 d p2 d
mr + 2 2 + ( mgr cos ) = 0.
dt 2 dt 2mr sin dt
Integrating we get
1 2 2 p2
mr
+ 2 2 + ( mgr cos ) = const.
2 2mr sin
Eliminating on using equation (6) we get
1 p2 p2
+ + mgr cos = const. . . . . (10)
2 mr 2 mr 2 sin 2
We see from equations (5), (9) and (10) that the Hamiltonian H represents the total
energy and the energy of the particle is conserved.
Example 10: Two mass points of mass m1 and m2 are connected by a string passing
through a hole in a smooth table so that m1 rests on the table surface and m2 hangs
suspended. Assuming m2 moves only in a vertical line, write down the Hamiltonian
for the system and hence the equations of motion. Prove or disprove that
i) Hamiltonian H represents the constant of motion.
ii) H represents total energy of the system.
Classical Mechanics Page No. 189
Solution: The example is solved in Chapter I. (please refer to Example 24). The
Lagrangian of the system is given by
1 1
L=
2
( )
m1 r 2 + r 2 2 + m2 r 2 + m2 g ( l r )
2
. . . (1)
We see that the co-ordinate is cyclic in the Lagrangian L and hence the
corresponding generalized momentum is conserved.
L
p = = m1r 2 = const. . . . (2)
Similarly, we find
L
pr = = ( m1 + m2 ) r = const. . . . (3)
r
Now the Hamiltonian function is defined as
L L
H = r + L,
r
1 1
H= ( m1 + m2 ) r2 + m1r 22 m2 g ( l r ) .
2 2
Eliminating r and we obtain
pr2 p2
H= + 2 m2 g ( l r ) . . . . (4)
2 ( m1 + m2 ) 2m1r
give
H p2 H
p r = = 3 m2 g , p = = 0. . . . (5)
r m1r
H pr H p
r = = , = = 2 . . . . (6)
pr ( m1 + m2 ) p m1r
dH
= 0.
dt
This shows that The Hamiltonian H represents a constant of motion.
ii) We have the kinetic and potential energies of the system are respectively
given by
1 1
T=
2
( 2
)
m1 r 2 + r 2 2 + m2 r 2 ,
V = m2 g ( l r ) .
Now consider
1 1
T +V =
2
( )
m1 r 2 + r 2 2 + m2 r 2 m2 g ( l r ) .
2
. . . (8)
From equations (4) and (9) we see that the total energy is equal to the
Hamiltonian function. Thus Hamiltonian H represents total energy of the system. To
prove that the total energy is conserved, multiply the equation of motion (7) by r ,
we get
d r 2 d p2 d
( m + m ) + + ( m2 gr ) = 0 .
dt 2 dt 2m1r 2 dt
1 2
Equations (9) and (10) show that the total energy of the system is conserved.
Note : Equation (10) is the first integral of equation of motion. Its physical
significance is that the Hamiltonian H represents the constant of total energy.
Example 11: A particle of mass m is moving on a xy plane which is rotating about z
axis with angular velocity . The Lagrangian is given by
1
m ( x y ) + ( y + x ) V ( x, y ) .
2 2
L=
2
Show that the Hamiltonian H is given by
1
H=
2m
( px2 + p 2y ) + px y p y x + V .
Find the equations of motion and hence prove or disprove that
i) H represents a constant of motion and
ii) H represents the total energy.
Solution: The Lagrangian of the particle is given by
1
m ( x y ) + ( y + x ) V ( x, y ) .
2 2
L= . . . (1)
2
L p
px = = m ( x y ) x = x + y , . . . (2)
x m
1
H = px x + p y y m ( x y ) + ( y + x ) + V ( x, y ) .
2 2
2
Using equations (2) and (3) we eliminate x and y from the above equation to get
the Hamiltonian of the system
1
H=
2m
( px2 + p 2y ) + ( px y p y x ) + V . . . . (4)
We see from equations (4) and (7) that the Hamiltonian H does not represent total
energy.
Example 12 : A bead slides on a wire in the shape of a cycloid described by
equations
x = a ( sin ) , y = a (1 + cos ) , 0 2 .
Find the Hamiltonian H, hence the equations of motion. Also prove or disprove that
i) H represents a constant of motion
ii) H represents a total energy.
Solution: A particle describes a cycloid whose equations are
x = a ( sin ) , y = a (1 + cos ) , 0 2 . . . . (1)
Using equation (4) we eliminate from equation (5) to get the required Hamiltonian
H as
p2
H= + mga (1 + cos ) . . . . (6)
4ma 2 (1 cos )
H p
= = . . . . (8)
p 2ma (1 cos )
2
From equations (7) and (8) we obtain the equation of motion of the particle
p2 sin g
(1 cos ) + 2 4 3
sin = 0 . . . (9)
8m a (1 cos ) 2a
Eliminating p from equation (9) we obtain the equation which describes the motion
of the particle in the form
2ma 2 (1 cos ) + ma 2 sin 2 mga sin = 0 . . . . (10)
Now to prove
i) H is a constant of motion, differentiate equation (6) with respect to time t we
get
dH 2 p p p2 sin
= mga sin .
dt 4ma 2 (1 cos ) 4ma 2 (1 cos )2
Eliminating from equation (11) we get equation (6) that gives the required
expression for the Hamiltonian. Now multiply equation (10) by we get
2ma 2 (1 cos )
+ ma 2 sin 3 mga sin = 0 .
This shows that the Hamiltonian H represents the constant of total energy.
Example 13 : Obtain the Hamiltons equation of motion for a one dimensional
harmonic oscillator.
Solution: The one dimensional harmonic oscillator consists of
a mass attached to one end of a spring and other end of the
spring is fixed. If the spring is pressed and released then on
account of the elastic property of the spring, the spring exerts a
force F on the body in the opposite direction. This is called F M
x
restoring force. It is found that this force is proportional
to the displacement of the body from its equilibrium position.
Fx
F = kx
where k is the spring constant and negative sign indicates the force is opposite to the
displacement. Hence the potential energy of the particle is given by
Classical Mechanics Page No. 196
V = Fdx,
V = kxdx + c,
kx 2
V= + c,
2
where c is the constant of integration. By choosing the horizontal plane passing
through the position of equilibrium as the reference level, then V=0 at x=0. This
gives c=0. Hence potential energy of the particle is
1 2
V= kx . . . . (1)
2
The kinetic energy of the one dimensional harmonic oscillator is
1 2
T= mx . . . . (2)
2
Hence the Lagrangian of the system is
1 2 1 2
L= mx kx . . . . (3)
2 2
The Lagranges equation motion gives
k
x + 2 x = 0, 2 =
. . . . (4)
m
This is the equation of motion. is the frequency of oscillation.
