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    fisica

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    7 views5 pages

    Ba Quist Ocr On Adis Sip

    Uploaded by

    Julian David Henao Escobar
    fisica

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
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    Brachistochrone with Coulomb friction N. Ashby W. E, Brittin W. F. Love W. Wyss Department of Physics and Astrophysics University of Colorado Boulder, Colorado 80302 (Received 4 March 1975) The problem of finding the curve of most rapid descent of a bead sliding along a wire, from one fixed Point to another, under the simultaneous influence of Bravity and friction, is solved. A remarkable feature of the problem is that the solution can be expressed in closed form, in terms of elementary functions. In this paper we solve the problem of finding the curve ‘of most rapid descent of a bead sliding along a wire, in a vertical plane from one fixed point to another, under the simultaneous influence of gravity and friction. The fric- tional force is assumed to be proportional to the normal force between the bead and the wire, with constant coef- ficient 4. If friction is neglected, this problem reduces to that of the famous brachistochrone, which led to the de- velopment of the calculus of variations. In the presence of friction, several interesting features are introduced into the problem. Perhaps the most important of these is the fact that the equation of motion cannot be integrated to give the velocity v as a function of position. Hence, the equation of motion may be treated as an equation of con- straint, using the method of Lagrange multipliers." This technique is in fact generally applicable to a class of problems in which the objective is to find the extreme value of some quantity which would be known provided certain differential equations could be solved, but for which the integration is impractical or impossible. We consider, as in Fig. 1, a bead of mass m starting from rest at the origin P, (x= yi = 0) of rectangular coordinates and sliding along the wire under the influence of a gravitational force mg in the negative y direction, and ending at the specified point P, (t = x2, y =ys). The tangent to the curve at the general point (x.y) is’at angle @ from the x axis, such that dy /de =tand. The acceleration of the particle normal to the path is v*/R =v? dblds =v dedi, where R is the radius of curvature of the path, ds is the element of path length, and r is the time. This acceleration is produced by the normal compo- 902 | American Journal of Physics Vol. 43, No, 10, October 1975 ig. 1. Diagram of a possible path between points P, and Py. The nor mal force N, gravitational force mg, and inclination ¢ of the tangent ftom the horizontal are indicated nent of the force of gravity, —mg cos, and by the nor- ‘mal force N between the particle and the path. Hence, the normal force is given by N=mgcosd+mvdo/dt. co) The acceleration along the path is produced by the tangential component — mg sind of the gravitational force and by the frictional force — uN. Hence, mi=~mgsing — uN or b+ gsing +ugcosd + urd =0, where the dot denotes differentiation with respect to time. Upon multiplying by v and using the fact that 4 =v cosb, $ =v sind, the equation of motion can be written vb+ gh + nage + wots (2) If we let 7 be an arbitrary monotonically increasing parameter along the curve, then Eq. (2) becomes vv! + By! + Uget + v6! =0, where a prime denotes differentiation with respect to 7. Expressing the last term in the equation of motion entirely in terms of derivatives of x and y, we have v6 r= (ery! yer 40, Hence vols ayts nage’ + ubely" —yte)/t=0, (3) This equation cannot be integrated until the path is Copyright ©1975 by he American Association of Physics Teachers known, We may now state the mathematical problem. The time elapsed during the descent may be expressed as (lee, , subject t0 the constraint (3). One additional constraint must be introduced since v is not independent of x", y', andr’, namely, (Pay oo, @) Thus, with undetermined multipliers A and o introduced, the problem is to minimize the integral Is Sar {eae ey suet Sheeryer—yrnr) (e220 [ber + y)!2 = ep = far Lyte vinx etinot ye — (8) 1 subject 10 the conditions & = ay = 6r = 0 at the end points. Because 1, x, and y do not appear explicitly in the integrand, the Euler-Lagrange equations simplify. Further- more, since second-order derivatives of x and y occur in » the process of variation of f leads to boundary terms of the form Pe Pe +e ayr 1p, ay Oo “Lee a Py The variations x’ and By’ at the end points are arbitra therefore, in addition to the usual Euler-Lagrange equa tions, we must impose the subsidiary end point conditions ah mer bh Pa aL Jp,” Be aL 2 a Finally, in performing the variation of / with respect to v', on integration by parts a boundary term will appear. This term must also be required to vanish. ‘The initial velocity is specified so 8:(P,) = 0, and since the variation 6v(Ps) is arbitrary, we must have Lh au lro Inspection of the function £ thus yields the subsidiary conditions Am. J. Phys. Vol. 43, No. 10, October 1975 dut| p= Aly"| p,=0, ©) lp, =any'lp = Aux’ |p, = AUy"| py =A0| p= Since the particle is assumed to start from rest at P), all the subsidiary conditions associated with the initial point will be trivially satisfied. ANI the conditions associated with the final end point will be satisfied if Ane 5 @) ‘The Euler-Lagrange equations