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Asg 02
Asg 02
Assignment 2
due Wednesday, September 22
[JS] J.V. José and E.J. Saletan, Classical dynamics: a contemporary approach, Cambridge
University Press, 1998.
[T] D. Tong, Lectures on Classical Dynamics,
http://www.damtp.cam.ac.uk/user/tong/dynamics.html
[G] D. Greenwood, Classical Dynamics, Dover, 1997.
d ∂T ∂T
α
− α = 0, α = 1, . . . , n ,
dt ∂ q̇ ∂q
q̈ α + Γα β γ
βγ q̇ q̇ = 0, α = 1, . . . , n , (3.1)
where
1 ∂gβδ ∂gγδ ∂gβγ
Γα
βγ = g αδ γ
+ β
− .
2 ∂q ∂q ∂q δ
Note that the Christoffel symbols, Γα α α
βγ are symmetric, Γβγ = Γγβ .
2
Problem 4. (10 pts) Principle of virtual work
M N
O
D E F g
C B A
M1 M2
Two masses M1 and M2 are connected by a system of levers as in the figure. All the
levers are joint to the walls and each other by freely rotating joints A , . . . , N . Suppose
that the distances along the horizontal levers satisfy:
BC ON DE
= α, = β, = γ.
AC OM DF
Use the Principle of Virtual Work (d’Alembert Principle) to determine the relation between
the masses M1 and M2 if the system is in static equilibrium.
A rigid rod of length ℓ undergoes small motion in which the coordinates (x1 , x2 )
represent the vertical displacements of the ends. The configuration is also given by the
generalized coordinates (z, θ), where z is the vertical displacement of the center and θ
is the rotation angle. What are the transformation equations between the two sets of
coordinates. For the given applied forces at the ends, evaluate the generalized forces Qz
and Qθ .