L&pie@

\-

\
Gambar 4.2 A rotating body shown Gambar 4.3 A two-dimensional
Gambar 4.1 A point in space shown with with three of the six generalized body shown with coordinates
coordinates q1, q2, and q3 coordinates q1, q2, and q3

sPeci+rbatlg. the.qogrztr'no+e *rctnsfor:nlqiohs congrft o+ a functip*,latdqEftdqie

q.!l" Aext"r"tti"d q*r.tla*tes cn $ne fhgsical coorclt'neter jj- '
qr' tE, )c.," xg
---iij
tik"t^r'sef-tho.roust a"'rt invors. +r*sformat,'on '-
x,' = xi t{r, 9r, 10, ....^, 13,.r,{") r i * t,2,r.,,., 3f{ L{t?,

1, zY Lry'?)

, a!qI*h-
i
U A cortstnah eqtntton rnag atlo cil+cri
iS ; 4(x,. Kz, Xa, t) = cens [T6I ', t Lxr,xz.xr) = conrk Lr{.t.\
Q.s ) Acrn tq. g) dinarneLon hobnomic co nsqcdnts
i-
\-, L!q1-!dg!qmic Eua$&'tes or, nonio+egrqHe Ar:*f,er{rtr al
conc+ratn -r, iq
qPressions :inVo{vrng the rates of chonge of the coordinates." ,

q trt' rh' hr U) ) o

the gqleric honholono rnic constneint hq the forrn o{. a nonin+aqrabt.

--d-tf erential exprecsioh ;

A, dx, + 4" Ax, 4 na ctr^ ,1 4" JL = o LgZ)

F
trrery [6[on orrric con strctint 6on alco be enprerr.ed in .-tigererr tia( fortlr.
fu +aking -ghs *otal lime. derivaHve o{ the, holon o rnic. conjtroin t .
{ t*,, xz. xg, f) = eonre
We obtain +he .\rlgerqnttct equotion
U.tl 4?t
)xn 4LDxz
& +ar.&
0*a
4L _o xdt
"{t d+ Dt

nr d*r + 2J
dx. + D+ Axt + D+. ;t =O
tv.e)
)x, )*, )*, )+

4uation t{.8 mag qbo be. ucritten ar d4.o . Thqt is \e+t-h.,nd sUe qluqHrrr
!.S is ot feffect ctrSleren+ro( . The cohver$e is ncvt true. Thc,t i1 not ate\
etr:gpeheh*ia( totrn is o( perf pct digerenHat ur *n b" Cohverted Lo
o\ ?ertec+ dtttora'rlio'l by sorne integrDd'rng {a.ctor.
\1 the $rEt assume {hat the rho.hoh oq the tuheel is confrned +o rirgtc
flane, then the nO*ctV con"tition bctu:eeh the tinnor qnd. ctngutqr Ve(oci-
Itr c{ the rr:heet is 6iven ag
i 'tg tY- e)

Gambar 4.7 A wheel rolling without slipping in a

rough surface
or in ,titterential
'x tor rh aS dx o r dB
J d^ =r Fae J
X5
0o
5 -Ko 4 f lO -e"\

I the w[eel is a\taled to rotl Dvr a gtane ornd. also change direetto4
withouL &ping, the-rr the roLation Y qborr+ the uertrtal drorneten of Lhe
wheet adt orn addigloncr( degree a{ fredorn . The no-slip cond,i&r'on
'irrr?osq two ccrrstraints oh {rhe motiblrr o+ the Ooh-tcrct poin+. the
cohstraint (.{.g) now haS the rnore- $eneral. +orn^

* cos.f +9sing ? re L .{-to)

\n cr.\.tittbn I'he u$hesl hust a\'oagr be ctttgned s;1\ the pa{.h o1 the.
 Gambar 4.8 A wheel rolling without slipping on
a rough surface, free to change direction