The Hamiltonian H of the oscillator is defined as
H = xp
x L,
1 1
x mx 2 + kx 2 ,
H = xp
2 2
where
L p
px = = mx x = x .
x m
Substituting this in the above equation we get the Hamiltonian
px2 1 2
H= + kx . . . . (5)
2m 2
1 2 1 r 2
T= mr , U = 1 + 2 .
2 r c
1 2 1 r 2
T= mr , U = 1 + 2
2 r c
1 2 1 r 2
L= mr 1 + 2 . . . . (1)
2 r c
We see that the particle has only one degree of freedom and hence it has only one
generalized co-ordinate. The generalized momentum is defined by
L 2r
pr = = mr 2 ,
r rc
pr r c 2
r = . . . . (2)
( mrc2 2 )
Thus the corresponding Hamiltonian function is defined by
H = pr r L,
1 1 r 2 . . . (3)
H = pr r mr 2 + 1 + 2 .
2 r c
1 2 1 r 2
T +U = mr + 1 + 2 . . . . (5)
2 r c
1 pr r c ( mrc + 2 ) 1
2 2 2
T +U = + . . . . (6)
2 ( mrc 2 2 )2 r
We see from equations (4) and (6) that the Hamiltonian H does not represent the total
energy.
T +U H .
2. Now differentiating equation (4) w. r. t. time t we get
dH p p rc 2 pr2 rc
2 r
= r 2r , . . . (7)
dt ( mrc 2 ) ( mrc 2 2 )2 r2
where
2 2r 2
p r =
r m 2 + 2 2 .
rc r c
Substituting this in equation (7) and simplifying we get
dH r3 r
= pr r + 2 2 2 .
dt r c r
dH
0.
dt
This shows that the Hamiltonian H is not a constant of motion.
Example 15 : A particle is thrown horizontally from the top of a building of height h
with an initial velocity u. Write down the Hamiltonian of the problem. Show that H
represents both a constant of motion and the total energy.
x
O
1
T= m ( x 2 + y 2 ) , . . . (1)
2
V = mg ( h y ) . . . . (2)
1
H = px x + p y y m ( x 2 + y 2 ) mh ( h y ) . . . (5)
2
Eliminating the velocities from equations (4) and (5) we obtain the Hamiltonian of
motion as
This represents the Hamiltonian H, proving that H represents the total energy of the
particle.
1 2 x2 x2
T= mx 1 + 2 , V = mg .
2 4a 4a
1 2 x2 x2
L= mx 1 + 2 mg . . . . (4)
2 4a 4a
Now we see that the system has one degree of freedom and only one generalized co-
ordinate x.
L x2
px = = mx 1 + 2 ,
x 4a
4a 2 px
x = . . . . (5)
m ( 4a 2 + x 2 )
This is the required Hamiltonian function. Now to see whether this H represents total
energy or not, we consider
1 2 x2 x2
T+V = mx 1 + 2 +
mg . . . . (8)
2 4 a 4a
Using equation (5) we obtain
2a 2 px2 mgx 2
T +V = + . . . . (9)
m ( 4a 2 + x 2 ) 4a
Which is the Hamiltonian of the motion, showing that it represent the total energy of
the particle. Now to show that the Hamiltonian H represents constant of motion, we
first find the equation of motion. From equation (4) we have
L m mgx
= 2 xx 2 ,
x 4a 2a
L x2
= 1 + 2 mx.
x 4a
d L L d x2 m mgx
=0 2
1 + 2 mx 2 xx + = 0,
dt x x dt 4a 4a 2a
( 4a 2
+ x 2 )
x + xx 2 + 2agx = 0 . . . . (10)
dH m
= 2 ( 4a 2 + x 2 )
x + xx 2 + 2agx x .
dt 4a
dH
This implies from equation (10) that =0.
dt
This shows that the Hamiltonian H is a constant of motion.
Example 17 : Set up the Hamiltonian for the Lagrangian
m 2 2
L ( q, q , t ) = q sin t + qq sin 2t + q 2 2 .
2
Derive the Hamiltons equations of motion. Reduce the equations in to a single
second order differential equation.
Solution: The Lagrangian of the system is given by
m 2 2
L ( q, q , t ) = q sin t + qq sin 2t + q 2 2 . . . (1)
2
The system has only one degree of freedom and hence only one generalized co-
ordinate q. The generalized momentum is given by
L m
p= = ( 2q sin 2 t + q sin 2t ) . . . (2)
q 2
1 p q
q = 2 sin 2t . . . . (3)
sin t m 2
Now the Hamiltonian function H is defined as
m 2 2
H = pq
2
( q sin t + qq sin 2t + q 2 2 ) . . . . (4)
Substituting the value of q from equation (3) in (4) and simplifying we get
p2 q 2 m 2 m
H= 2
pq cot t + cos 2 t q 2 2 . . . . (5)
2m sin t 2 2
This is the Hamiltonian of the system. The Hamiltons canonical equations of motion
give
where a, b, c, k , m are constants and b 2 ac 0 . We see that the system has two
generalized co-ordinates x and y. Hence the corresponding generalized momenta are
L
px = = m ( ax + by ) , . . . (2)
x
L
and py = = m ( bx + cy ) . . . . (3)
y
Solving these equations for x and y we get
m k
H = px x + p y y
2
( + cy 2 ) + ( ax 2 + 2bxy + cy 2 ) . ...(5)
ax 2 + 2bxy
2
Using equations (4) in (5) we obtain after simplifying
1 a c k
H= bpx p y p y2 px2 + ( ax + 2bxy + cy 2 ) .. . . (6)
m ( b ac )
2
2 2 2
This is the required Hamiltonian of the system. The Hamiltons equations of motion
corresponding to two generalized co-ordinates x, y are
H
p x = = k ( ax + by ) ,
x
. . . (7)
H
p y = = k ( bx + cy ) .
y
and
H 1
x = =
px m ( b ac )
2 ( bp y cpx )
. . . (8)
H 1
y = =
p y m ( b ac )
2 ( bpx cp y )
From equations (2), (3) and (7) we have
m ( ax + by) + k ( ax + by ) = 0,
. . . (9)
m ( bx + cy) + k ( bx + cy ) = 0.
These are the required equations of motion. Solving these equations for x and y we
obtain respectively
mx + kx = 0. . . . (10)
my + ky = 0. . . . (11)
L
pz = = cy + fy 2 x = const. . . . (2)
z
Similarly, we find
L
px = = 2ax + fy 2 z , . . . (3)
x
L b
and py = = + cz + g . . . . (4)
y x
Solving these equations for x, y , z we get
1 b
z = p y g . . . . (5)
c x
The Hamiltonian of the system is defined as
H = px x + p y y + pz z L
y
H = px x+ z z ax 2 b
p y y+p fy 2 xz
cxy gy + k x 2 + y 2 . . . . (6)
x
The required Hamiltonian is obtained by eliminating x, y , z from equation (6).
generalized momentum q j generally does, so that one has to deal the problem with all
variables and the system has n degrees of freedom. However, if q j is cyclic in the
Hamiltonian then p j is constant and then one has to deal with the problem involving
only 2n-2 variables, i.e., only n-1 degrees of freedom. Hence Hamiltonian procedure
is especially adapted to the problems involving cyclic co-ordinates. The advantage of
Hamiltonian formulation in handling with cyclic co-ordinates is utilized by Routh
and devised a method by combining with the Lagrangian procedure and the method
is known as Rouths Procedure. The Method is described in the following theorem.
can then be considered one of the constants of integration and the remaining
integrations involve only the non-cyclic co-ordinates.
