Ploblems for Chapter 7

ชัยยุทธ สุ ขวัจนี
6 กันยายน 2553

Problem 7.1

Write down the Lagragian for a projectile (subject to no air resistance) in term of its
Cartesian coordinates (x,y,z), with z measured vertically upward. Find the three Lagrange equations and show that they are
exactly what you would expect for the equations of motion.

Solution:
Find Lagrange Equation that is L = T − U Kinetic energy of the particle
T = 12 mṙ2 = 12 mẋ2 + 21 mẏ 2 + 12 mż 2
Potential energy of the particle
U = mgz = U (z)

the Lagrangian
L=T −U
L = L(x, y, z, ẋ, ẏ, ż) = T − U = 21 m(ẋ2 + ẏ 2 + ż 2 ) − mgz
Find Lagrangian for each axis
Lagrange equations for x axis
∂L d ∂L
= =⇒ ẋ = kx
∂x dt ∂ ẋ
Lagrange equations for y axis
∂L d ∂L
= =⇒ ẏ = ky
∂y dt ∂ ẏ
We found that x,y axis have no force because they haven't accelerate.
Lagrange equations for z axis
∂L d ∂L
= =⇒ mz̈ = −mg
∂z dt ∂ ż
We found that z axis has force that is Fz = −mg
Problems' Solving in Chapter 7 หน้า 2/8 Classical Mechanics; J. R. Taylor

Problem 7.2)

Write down the Lagrangian for a one-dimensional particle moving along the x axis and
subject to a force F = −kx (with k positive).Find the Lagrange equation of motion and solve it.

Solution:
Find Lagrange Equation that is L = T − U Kinetic energy of the particle
1
T = mẋ2 Potential energy of the particle is effected from force F = −kx
2
∫x
U (x) = −W (xo → x) = − xo F (x)dx = 12 kx2 L = L(x, ẋ) = T − U = 21 mẋ2 − 12 kx2 Find
√
∂L d ∂ k
Lagrangian in x axis. = ⇐⇒ mẍ = −kx ⇐⇒ ẍ = −ω 2 x เมือ ω =
∂x dt ∂ ẋ m
The second order differential equation has general solution that is
x(t) = C1 eiωt + C2 e−iωt

Problem 7.3
1
Consider a mass m moving in two dimensions with potential energy U (x, y) = kr2 , where r2 = x2 + y2 . Write down
2
the Lagrangian, using coordinates x and y, and find the two Lagrange equations of motion. Describe their solutions. [This
is the potential energy of an ion in an "ion trap," which can be used to study the properties of individual atomic ions.] Find
Lagrange equation for solve problem in x,y coordination.
L=T −U

Kinetic energy of the particle

1 1 1
T = mṙ2 = mẋ2 + mẏ 2
2 2 2
Potential energy of the particle

1 1 1 1
U (x, y) = kr2 = = kx2 + ky 2
2 2 2 2
Lagrangian;
L=T −U

1 1 1 1
L = mẋ2 + mẏ 2 − kx2 − ky 2
2 2 2 2
Find Lagrange equation for x,y axis.
√
∂L d ∂L k
= ⇐⇒ mẍ = −kx ⇐⇒ ẍ = −ω 2 x เมือ ω =
∂x dt ∂ ẋ m
√
∂L d ∂L k
= ⇐⇒ mÿ = −ky ⇐⇒ ÿ = −ω 2 y เมือ ω =
∂y dt ∂ ẏ m
Problems' Solving in Chapter 7 หน้า 3/8 Classical Mechanics; J. R. Taylor

We found that two equations are "Isotropic hamornic oscilator" because pull force is vary with changing position from
equilibrium.
Problem 7.4)

Consider a mass m moving in a frictionless plane that slopes at an angle α with the
horizontal. Write down the Lagrangian in terms of coordinates x, measured horizontally across the slope, and y, measured
down the slope. (Treat the system as two-dimensional, but include the gravitational potential energy.) Find the two Lagrange
equations and show that they are what you should have expected. Find Lagrange Equation that is L = T − U Kinetic energy
of the object(Only in x axis that parallel plan that slopes)

T = 21 mv 2 = 12 mẋ2

Potential energy of the object

U = −mgh = −mgx sin α

Lagrange equation is
L = L (x, y, ẋ, ẏ) = T − U = 21 mẋ2 + mgxsin(α)

Find Lagrangian of motion for x axis

∂L d ∂L
=
∂x dt ∂ ẋ

mg sin α = mẍ

We found that result is equivalent with Newton's Laws.