. Holohornic .
Ho\onornie constrair+s consi dera ble slmpti+i cq&ion bo
,\/ -\JJg aactin eonrtrler ?) ?rovi'ie ?roble.h .
g roblpr
- o^r f,.icte suctetvr tttnulhr, in CgoC bu
\- ,to .t!E con ctmin
"}Yto
t :

U
\.-

\_',,

t
t{. Ktsrtttc ENtRerY *N0 6rsstrFALtEp MoMTNTI
The mo+ior1 .2+ d.gnornfcal Sgsten is
tractced by anaty+lng {he
votubiohr of a siogle potnr in +h Configuration sPqce. Sthce +ha
phgrica( coorcl.irtqreJ o+ +he lgl+erh vary uiLh +ivrte, so cto generat[zea
coOrottnoteS, boscd oh the trensforna{ioh equolion1 tV.9 . 'ftre ttrrre
fhte of change o+.lrhe generalilgal coorctinctte! chqrocteri+e +he
mottor\ o{ c( goin .t otton 3 curve ie\ +he Con$guratt on J fa{ ce .
the ganerct\izec\ velocit(es of {he sgs*ern ore delined qs he
tirne rate, Ot +he genorati2ea{ cooraincttel I
4r, g A+

'\he geqerctti +ec{ yetou+,ies of [he or{ - pendutuq systervr are

4,
aa

trsXr =o

1d ; ocklat ve\ocrtg , 1, , qn?tJur ve'[ocitY

-lhe o+ ", ring(e porttcte- rnouihg spqce is given

Ktnerr,'c eneg, in by

T,l m txr + 9'* 4") (,t. rv)

Jrkq 1t, 4, ctqn 7t o.doloh [<rran"t umum, moka trah{orrnas; &ied,isrorul

koorltnat lkartestah, Sitindel boto.) ke koorztrnat qrnurn dingottakq '.

xi = Xi 11, , 1.", \, L) L y. rs)

fisro(osor[.o\ Yersarnacrn [f . tB)

+ ?xi
a1t ,. \'
a+ dt 4t. )1, AL 4, N 'rt
+&'.&
dx.'
=D*i.4j
- .ir+)ri
A+ )1t T{, )1t >L

Lv. rs)
4xi
A+
:
eiH,), Y
FersaYlaan Q.ts)'-'l-
-
+?{l
tH+,) J+l
(#)"tt H f) _[*)'
r9
i: Dri )xi
?.) o'12 -=-- 4:
)", )1" (J =t dqj

-*o .2 o"t#fi(H
,\
l )xr */)x;1'
i
L, suUn r+ur;
'''
ke
e-) +z s
(,\
)Yt 1j
at \>+ )
Frs..rpoon Lq.t'{)

T=J-*ti,o+gfo *2i ")

a
T=r*|-i ;/L
Lt, sl, )1; [
i; *'i )ff1r
)(*i*\ ax' *-[rH'J
?-)
r=r[4
) 9*( ai' .iB - Ii,.?l+y
4s .
*tzrn & Ej +'[*I]
L?^ r1r
\lqj;{r
r
T=l
* i ;
irt K:l
diu4t1r *iJ;t ai 4:+ r [r't2"1

Koe$sien anergi kinehk tY.tr) adotoh {ungsi "{on koordinqt utnulr qi. trrengi
kineUk di tranCqorrnadkan ke .lrrngsf ct<ulor Aai koorc{rhot urnurn .tc,n kecepq-
fon : T. T (1, q , +)

Sylotogikan un{r.rk N sttetn larUke[ eorlo, -tiga dirnens,', energi kmetik to+ql
lada gktern "\Uegnisfkon
T=r
.; + mi ti,'+ lri"+ ai ") tq. rt)
4 ? l=l