Now we take R = R ( q1 , q2 ,..., qn ; p1 , p2 ,..., ps ; qs +1 , qs + 2 ,..., qn , t ) , and find the total
differential dR as
n s n
R R R R
dR = dq j + dp j + q dq j + dt . . . . (2)
j =1 q j j =1 p j j = s +1 j t
Now we consider
s
R = p j q j L ( q j , q j , t )
j =1
n
L L
q dq
j = s +1
j
t
dt. . . . (3)
j
Now equating the corresponding coefficients on both the sides of equations (2) and
(3) we obtain
R
= q j , j = 1, 2,..., s . . . (4)
p j
R L
= = p j , j = 1, 2,..., s . . . (5)
q j q j
R L
= = p j , j = s + 1, s + 2,..., n . . . (6)
q j q j
R L
and = = pj, j = s + 1, s + 2,..., n . . . (7)
q j q j
We see that for cyclic co-ordinates q1 , q2 ,..., qs equations (4) and (5) represent
Hamiltons equations of motion with R as the Hamiltonian, while equations (6) and
(7) for the non-cyclic co-ordinates q j ( j = s + 1, s + 2,..., n ) represent Lagranges
equations of motion with R as the Lagrangian function. i.e., from equations (6) and
(7) we obtain
d R R
= 0, j = s + 1, s + 2,..., n . . . (8)
dt q j q j
Thus by Routhian procedure a problem involving cyclic and non-cyclic co-ordinates
can be solved by solving Lagranges equations for non-cyclic co-ordinates with
Worked Examples
Since the force is conservative, hence the potential energy of the particle is the
function of position only.
V = V ( r , , ) . . . . (3)
This becomes after eliminating r,, between (5), (6) and (9) we get
p2 1
( )
R r , , , r, , t = 2 ( )
m r 2 + r 2 2 + V .
2mr sin 2 2
. . . (10)
Example 21 : A planet moves under the inverse square law of attractive force, Find
Lagrangian L, Hamiltonian H, and the Routhian R for the planet.
Solution: A motion of a planet is a motion in the plane. If ( r , ) are the generalized
co-ordinates of the planet then its kinetic and potential energies are respectively
given by
1 K
T=
2
( )
m r 2 + r 2 2 , V = .
r
Classical Mechanics Page No. 212
Hence the Lagrangian function is defined by
1 K
L=
2
(
m r 2 + r 2 2 + .
r
) . . . (1)
We see that is the cyclic co-ordinate in L. This implies that the corresponding
angular momentum of the planet is conserved.
L p
p = = mr 2 = const. = 2 . . . . (2)
mr
L p
Also pr = = mr r = r . . . (3)
r m
Now the Hamiltonian function is defined as
H = p j q j L,
j
1 K
(
H = pr r + p m r 2 + r 2 2
2 r
)
On using equations (2) and (3) we obtain
1 2 p2 K
H= pr + 2 . . . . (4)
2m r r
A = 2Tdt
t0
i.e. A = p j q j dt
t0 j
We have
dq j q dt
q j = d = j + q j d .
d d
This shows that the total variation is the sum of two variations.
Worked Examples
df
f = f + t .
dt
Solution: Consider a system of particles moving from one point to another. Let the
family of paths between these two points be given by
q j = q j ( t , ) . . . . (1)
In variation time is not held fixed, it depends on the path. This implies that
t = t ( ) . . . (2)
Since f = f ( q j , q j , t ) . . . (3)
f f f
f = q j + q j + t . . . . (4)
j q j q j t
However, we have q j = q j + q j t . . . (5)
Similarly we find
q j = q j + qj t , . . . (6)
Note here that the term t added because it is zero, since in variation time t is
held fixed and consequently change in time t is zero. This can be written as
df
f = f + t . . . . (7)
dt
Since f is arbitrary, we can write it as
d
= + t . . . . (8)
dt
p j q j dt = 0 .
t0 j
A = p j q j dt
t0 j
B D
t1
A = ( L + H )dt
t0
t1
A = Ldt + H ( t )t1 ,
t
0
A C t0
t0 t0 + t0 x
O t1 t1 + t1
A = Ldt + H ( t1 t0 ) . . . . (1)
t0
Thus
t1
A = Ldt + H ( t )t1 .
t
. . . (2)
0
t0
Since time limits are also subject to change in -variation, therefore cant be
taken inside the integral. Let
t1
Ldt = I
t0
I = L .
Therefore
I = I + It .
Thus we have
t1 t1
t1 t1
L L L
Ldt =
t
qj + q j + t dt + L ( t )t1 .
j q j
t0
q j t
0
t0
Since in variation, time is held fixed along any path, hence there is no variation in
time, therefore change in time is zero. Thus we have
t1
L
t1
L
Ldt =
t
qj + q j dt + L ( t )t1 .
q j q j
t0 j
0
t0
Since
dq j d
= qj .
dt dt
t0 j
t0
dt 0
d
t1 t1
Ldt = ( p j q j ) dt + L ( t )t0 .
t1
t0 t0
dt j
Since
d
= + t
dt
Hence above integral becomes
t1 t1
d
Ldt = d p j t q j dt + L ( t )t1 .
t
t0 t0 j dt 0
t1 t1
t1
Ldt = p j q j p j q j t + L ( t )t1
t
j t0 j t0
0
t0
Ldt = ( H t )t1
t
0
t0
Thus the system moves in space such that -variation of the line integral of twice
the kinetic energy is zero. This proves the principle of least action.
p1 aq1 p2 bq2
Show that i) , ii ) , iii ) q1q2 iv) H are constant of motion.
q2 q1
Solution: The Hamiltonian of a dynamical system is given by
H = q1 p1 q2 p2 aq12 + bq22 , a, b are const. . . . (1)
where we see that q1 , q2 are the generalized co-ordinates. The Hamiltons canonical
equations of motion are
H
p j = p1 = 2aq1 p1 ,
q j . . . (2)
p 2 = p2 2bq2 ,
and
H
q j = q1 = q1
p j . . . (3)
q2 = q2 .