Problem 7.9

Consider that is threaded on a rigid circular hoop of radius R lying in the xy plane with its center at 0, and use the angle ϕ of
two-dimension polar coordinates as the one generalized coordinate to describe the bead's position. Write down the equations
that give the Cartesian coordinates (x, y) in terms of ϕ and the equation that gives the generalized coordinates ϕ in terms of
(x, y) From problem we found that

x = R cos ϕ
y = R sin ϕ

Find ϕ in term of (x, y) that is

y R sin(ϕ)
=
x R cos(ϕ)
(y)
ϕ = arctan
x
Problems' Solving in Chapter 7 หน้า 4/8 Classical Mechanics; J. R. Taylor

Problem 7.10)

A particle is confined to move on the surface of a circular cone with its axis on the z axis, vertex at the origin (pointing
down), and half-angle α. The particle's position can be specified by two generalized coordinates, which you can choose to be
a coordinates (ρ, ϕ) of cylindrical polar coordinates. Write down the equations that give the three Cartesian coordinates of
the particle in terms of the generalized coordinates (ρ, α) and vice versa. From problem we found that
x = ρ cos ϕ
y = ρ sin ϕ

since
(α) ρ
tan =
2 ( z)
α
z = ρ cot
2
in contrast we can find ϕ in term of (x, y) that is
y R sin(ϕ)
=
x R cos(ϕ)
(y)
ϕ = arctan
x
Problem 7.11)

Consider the pendulum of Figure 7.4, suspended inside a rail road car, but suppose that the car is oscillating back and forth, so
that the point of suspension has position
xs = A cos ωt,ys = o. Use the angle ϕ as the generalized coordinates and write down the equations that give Cartesian
coordinates of the bob in term of ϕ and vice versa. From problem we found that
x = xs + l sin(ϕ) = A cos(ωt) + l sin(ϕ)

y = l cos(ϕ) in contrast we can express ϕ in term (x, y) from

( )
x − xs
tanϕ =
( y )
x − Acos(ωt)
ϕ = arctan
y
Problems' Solving in Chapter 7 หน้า 5/8 Classical Mechanics; J. R. Taylor

Problem 7.14)

Figure 7.12 shows a crude model of a yoyo. A massless string is suspended vertically from a fixed point and the
other end is wrapped several times around a uniform cylinder of mass m and radius R. When the cylinder is released it moves
vertically down, rotating as the string unwinds. Write down the Lagrangian, using the distance x as your generalized coordinate.
Find the Lagrange equations of motion and show that the cylinder accelerates downward with ẍ = 2g/3. [Hint: You need to
remember from your introductory physics course that the total kinetic energy of a body like the yoyo is T = 12 mv2 + 12 Iω2 ,
where v is the velocity of the center of mass, I is the moment of inertia (for a uniform cylinder, I = 21 mR2 )and ω is the
angular velocity about the CM. You can express ω in terms of ẋ.] Find Lagrange equation of yoyo.
1 1
T = mv 2 + Iω 2
2 2
1
since I = mR2 (assume yoyo has the shape of cylindrical)
2
( )
1 2 1 1
T = mẋ + mR ω 2
2
2 2( 2 ) 2
1 2 1 1 2 ẋ
T = mẋ + mR
2 2 2 R2
3
T = mẋ2
4
And
U = −mgx

So,Lagrange equation is
3
L = T − U = mẋ2 + mgx
4
Find Lagrange equation in x axis
∂L d ∂L
=
∂x( dt ) ∂ ẋ
d 3 3
mg = mẋ = mẍ
dt 2 2
2
ẍ = g
3
2
We found that yoyo has accelerate in vertical ẍ = g
3
Problem 7.15)

A mass m1 rests on a frictionless horizontal table and is attached to a massless string. The string runs horizontally
to the edge of the table, where it passes over a massless, frictionless pulley and then hangs vertically down. A second mass
m2 is now attached to the bottom end of the string. Write down the Lagrangian for the system. Find the Lagrange equation of
motion, and solve it for the acceleration of the blocks. For your generalized coordinate, use the distance x of the second mass
below the table top. Find Lagrange equation Because string is constrain ,so velocity of m1 , m2 have equal.
1 1 1
T = T1 + T2 = m1 ẋ2 + m2 ẋ2 T = (m1 + m2 )ẋ2
2 2 2
Problems' Solving in Chapter 7 หน้า 6/8 Classical Mechanics; J. R. Taylor

U = U1 + U2
U = −m2 gx

1
L = T − U = (m1 + m2 )ẋ2 + m2 gx
2
Find Lagrange in x axis
∂L d ∂L
=
∂x dt ∂ ẋ
d
m2 g = (m1 + m2 )ẋ
dt
m2 g = (m1 + m2 )ẍ
m2 g
ẍ =
(m1 + m2 )
m2 g
That is m2 accelerate and m1 accelerate is ÿ = −
(m1 + m2 )

Problem 7.16)