Beraosor kqn prsarnaan ti.ta , kece?qton untrk koor'tinat urnutn dqPlt

,tif{tis, sebagai,Xi zy f L:_i;\ +r+,
.Fr \)?j ) >+
:i

Sehiqga Aaqad mencubstr'tusi ke garamoon (S.rg) nsgi kinetik to'ta\ untuk

N-par+t<et gtl5tem foda koonlinc! urnulh Se|r^gai
t=lI
?+ T *j.qjlv + iru+t + r tv. t9;
j"t K'l J=l
 C"At:1 dof bqgqnt.rng ?o,c{q koororinqr urnurn
"<ix ,.0i , t
-' '"'Resur{sn clori energi tto"ti[ +o*o( hergontung It, 1r., -..., 1eN.
koordinqt o.9crl gqhg drlTunakon . Ene!ff ?qdo tnqn{o.mo.,'
kinetik gada sis{66 :
otau seara tebih .ii,,ri'r,i;i' benr*k .

koordinor tlrt dqn kecepqbqn,

T ='t t?,, 1r,....,Tta,4n,4r,, ....,1aN, t ) (u.*1
Persqtna.^n energf ktnetik LV.19 dapab diketornpot korr
T=tr+'tr+ To
Lu.zt)
Tai
Tr . \tnear
T":
deeon 1; ih"mff;"X:; tidc,k
eksptirit
hepgonc(ung
'Tr ='Ib =D

Er'tngt kirretit<' dih"tikon ?o.b koordiqra urnoyyf {p, variabel uhtr,n

\atn 9ar'& tnorrrerrfurn umuM y.,ng
yong diasoqq$.kan clerrgan maJr1,_fnas,.g koordirur
vtn*n 1i . Motnentutn u**- etigabungkon
a,ide$nisikan rebgai
dengan s.,urq\rrcrr
Jcxr\ koordinot umurn ?i--,

R'r[ , Thelattrr ?eGamooh (v. ryl L\. zz)

>it
jrn(*"+y'+ i') dtrnonq qi . $ Lx .x2, x?, ... x+r,t)
T=lM*'+! mg' | 'L
Irn+
ee +
J

,+'*(*'*"\ r.a)y /l\ormy')/ * 4i- It[a rn+"1

)T -
tx?v + g:1
)
r. 'lhx + '/
>ii lr ll.a;
Px Pa

fesarnoon momqrtuh umurn divr go tekorr

, ,LV = rt.depot. dqtorn koor4glo t bolq,"
Sebagai benkut rp q 71_os ( e) )'.
r rn C.'+ r. e', + r.
t-r

T= cos"f 6 ) L\.2q1
a
)T r,P,)
.?
)1i =# (1 '-')n# [*, ** Iln
ta
r'cos"f e"\
)
 ?i= U?. + W?E + lnr'cos'Oe Pe
derrgon ,

Pr ,6i Ltnornenfuh t(heor) (y..s)

?g -- nrt coszg 0 (mornertum qn gular pad.a arah 9) Q.ze)
?4 = rn r"p' (vnorr en 6lrn ang.rfic pqJo aroh 41 ) Lq-?.7)

g. caNR6Lt?ED FoBce

Pq"(a mel.aniko veptor, (e,rubahan mornenturn {erha&p tr.rot<fu dt<qrtt an

d.engan jqga .lqn {orsi.
.W Inehanika anc.titik hubungan 3eor6erri antarq
kmrdirrat qmulh Inemb\rat prbedaon antarct mornentunr (inear dan
fnomnturn gUdut tneniadi tUak jehs.
Angg"p Sebuah sistern Jari N pr$t<e\ ,tid.o(qrn ruang Jiberikon oleh
gekumputc,n vittuat ctilptacehent Sq. dsaha virtr.,at Lter1g Jikeg'akon po,dq
sistevn oteh gogc( actua\ o\engan
"tih,'trng
At
z +i . f,r; ( q-zs)
i=t
vittua\ c{isgtacernant
Qagaactua(
/i
Yong rnohq, Fi " Fix 1 + tE J + fta A hayo resultan .{ori i garHftet