Now to show
p1 aq1
1) is a constant of motion, consider
q2
d p1 aq1 p1 aq1
=0 = const.
dt q2 q2
1
H = xp
x + yp z m ( x 2 + y 2 + z 2 ) q ( xA
y + zp x + yA z ) + q . . . (4)
y + zA
2
Eliminating x, y , z from equation (4) by using equation (3) we get
1 q 1 2 2
H= ( px2 + p y2 + pz2 ) ( px Ax + p y Ay + pz Az ) + q ( Ax + Ay2 + Az2 ) + q . . (5)
2m m 2m
This can be written in vector notions as
1 2
H=
2m
( p qA ) + q . . . . (6)
This is the required Hamiltonian of the particle moving in the electromagnetic field.
H
The Hamiltons equation of motion q j = gives the same set of equations (3),
p j
H
while the equation p j = gives
q j
H q q2
p x = =
x m x
( p A
x x + p A
y y + p z z)
A
2m x
( Ax2 + Ay2 + Az2 ) q
x
.
Exercise:
1. The Lagrangian of an anharmonic oscillator of unit mass is
1 2 1 2 2
L= x x x3 + xx , , are constants.
2 2
Find the Hamiltonian and the equation of motion. Show also that
(i) H is a constant of motion and
(ii) H T +V .
1 2 1
Ans : H = ( px x ) + 2 x 2 + x 3 .
2 2
x + 2 x + 3 x 2 = 0 .
Equation of motion
2. Find the Hamiltonian and the equations of motion for a particle constrained to
move on the surface obtained by revolving the line x = z about z axis. Does
it represent the constant of motion and the constant of total energy?
Hint: Surface of revolution is a cone x 2 + y 2 = z 2
pr2 p2
Ans.: H = + + mgr .
4m 2mr 2
p2 g
r
2 3
+ = 0, p = mr 2 a const. of motion .
2m r 2
1 r 2 2rr
F = 2 1 .
r c2
Find the Hamiltonian H and show that it represents the constant of motion
and also total energy.
Ans. : Refer Example (25) of Chapter I; the potential energy of the particle is
given by
1 r 2
V = 1 + 2 .
r c
pr2 1
The Hamiltonian becomes H = + .
2 r
2 m 2
rc
4. A sphere of radius a and mass m rests on the top of a fixed trough sphere of
radius b. The first sphere is slightly displaced so that it rolls without
slipping. Obtain the Hamiltonian of the system and hence the equation of
motion. Also prove that H represents a constant of motion and also total
energy.
7 2
Ans. : H = m ( a + b ) 2 + mg ( a + b ) cos .
10
5. A particle is constrained to move on the plane curve xy = c , c is a constant,
under gravity. Obtain the Hamiltonian H and the equations of motion. Prove
that the Hamiltonian H represents the constant of motion and total energy.
Ans. : Refer Example (20) of Chapter I for the Lagrangian L and is given by
1 2 c 2 mgc
L= mx 1 + 4 .
2 x x
px2 mgc
The Hamiltonian H becomes H = + .
c 2
x
2m 1 + 4
x
pr2 p2 1 2
Ans : H = + 2 mgr cos + k ( r r0 )
2m 2mr 2
Equations of motion:
mr mr 2 mg cos + k ( r r0 ) = 0,
2 g
+ r + sin = 0.
r r
where rij denotes the distance between the i th and j th particles, and aij are constants.
Equation (1) is symmetric in i and j and i j as the distance of the i th from itself is
zero, therefore, the possible number of constraints is
N N ( N 1)
C2 = . . . . (2)
2
N ( N 1)
We notice that for N > 7, > 3 N . Therefore the actual number of
2
degrees of freedom cannot be obtained simply by subtracting the number of
constraints from 3N. This is simply because all constraints in equation (1) are not
independent.
To show how the generalized co-ordinates of a rigid
C
body with N particles reduce to six for its
P
description, let a rigid body be regarded as a system
A of at least three non-collinear particles whose
positions relative to one another remain fixed. Thus a
B
system of 3 particles free from constraints has 9 degrees of freedom but there
involves 3 constraints. Hence the number of generalized co-ordinates reduces to six.
Thus the total number of degrees of freedom for three non-collinear particles A, B,
Classical Mechanics Page No. 226
and C of a rigid body is equal to six. This is because each particle has 3-degrees of
freedom and less three equations of constraints.
The position of each further particle say P requires three more co-ordinates
for its description, but there will be three equations of constraints for this particle,
because the distance of P from A, B, C is fixed. Thus three co-ordinates for P and
less three equations of constraints for P gives zero degrees of freedom. Thus any
other particle apart from A, B, C taken to specify the configuration of the rigid body
will not add any degrees of freedom. Once the positions of three of the particles of
the rigid body are determined the constraints fix the positions of all remaining
particles.
Thus the configuration of the rigid body would be completely specified by
only three particles i.e., by six degrees of freedom, no matter how many particles it
may contain.
Orthogonal Transformation :
Example 3 : Define orthogonal transformation. Show that finite rotation of a rigid
body about a fixed point of the body is not commutative.
Solution : Consider ( x1 , x2 , x3 ) and ( x1, x2 , x3 ) be two co-ordinate systems. The
where a11 , a12 ,..., a33 are constants. These three equations can be combined in to a
single equation as
3
xi = aij x j , i = 1, 2,3. . . . (2)
j =1
of the vector must be the same in both the co-ordinate system, we must have
therefore
3 3
x = x
i =1
i
2
i =1
2
i . . . . (3)
3 3
3 3
ij ik j k xi .
j =1 k =1 i =1
a a
x x =
i =1
2
Equating the corresponding coefficients on both the sides of the above equation we
get
3
a a
i =1
ij ik = jk , . . . (4)
jk = 0 when j k,
. . . (5)
= 1 when j = k.
Thus any transformation (2) satisfying (4) is called as an orthogonal transformation.
Ex. 4. Show that two successive finite rotations of a rigid body about a fixed point of
the body are not commutative.
Solution: Consider two successive linear transformations described by the
matrices B and A corresponding to two successive displacements of the rigid body.
Let the first transformation from x to x be denoted by the matrix B and is defined
by
3
xk = bkj x j , k = 1, 2,3, . . . (6)
j =1
where C = ( cij ) is the matrix of transformation from x to x and the elements of the
These elements are obtained by multiplying the two matrices A and B. Thus the two
successive linear transformations described by A and B is equivalent to a third linear
transformation described by the matrix C, defined by
C = AB. . . . (10)
Since the matrix multiplication is not commutative in general, hence the finite
rotations of a rigid body about a fixed point of the body are not commutative.
a a
i
ij ik = jk , . . . (2)
b b
i
ij ik = jk . . . . (3)
Consider now
c c
i
ij ik = aimbmj ail blk
i m l
= aimbmj ail blk ,
i , m ,l
= aim ail bmj blk ,
m ,l i
= ml bmj blk ,
m ,l
= blj blk ,
l
c c
i
ij ik = jk .
Example 6: Show that in the case of an orthogonal transformation the inverse matrix
is identified by the transpose of the matrix.