obtained from variation oft, y, x and v, respectively, are [1-00 = 2am lary” = yarn) /esy (ea) [ae ane [ts oyt/lert eye = Quxt/t? yr =0, (8b) [rug ramyre/t + axt/Ger®s yityh/typ + Quyt/t* =0, Be) ~ ott + dv! — Ow =O (ed) With the variational procedure completed, the parameter T may now be chosen to be equal to the time 1. Upon inte- aration of Eqs. (8a)-(8e), we obtain ou + 2rd =Cy, (Qa) rg-autsosind-Z Ous)=C,, (Bb) mugrrusocose+Z0ui)=Cr, — e) a= (a) dt ov’ where C,, C2, Cy are constants of integration. In writ ing Eqs. (9a)-(9d), we have used % =v cos, J =y sing. The four equations (9a)-(9d), together with ‘the equation of motion and the constraint v? =$? +52, form a complete set of differential equations determining 4, Ve Ay and If we now eliminate X using Eq. (94), and eliminate derivatives of x and y in favor of derivatives of v and ¢, we obtain the equation of motion in the form b+ g(sing + 1. cos¢)+ uvd = 0, (10) and Eqs. (9a)-(9c) become oy +Pruo*g =, (ta) ag= 2Au@ cos -vsindd) +0(sind + #eosp)=C, (11d) dug 2rusind +vcosdd) +0(cos¢ — Hsing)=C3. (1c) Ashby eal. 903 Using the first of these three equations to eliminate o, we obtain Agu —2dW1v cosp(é+ Hd) +C,(sing + 1.cos)=Cyv, (12a) Augo+ Aur sind(d+ 1d) +C,(cosd = Hsing)= Cv. (12b) Now ¥ and d may be eliminated from Eqs. (12), which yields the following algebraic expression for the La- range multiplier A: Ag= (Ci sind + C3 cose — C,/v) (sing + Heosg)'. (a3) Solving Eq. (10) for ¢ + vd and substituting into Eqs. (12a) or (126), then using (13) to eliminate Ag yields the following algebraic expression for v: v=cosd/Bh, (14) where h=h(G)=1+2u sing cos +2uAcos*é. (15) ‘The constants A and B are given by Cat Cou “C+ u?)? a9) Note that » = 0 at the initial point P; requires that the ini- tial value of & is $,=— m/2. An expression for A in terms of ¢ may also be obtained from (13) and (14): C, BUA +tand)/g. (a7) The form of these results suggests that d is a natural parameter in terms of which x, y, and 1 may be ex- pressed. In fact, it is not difficuli to obtain differential equations for x, y, and ¢ in which @ is considered as the independent variable. For example, the equation of mo- tion may be written in the form dt /dd = ~ (uv + dv/do)/[g(sing + ucosd)}, (18) and after substitution of Eq. (14) for v, this becomes gBat/ap=2/n? -1/h (a9) The expressions for dr/dd and dy/d@ are then easily found: ade costo 2 =n) eB > 904 (Am. J. Phys. Vol. 43, No. 10, October 1975 (20a) apr dy, _cosd sing (2 —h) gBiee = 2 . (20b) The differential equations for x, y, and ¢ may now be integrated. The results are 2gB*x =[—3 y? — te!) +2(u APs +(@A-u)F,-AF,/u(1+4), (21a) 2gB*y=[}A(hr? - hb!) —2(1+ HA), +(B+HAF,-Fy/u(t+A®), (2b) gBt=2F, =F, (210) where the functions F,, are defined by F,(0)= [2 ,db/n” (u=1, 2, 3). (22) The functions F,() may be evaluated explicitly. We de- fine a=1+yd, b= n(L+a%)t/2, cosn=A/(1+A2)/?, sinn=—1/(1+A?)/2, (23a) (23p) Then Fy(o)= aaa tant [éS) tan ¢ “3 ll or el) In computing values of the function F,, care must be tak- en fo select the correct branch of the inverse tangent. It can be shown that —7= <0. If the arguments $+ m2 or ~ m/2 + m/2 are less than ~ 7/2, then 77 must be subtracted from the principal branch of the inverse tangent function. This will always be the case for the second term in Eq. (24), Otherwise, the principal branch must be taken, The functions F, and Fy may now be expressed as fol- lows: F,={aF, -4[(uAsin2¢ ~ 2 cos2¢)/h- u}} x@-0y, (25a) Fy={8aFy/2—4 Fy+4[- (uA sin2e =H c0s26)/h? + u]}(a* -b?)', (25b) In the expressions (21) for x and y, the right-hand sides are functions of A and but not of B. Because of the end point condition \ = 0, 4 is related to dy at the end point by stand. (26) Ashby eal. Thus, in numerical computation, to ensure that the curve passes through the specified end point (x2, A= tangy and 6 = by are substituted into the right: hand sides of Eqs. (21a) and (21b), and dy is varied until the solutions have the specified ratio C, where = y2/x2= 9 (b2)/x (G2). (27) , and A are then known, and B may be determined from either (21a) or (216). Care must be taken that the parameters A,¢ stay within the range of values for which the solutions are physically meaningful. Since 0 =v <2, we must have h > 0 and, also, — 7/2 0 places a re- striction on the range of values of 4, namely, (=u). From the differential equation (19) for dildy, and the ex- pression (14) for v, the following equation for the force oon the particle normal to the path may be derived: N=2Imgcos$/(2-h), (28) and therefore we must require 2-h>0 (29) in order to avoid the unphysical situation of an infinite normal force. It is straightforward to show that h, which has been defined in Eq. (15), can be written h()=1— Htandy +H sind — $2)/cosd,. (30) Thus = 1 at the end points d = ~ n/2 and $= Obviously f(#) can have at most one minimum and one ‘maximum in the physical range of values -1/2ebSer. (31) There is a minimum at @ = ds/2 - 7/4, and it is easily verified that, because y= 7/2, the minimum occurs in the range given by (31). On the other hand, there is a maximum of h at 6 = 4/2 + n/4. This is outside the range (31), for since - ¢; > ~ 7/2, we have 2 > 26, —1/2 and hence 2/2 > b,—-0/4. The maximum is therefore at b2/2+0/4> bo Am. J. Phys. Vol. 43, No. 10, October 1975 in all cases. Thus, in the range of values of interest, ‘n(d) = 1, and the inequality (29) is satisfied It is not difficult to show that no solutions can exist if C

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