DArgon menerqpkan translorvno.ri koord.inctt. dori perrayhc,ron tg.z) dfben'l.orr

kotnPonen pr'gindohon virbuat 4qtctrr pentuk FOordino t urhuhn
Xi . xi llt, 4r, 1r, -. ., 1*, L)
sehtn99a, f,-*i = 2 iri tli L\."e1
i=r elj
?etgindahan V(rtuat dtgunakon urrtuk rnanbandingkon dta tconfiguraci yog
gohgat dekot tkorr69r,ro6 gang hdok rnemitiki b.dd. ptarna karaikan alto-
tuokfu tr/ak 6o(, koor/tnot don gatgo qkan beruc.riosr'. Jqai sargqt
- Pentig
Unkxrk 4katat, bahoa urektir .Hd"[ iaoiti"t+..^ sd.qhnq fergindahon ,artual
9Ain99o tt =e
'
Putrtot,oon \-tq nranghubungg6n perp'in"{ahan virtuo( dan [sorEtirrrL .flsik Ckorterrarr,
6ltinln'ca\, s?hericc^t) 5xi fe pepinAqhon vrrtuq\ aan koordinat urnun E?1.
?erptndohon virtuat dc,n' 9efi6h bordinot fuvnggal akan henghc.ti\kq/| perpin.tohqa
Virtua\ . ai beberapa atau .Strruq koordinat urnuth . O\eh karqrh tta k dq
virtral gang ltitqlr.ut<oh oteh kcrngonen 4r.sik dar. gaga Fx selinlga meDgo(tarnr
ger?indahan vir-tuor\ &i gefrghasi(ka6 kega rirtvat .

fix 6xi - t. [m Dxi \ s'.U

J=r J
Lv.eo)
\ [)

?ersomc,on (V.zg) dapat ai subs-trfusi ke keg? vrrtraqt Lq.LB) StrSun PerrarnAdh

(t{.ze) ,

6tu - S Fi, E'c;

t'.t ;ti.t ri i=i
,iki + si * ai)
6w --L+ t f Fi, )xi .L fg Dy,, + Fir .)+,' ['<1
r:r i,r. \ >1j )qj )qj )
tw , t fi (t* ?lr r F'v ).li + H. )u. 54 [1-gr)
J=r Li=r \ )qj )1j )t )l
aj
Sur , Zn sj ['1j lt'32)
J"l
c\engon ej ado\oh generati+ed torcg yang ,Arhubungb,tn derrgan geterqttael
ccordinate qj

E=llri*)xr
,=l \ )1)
+fiy2yi o fr+ )+; \ ly.zt)
)qj )15 )
Gareratized force &j drtentukon
o(eh gerhifungan Victval urork gong .ti(ctcuhon
poAaqoat pcr"tboho' yqng sangat kei( (intnt{esiqrat change) 66 .A$gci?
Sgrteth Aatarn kon$gurasi arbitrary .'the virt,ol work ex?regioh. QS :
r* , aj fqj
F.
EtD ei 61r + &z Sg. * ..-. t &n Sln
"
tlhkiK kasus ?endrrtum - kre+^, gistern ynrni\i ki duq deraja t kebehrscayr .

Po,stsi [osii x c(crq kereLo &pat dqitih sebagai sqh.^ koor.t\'nqt uhurn
Aan $rdut ar*qrq fl<rduturn Aenqa\ goris vertika\ (e) dotr& ,tipr\ih sebogai
 5e =Sg !

9*omng, mq\ghibuna ke{r\ vir.tral gong ditqkukon obh *ga efsternql pc.aq
Inq$ng- rnq$ng virtul AiJ?\acemeits , jih Ex +Er, aqnr6e aa
tp SW= ^fs Sx
g'ul
= *la sx (tt . gd

= kr
_ $orce) (rt
rP jikq x =o dan te +o
. \__

9in I xe' :

e.9 -Y'
LL
x
=LO
6x , L Eo
EW . -fs 5'x
sing L Ea

: -trtq L cine

Jedi. untk kosnbinagl crrbr'trav} dori vt'rtuo! Jrs?h..*n@r

E[l = &x. 5x + Qa Ee