Solution: Consider an orthogonal transformation from xi to xi described by the
matrix A and is given by
Classical Mechanics Page No. 231
3
xi = aij x j , i = 1, 2,3. . . . (1)
j =1
a a
i
ij ik = jk . . . . (2)
matrix A1 = ( aij ) , aij are the elements of the inverse matrix of transformation
satisfying
a a
i
ij ik = jk . . . . (3)
Also we have
AA1 = I a i
a = kj .
ki ij . . . (4)
a
k ,i
kl aki aij = alj . . . . (5)
Now evaluating the double sum over i first and then over k , we obtain
a
k ,i
kl aki aij = aki aij akl ,
k i
= kj akl ,
k
a
k ,i
kl aki aij = a jl . . . . (6)
( aij ) = ( a ji ) ,
A1 = A . . . . (7)
This proves that the inverse matrix of an orthogonal transformation identifies the
transpose matrix.
Infinitesimal Rotation :
Example 8: Define infinitesimal rotation. Show that infinitesimal rotation of a rigid
body with one point fixed is commutative. Also find the inverse matrix of
infinitesimal rotation.
i.e., xi = xi + ij x j , . . . (1)
where summation is defined over the repeated index j and ij are the elements of the
matrix of infinitesimal transformation and are infinitesimal. i.e., second order terms
in ij can be neglected. Hence we write equations (1) as
xi = ij x j + ij x j ,
i.e., xi = ( ij + ij ) x j , . . . (2)
x1 x1
where X = x2 , X = x2 , I = ( ij ) , = ( ij )
x x
3 3
and I + is the matrix of infinitesimal transformation.
Now let I + 1 and I + 2 be two matrices of successive infinitesimal
transformations.
Consider
( I + 1 )( I + 2 ) = I .I + I 2 + 1I + 1 2
= I + 1 + 2 .
For orthogonal transformation we know that its transpose matrix identifies the
inverse matrix. Hence we have
1
(I + ) = ( I + ) = ( I ) ,
Solution: The matrix of rotation about x-axis through an angle in the anti clock
3
wise direction is given by
Classical Mechanics Page No. 235
1 0 0 1 0 0
sin = 0
1 3
A = 0 cos .
3 3 3 2 2
0 sin
cos 0 3 1
3 3 2 2
Hence the new vector with respect to the new co-ordinate axes obtained from the first
by rotating through an angle about x-axis is given by
3
1 0 0
1 1
X = 0
1 3
4 = 5
2 2 2 3 3
3 1
0
2 2
X = i + 5 j 3k
Eulers Theorem 1 : Show that the general displacement of a rigid body with one
point fixed is a rotation about some axis passing through the fixed point.
Proof : Consider a rigid body with one point fixed and be taken as the origin of the
body set of axes. Then the displacement of the rigid body involves no translation of
the body axes, the only change is in orientation. Hence the body set of axes at any
time t can always be obtained by a single rotation of the space set of axes.
Thus any vector lying along the axis of rotation must have the same
components in both the initial and final axes. Further, the orthogonality condition
This is known as characteristic equation, and the roots of the equation (4) are known
as characteristic values. Since the matrix of rotation A is orthogonal, and then we
have
A1 = A . . . (5)
where A is the transpose of A . This orthogonal matrix satisfies the equation
A = A = 1 . . . . (6)
Now to prove the Eulers Theorem, we just prove that eigen value = 1 . Thus
consider the expression
( A I ) A = AA IA
= AA1 A
( A I ) A = I A . . . . (7)
( A I ) A = I A
(A I) A = I A
A I = A I . . . (8)
A I = 0. . . . (9)
Comparing equations (4) and (9) we get = 1 . This proves the theorem.
Classical Mechanics Page No. 237
Unit 2: Eulerian Angles :
We have seen that a rigid body with one point fixed has three degrees of
freedom and hence three generalized co-ordinates. To describe the orientation of a
rigid body about a fixed point we use a matrix of rotation, whose elements are called
the direction cosines, which are not linearly independent, therefore they are not
suitable as generalized co-ordinates. So we cannot use them in the description of
Lagrangian of the system. Therefore three new independent parameters are necessary
for the description of a rigid body with one point fixed. A number of such sets of
parameters have been used in the literature but the most common and found to be
useful is the set of Eulerian angles.
Euler has designed three independent parameters called as Eulerian angles, to
describe the orientation of a rigid body with one point fixed. These can be used to
write Lagrangian and hence the Lagranges equations of motion. We shall define the
Eulerian angles and show how these angles can be used for the description of the
orientation of the rigid body.
Theorem 2 : Define Eulerian angles. Obtain the matrix of transformation from space
co-ordinates to body co-ordinates in terms of Eulerian angles. Prove further that this
matrix is orthogonal and hence deduce the matrix of inverse transformation from the
body set of axes to space set of axes.
z = z1
Proof : Eulerian angles , , are the three
successive angles of rotation about a specified
axes performed in specific sequence. These
y1
angles can be used as generalized co-ordinates to
fix the orientation of a rigid body with one point
y
O fixed. Thus the orientation of a rotating body
x
with one point fixed can be completely specified
the body called the body set of axes (also known as non-inertial frame). It has been
observed that the configuration of the rigid body is completely specified by locating
the body set of axes relative to the co-ordinate axes fixed in space. This is achieved
by finding the matrix of transformation from the space set of axes to the body set of
axes. Therefore we shall carry out the transformation from space set of axes to body
set of axes such that x, y, z coincides with x, y, z . This is achieved by three
successive rotations about specified axes.
The sequence will be started by rotating the initial system of axes x, y, z
through an angle anti-clock wise direction about z axis. Let the resulting co-
ordinate system be labeled as x1 , y1 , z1 axes as shown in the fig. In this case xy plane
x2 = x1 ,
y2 = y1 cos + z1 sin , . . . (3)
z1 = y1 sin + z1 cos ,
x2 x1
i.e., y2 = C y1 or X 2 = CX 1
z z
2 1
where
1 0 0
C = 0 cos sin . . . (4)
0 sin cos
is the matrix of transformation.
z = z1
z2 = z3= z
Finally, the third rotation is performed about
z2 axis. The x2 , y2 , z2 axes are rotated counter y3 = y
y2
clockwise direction by an angle about z2 axis to
y1
produce the third and the final set of axes x3 , y3 , z3 ,
y
O
which coincide, with body set of axes x, y, z . This
x
x1 = x2
x3 = x
Classical Mechanics Page No. 240
completes the transformation from space set of axes to body set of axes. This
transformation is represented by
x3 = x = x2 cos + y2 sin ,
y3 = y = x2 sin + y2 cos , . . . (5)
z3 = z = z 2
or
x x2
y = B y2
z z
2
or X = BX 2
where
cox sin 0
B = sin cos 0 . . . (6)
0 0 1
is the matrix of transformation.
Thus the space set of axes x, y, z coincides with body set of axes through
three successive rotations , , , which are described by matrices D, C and B. The
angles , , are called Eulerian angles. The Eulerian angles completely specify the
orientation of the x, y, z system relative to the x, y, z system. Now we can obtain
the complete matrix of transformation from x, y, z to x, y, z by writing the matrix
as the triple product of the separate rotations.
X = BX 2
= B ( CX 1 )
= BC ( X 1 )
X = BCDX
X = AX ,
cos cos cos sin sin , cos sin + sin cos cos , sin sin
A = sin cos cos cos sin , sin sin + cos cos cos , cos sin .
sin sin , sin cos , cos
...(8)
This is the required matrix of transformation.
We will now show that this matrix A is orthogonal. Let the matrix A be
represented by
A = ( aij ) .
a a
i
ij ik = jk ,
a112 + a21
2 2
+ a31 = 1.
Similarly, we can show for all value of j = k.
Now for j k ,j, k=1, 2, 3 we consider the case
a11a12 + a21a22 + a31a32 =
= ( cos cos cos sin sin )( cos sin + cos sin cos ) +
+ ( sin cos cos cos sin )( sin sin + cos cos cos ) + ( sin sin )( sin cos )
a11a12 + a21a22 + a31a32 = 0 .
Similarly, we can show for all j k . that
a a
i
ij jk =0.
Hence the matrix A is orthogonal. To find the inverse of A, we know that in the case
of orthogonal matrix A1 is the same as the transpose of A. Thus we have
cos cos cos sin sin , cos sin cos cos sin , sin sin
1
A = sin cos + cos cos sin , sin sin + cos cos cos , cos sin
sin sin , sin cos , cos
The matrix A1 is the desired matrix, which gives the inverse transformation from
the body set of axes to the space set of axes.
This completes the answer.
Worked Examples
Example 10 : If the matrix of transformation from space set of axes to body set of
axes is equivalent to a rotation through an angle about some axis through the
origin then show that
cos cos cos sin sin , cos sin + sin cos cos , sin sin
A = sin cos cos cos sin , sin sin + cos cos cos , cos sin .
sin sin , sin cos , cos
. . . (1)
It is given that this matrix of rotation is equivalent to the matrix of rotation of
co-ordinate axes through an angle about some axis with the same origin.
Equivalently, it means that it is always possible by means of some similar
transformation, to transform the matrix A to the matrix B obtained by rotating the co-
ordinate axes through an angle about some axis with the same origin. This matrix
of rotation is given by either
cos sin 0 1 0 0
B = sin cos 0 or B = 0 cos sin . . . . (2)
0 0 1 0 sin cos
It is well known that under similar transformation trace of the matrix is invariant.
Using this result we have
Trace of A = Trace of B
cos cos cos sin sin + cos cos cos sin sin + cos = 2 cos + 1
2 cos + 1 = ( cos cos sin sin ) + cos ( cos cos sin sin ) + cos
= [1 + cos ] cos ( + ) + cos
+ 2 2
2 cos + 1 = 2 cos 2 2 cos 2 1 + cos sin
2 2 2 2
+
cos = cos cos . . . . (3)
2 2 2
Theorem 3 : Obtain the angular momentum of a rigid body about a fixed point of the
body when the body rotates instantaneously with angular velocity in terms of
inertia tensor.
Proof: Consider a rigid body composed of N particles having masses mi and position
vectors ri with respect to the fixed point of the body. Since the translational motion
is absent and the body rotates about an axis passes through the fixed point. Let be
the instantaneous angular velocity of the body. If vi is the linear velocity of the
N
L = mi ri ( ri ) .
i =1
we obtain
N
L = mi ri 2 mi ( ri . ) ri . . . . (2)
i =1 i
Let the components of the position vector ri , the angular velocity and the angular
momentum vector L be denoted by
ri = ixi + jyi + kzi ,
= i x + j y + k z , . . . (3)
L = iLx + jLy + kLz .
m ( i
i
i x + j y + k z ) ri 2 ( xix + yi y + zi z ) ( ixi + jyi + kzi )
iLx + jLy + kLz = i x mi ( ri 2 xi2 ) y mi xi yi z mi xi zi +
i i i
i.e., + j x mi xi yi + y mi ( ri 2 yi2 ) z mi yi zi +
i i i
+ k x mi xi zi y mi yi zi + z mi ( ri 2 zi2 )
i i i
Equating the corresponding coefficients on both the sides of the equation we get
Lx = x mi ( ri 2 xi2 ) y mi xi yi z mi xi zi , . . . (4a)
i i i
Lz = x mi xi zi y mi yi zi + z mi ( ri 2 zi2 ) . . . . (4c)
i i i
I yy = mi ( ri y
2 2
i ) = m (x i
2
i + zi2 ), . . . (6)
i i
and are called the moment of inertia about x, y, and z axes respectively. Equations
(6) show that the moment of inertia is the sum over the particles in the system of the
product of masses and the square of its perpendicular distance from the axis of
rotation. Also the quantities I xy , I xz and I yz are called the product of inertia and are
defined by
I xy = mi xi yi = I yx ,
i
I xz = mi xi zi = I zx , . . . (7)
i
I yz = mi yi zi = I zy .
i
Lx I xx I xy I xz x
Ly = I yx I yy I yz y . . . (8)
L I I zy I zz z
z zx
or L = I . . . (9)
with instantaneous angular velocity . If one of the points of the rigid body is fixed
then the translational motion is absent and the body rotates about an axis passes
through the fixed point. If vi is the linear velocity of the i th particle and position
vi = ri . . . . (1)
We know the kinetic energy of the body is given by
1
T= mi vi2 .
2 i
. . . (2)
is the total angular momentum. Now to express kinetic energy in terms of moment of
inertia and product of inertia, we know the angular momentum of the rigid body is
given by
L = I . . . (4)
where I is the moment of inertia tensor and is given by
I I xy I xz
xx
I = I yx I yy I yz . . . . (5)
I I zy I zz
zx
Hence equation (3) becomes
1
T = .I . . . . . (6)
2
If the components of the angular velocity and the angular momentum vector L are
Lx I xx I xy I xz x
Ly = I yx I yy I yz y
L I I zy I zz z
z zx
Worked Examples
Clearly such a vector appears constant when measured in the body set of
axes. However, to an observer fixed in space set of axes, the components of the
vector will vary in time. Let the components of the vector with respect to the space
set of axes be given by
r = ix + jy + kz . . . . (2)
The time derivatives of r however will be different in the two systems. For
the space (fixed) system S, we have
dr dx dy dz
=i + j +k . . . . (3)
dt fix dt dt dt
dr dx dy dz
= i + j + k . . . . (4)
dt body dt dt dt
However, as body rotates, the unit vectors of the body set of axes will be seen
changing relative to the observer in the space set of axes. Hence we find the time
derivative of the vector r in S with respect to the fixed co-ordinate system as
The first three terms on the R. H. S. of equation (5) are the time derivative of the
vector in the rotating system, while the remaining three terms arise as a result of
rotation of the system.
Hence we write the equation (5) as
dr dr di dj dk
= + x + y + z . . . . (6)
dt fix dt body dt dt dt
We know the linear velocity of a particle having the position vector r and rotating
with angular is given by
dr
v= =r . . . . (7)
dt
This formula can be applied to the unit vectors as a special case. Thus we write
di dj dk
= i, = j , = k . . . . (8)
dt dt dt
Hence equation (6) reduces to
dr dr
= + x ( i x + j y + k z ) i + y ( i x + j y + k z ) j +
dt fix dt body .
+ z ( i x + j y + k z ) k
dr dr
= + i ( z y y z ) j ( z x x z ) + k ( y x x y ) . . . (9)
dt fix dt body
This is equivalent to
i j k
dr dr
= + x y z .
dt fix dt body
x y z
Theorem 6 : Obtain the Eulers equations of motion of a rigid body when one point
of the body remains fixed.
Proof : Consider a rigid of which one point is fixed. Hence translational motion of
the body is absent and the body rotates about an axis passes through the fixed point.
The rotation of the body takes place under the action of torque acting on it. Thus the
equation of the rotational motion of the body in a fixed frame is given by
Torque = rate of change of angular momentum.
dL
N = .
dt fix
However, we know
dr dr
= + r .
dt fix dt body
L = i ( I 3 I 2 ) y z j ( I 3 I1 ) x z + k ( I 2 I1 ) y x .
then on equating the corresponding components on both sides of the above equations
we obtain
N x = I1 x + ( I 3 I 2 ) yz ,
N y = I 2 y + ( I1 I 3 ) x z , . . . (3)
N z = I 3 z + ( I 2 I1 ) x y .
These are the required Eulers equations of motion of the rigid body with one point
fixed.
Note : In the case of torque free motion of a rigid body, equations (3) reduce to
I1 x = ( I 2 I 3 ) y z ,
I 2 y = ( I 3 I1 ) xz , . . . (4)
I 3 z = ( I1 I 2 ) x y .
Worked Examples
Example 12 : If the rigid body with one point fixed rotates about the principal axis
of the body, then show that
(1) kinetic energy of the body and
(2) the magnitude of the angular momentum are constants throughout the motion.
Solution : The kinetic energy of a rigid body with one point fixed is given by
1
T=
2
( I xx x2 + I yy y2 + I zz z2 + 2 I xy x y + 2 I yz y z + 2 I zx z x ) . . . (1)
about the co-ordinate axes respectively. If the body rotates about the principal axis of
the body then the products of inertia tensors are zero and the moments of inertia
tensors are constants. In this case the kinetic energy becomes
1
T=
2
( I1 x2 + I 2 y2 + I 3 z2 ) . . . (2)
where I1 = I xx , I 2 = I yy , I 3 = I zz .
In the absence of torque the Eulers equations of motion of the rigid body are given
by
I1 x + ( I 3 I 2 ) y z = 0,
I 2 y + ( I1 I 3 ) x z = 0, . . . (3)
I 3 z + ( I 2 I1 ) x y = 0.
I1 x x + I 2 y y + I 3z z = 0 . . . (4)
We write this as
1 d
2 dt
( I1x2 + I 2 y2 + I3z2 ) = 0
dT
= 0,
dt
1
T = ( I1 x2 + I 2 y2 + I 3 z2 ) = const.
2
ii) Now we claim that the magnitude of the angular momentum is constant.
The moment of inertia tensor with respect to the principal axis of the body, is given
by
I 0 0
1
I =0 I2 0,
0 0 I 3
I12x x + I 22 y y + I 32 z z = 0 .
This we write as
1 d 2 2
2 dt
( I1 x + I 22 y2 + I32z2 ) = 0,
d 2
dt
( L ) = 0,
L2 = const.
This shows that the magnitude of the angular momentum of the rigid body is
constant.
Components of angular velocity vector along body set of axes :
Example 13 : Show that the components of angular velocity vector along the body
set of axes are given by
x = sin sin + cos ,
y = sin cos sin ,
z = cos + .
Solution : Let (x, y, z) and ( x, y, z ) be the space (fixed) set of axes and body
(rotating) set of axes respectively. Let a rigid body with one point fixed rotate
instantaneously with angular velocity . We shall obtain the components of
along the body set of axes. If , , are the Eulerian angles, then their time
derivatives ,, represent the angular speeds about the space z-axis, the line of
nodes and the body z-axis respectively. We denote these three angular speeds by
axes x, y, z .
components along the body set of axes are found by applying orthogonal
transformations C through an angle about new x -axis and B through an angle
about new z -axis, to come to the body axes, as two orthogonal transformations are
required to come to body axes. If ( ) , ( ) , ( )
x y z are the components of
( )
x 0
( ) = BC 0 ,
y
( )
z
cos sin 01 0 0 0
= sin cos 0 0 cos sin 0
0 0 1 0 sin cos
( )
x cos sin cos sin sin 0
( ) = sin cos cos
sin cos 0 ,
y
0 sin cos
( ) z
( )
x = sin sin ,
( )
y
= cos sin , . . . (1)
( )
z = cos .
cos sin 0
= sin cos 0 0
0 0 1 0
( ) x = cos ,
( ) y = sin , . . . (2)
( ) z = 0.
Now ( ) is already parallel to z axis, no transformation is necessary.
( )
x
= 0,
( )
y
= 0, . . . (3)
( )
z
= .
Thus the components of angular velocity , ( x , y z ) about body set of axes are
defined by
Using equations (1), (2) and (3), we readily obtain the components of angular
velocity about body set of axes in the form
x = sin sin + cos ,
y = sin cos sin , . . . (4)
z = cos + .
Example 14 : If a rectangular parallelepiped with its edges 2a, 2a, 2b rotates about
its center of gravity under no force, prove that, its angular velocity about one
principal axis is constant and about the other axis it is periodic.
Solution: It is given that the rigid body rotates under the action of no forces. Hence
the Eulers equation of motion, in the absence of no forces are given by
I1 x = ( I 2 I 3 ) y z ,
I 2 y = ( I 3 I1 ) xz , . . . (1)
I 3 z = ( I1 I 2 ) x y .
where I1 , I 2 , I 3 are called the principal moments of inertia about the center of gravity
of the body. Since the rigid body is parallelepiped with its edges 2a, 2a, 2b. Hence
the moments of inertia about the principal axes OX, OY, and OZ are given by
a2 + b2
I1 = I 2 = m
3 . . . (2)
2
I 3 = ma 2
3
where m is the mass of the parallelepiped. Substituting these values in equation (1)
we get
(a 2
+ b 2 ) y = ( a 2 b 2 ) x z , . . . (3)
z = 0 z = n = const.
The last equation in (3) shows that the angular velocity about one principal axis is
constant. Consequently, the other two equations give
(a 2
+ b 2 ) x = ( b 2 a 2 ) n y ,
. . . (4)
(a 2
+ b 2 ) y = ( a 2 b 2 ) nx .
7. Similar matrices : Let A and B two square matrices of the same order. Then
A and B are said to be similar if there exists a non-singular matrix P such that
AP = PB. A = PBP 1 .
Property : Under similar transformation the self-adjoint (Hermitian) property of the
matrix and the trace of the matrix are invariant.
we have Q = 1 = 1 . . . . (4)
* *
=I
* *
* + * * + * 1 0
* * =
+ * + * 0 1
We notice that the matrix P is trace free and is self -adjont. i.e., P = P , and x, y, z
are real quantities taken as co-ordinates of a point in space. Suppose the matrix P is
transformed to the matrix P by means of the unitary matrix Q in the following way
P = QPQ . . . (2)
where
Q= . . . (3)
property of Q, we have
QQ = I .
This implies that adjoint of Q is same as its inverse. i.e.,
Q 1 = Q = adj ( Q ) . . . . (4)
We know that , , , are not independent but are related by the equations
* = , * = ,
Therefore we have
z x z x
P = =
x+ z x+
z
z x z x , z + x
P = =
x+ z x+ + z, x+ z
z x z ( + ) x + x+ , 2 x 2 z 2 x+
=
x+ z 2 z 2 x + 2 x+ , x ( + ) z x+
This is the matrix transformation equation in complex 2-plane. Obviously the matrix
on the r. h. s. is hermitean, proving that the hermitean property is invariant under any
unitary similar transformation.
Classical Mechanics Page No. 266
Solving these equations, we obtain
x+ = 2 x+ 2 x + 2 z ,
x = 2 x+ + 2 x 2 z , . . . (6)
z = x+ x + ( + ) z.
x+ x+
2
2 2
2 2
x = 2 x . . . . (7)
z + z
Explicitly, we write equations (6) as
x + iy = ( 2 2 ) x + i ( 2 + 2 ) y + 2 z ,
x iy = ( 2 2 ) x i ( 2 + 2 ) y 2 z ,
z = ( ) x + i ( + ) y + ( + ) z.
1 2 i
2 ( + ) ( 2 2 + 2 + 2 )
2 2 2
x 2
x
i 2
+ + + ) i ( + ) y . . . . (8)
1 2
y = 2 ( + ) (
2 2 2 2 2 2
2
z z
i ( + ) +
Thus we have
1 2 i
2 ( + ) , ( 2 2 + 2 + 2 ) ,
2 2 2
2
1 2
A = ( 2 2 2 + 2 ) , + + + ) , i ( + ) .
i
2 2
( 2 2 2
. . . (9)
, i ( + ) , +
This is the required matrix of transformation in terms of Cayley-Klein parameters.
This matrix specifies the orientation of a rigid body. Hence the Cayley-Klein
parameters specify the orientation of a rigid body.
First Rotation :
Let Q = be the matrix in 2-complex plane corresponding to the first
rotation through an angle in 3 3 real space. This rotation through an angle is
performed about z-axis. Hence the transformation equations are given by
x = x cos + y sin ,
y = x sin + y cos ,
z = z
We write these equations as
i2
e 0
Q = i
. . . . (3)
0
e 2
Second Rotation :
Let Q = be the matrix in 2-complex plane corresponding to the
second rotation through an angle in 3 3 real space. This rotation through an angle
is performed about new x-axis. Hence the transformation equations are given by
x = x,
y = y cos + z sin , . . . (4)
z = y sin + z cos .
From equations (4) we obtain
x+ = x + iy = x cos 2 + sin 2 + iy cos + iz sin
2 2
x = x iy = x cos 2 + sin 2 iy cos iz sin
2 2
z = y sin + z cos .
Classical Mechanics Page No. 269
x+ = x cos 2 + sin 2 + iy cos 2 sin 2 + 2iz sin cos .
2 2 2 2 2 2
This can be written as
x+ = x+ cos 2 + x sin 2 + 2iz sin cos .
2 2 2 2
Similarly, we write
x = x+ sin 2 + x cos 2 2iz sin cos ,
2 2 2 2
. . . (5)
z = ix+ sin cos ix sin cos + z cos 2 sin 2 .
2 2 2 2 2 2
Comparing equations (5) with (2) we get
2 = 2 = cos 2 , 2 = 2 = sin 2 .
2
2
Hence Q matrix becomes
cos 2 , i sin 2
Q = . . . . (6)
i sin , cos
2 2
Third Rotation: Let Q = be the matrix in 2-complex plane corresponding
to the third rotation through an angle in 3 3 real space. This rotation through an
angle is performed about new z-axis. This rotation is affected by the
transformation equations
x = x cos + y sin ,
y = x sin + y cos ,
z = z
i2
e , 0
Q = i . . . . (8)
0, e 2
Hence the orthogonal matrix for the complete transformation from space set of axes
to the body set of axes is obtained by taking the product of separate Q matrices for
each of the three successive rotations , , . Thus we obtain
Q = Q Q Q ,
i2 cos , i sin i2
e , 0 2 2 e , 0
Q= ,
i sin , cos 0, e 2
i i
0, e 2
2 2
2i ( + )
i
( )
sin
2
e cos , ie
2 2
Q= = . . . . (9)
2i ( ) i
( + )
ie sin , e 2
cos
2 2
i
( + )
= e2 cos ,
2
i
( )
= ie 2 sin ,
2
Note: Note from equations (3), (6) and (8) that the trace of any Q matrix through an
angle say about some axis is 2 cos .
2
Worked Examples
2i ( + )
i
( )
sin
2
e cos , ie
2 2
Q= = . . . (1)
2i ( ) i
( + )
ie sin , e 2 cos
2 2
We notice that the matrix P is trace free and is self -adjont. i.e., P = P , and x, y, z
are real quantities taken as co-ordinates of a point in space. Suppose the matrix P is
transformed to the matrix P by means of the unitary matrix Q in the following way
P = QPQ . . . (3)
x 1 0 0 x
i.e., y = 0 cos sin y
z 0 sin cos
z
This shows that corresponding to the matrix
cos 2 i sin 2
Q=
i sin cos
2 2
Exercise:
1. Show that the components of angular velocity vector along the space set of
axes are given by
x = cos + sin sin ,
y = sin sin cos ,
z = cos + .
2. Find a real matrix of orthogonal transformation in the 3-dimensional space
corresponding to the unitary matrix
i2
e 0
Q= i
0 e 2
in 2- dimensional complex plane.
3. Find a real matrix of orthogonal transformation in the 3-dimensional space
corresponding to the unitary matrix
i2
e 0
Q= i
0 e 2
in 2- dimensional complex plane.