Write down the Lagrangian for a cylinder (mass m, radius R, and moment of inertia I ) that rolls without slipping
straight down an inclined plane which is an angle α from the horizontal. Use as your generalized coordinate the cylinder's
distance x measured down the plane from its starting point. Write down the Lagrange equation and solve it for cylinder's
acceleration ẍ.Remember that T = 21 mv2 + 12 Iω2 , where v is the velocity of the center of the mass and ω is the angular
velocity. Because cylindrical has line and rotate motion,so
1 1
T = mẋ2 + Iω 2
2 2
1 1 ẋ2
T = mẋ2 + I 2
2( 2 )R
1 I
T = m + 2 ẋ2
2 R

U = −mgx sin α

Lagrange equation is
( )
1 I
L=T −U = m + 2 ẋ2 + mgx sin α
2 R
and find Lagrange equation of motion in x axis(parallel with slope)
∂L d ∂L
=
∂x dt ∂ ẋ
d I
mg sin α = (m + 2 )ẋ2
dt R
mg sin α
ẍ =
I
m+ 2
R
Problems' Solving in Chapter 7 หน้า 7/8 Classical Mechanics; J. R. Taylor

Problem 7.17)

Use the Lagrangian method to find the acceleration of the Atwood machine of
Example 7.3 including the effect of the pulley's having moment of inertia I . (The kinetic energy of the pulley is 12 Iω2 , where
ω is its angular velocity.) Find Lagrange equation of motion From problem we found that system has line and rotate Kinetic.

T = T1 + T2 + Tpulley
1 1 1
T = m1 ẋ2 + m2 ẏ 2 + Iω 2
2 2 2
and ẏ = −ẋ (because opposite direction)
1 I
T = (m1 + m2 + 2 )ẋ2
2 R
U = −m1 gx − m2 gy + const.
U = −(m1 − m2 gx) + const.

Lagrange equation is
L=T −U
1 1 ẋ2
L = (m1 + m2 )ẋ2 + I 2 + (m1 − m2 gx) − const.
2 2 R
1 I 2
L = (m1 + m2 + 2 )ẋ + (m1 − m2 )gx − const.
2 R
Find Lagrange equation for x axis.
∂L d ∂L
=
∂x dt ∂ ẋ
d I
(m1 − m2 )g = (m1 + m2 + 2 )ẋ
dt R
(m1 − m2 )g
ẍ =
I
(m1 + m2 + 2 )
R
(m1 − m2 )g
That is m1 accelerate and m2 accelerate is ÿ = −
I
(m1 + m2 + 2 )
R
Problems' Solving in Chapter 7 หน้า 8/8 Classical Mechanics; J. R. Taylor

Problem 7.31)

A simple pendulum (mass M and length L) is suspended from a cart (mass m) that can oscillate on the end
of a spring of force constant k, as show in Figure 7.15. (a)Write the Lagrangian in terms of the two generalized coordinates
x and ϕ, where x is the extension of the spring from its equilibrium length. Find the two Lagrange equations. (b)Simplify
the equations to the case that both x and ϕ are small. We want to find Kinetic energy so,we must find velocity of a simple
pendulum mass ,but a simple pendulum mass velocity perform by x,y axis. We must find x,y in term of ϕ (angle between a
smple pendulum with normal line) x = L sin ϕ + x → ẋ = Lϕ̇ cos ϕ + ẋ
y = L cos ϕ → ẏ = −Lϕ̇ sin ϕ
So,we got velocity. vM 2
= ẋ2 + ẏ 2
2
vM = (Lϕ̇ cos ϕ + ẋ)2 (+ − Lϕ̇ sin ϕ)2
vM = L2 ϕ̇2 + 2ẋϕ̇L cos ϕ + ẋ2
2

Kinetic of car is 21 mẋ2 So,Kinetic energy of system is

T = 12 M vM 2
+ 12 mẋ2
T = 21 M (L2 ϕ̇2 + 2ẋϕ̇L cos ϕ + ẋ2 ) + 12 mẋ2
1
Potential of car is Um = kx2 and potential of a pendulum mass is UM = −M g cos ϕ. So,potential of system is
2
1
U = kx2 − M gL cos ϕ
2
Lagrange equation is
1
L = T − U = 12 M (L2 ϕ̇2 + 2ẋϕ̇L cos ϕ + ẋ2 ) + 12 mẋ2 − kx2 + M gL cos ϕ
2
Find Lagrange equation for x,ϕ coordinate
∂L d ∂L
=
∂x dt ∂ ẋ
d
−kx = (M ẍ + ϕ̇M L cos ϕ + mẋ)
dt
−kx = M ẍ + mẍ + M L(−ϕ̇2 sin ϕ + ϕ̈ cos ϕ)
−kx − M L(ϕ̈ cos ϕ − ϕ̇2 sin ϕ)
ẍ =
(M + m)

∂L d ∂L
=
∂ϕ dt ∂ ϕ̇
d
−M gL sin ϕ = (M L2 ϕ̇ + M ẋL cos ϕ)
dt
−M gL sin ϕ = M L2 ϕ̈ + M Lẍ cos ϕ
−g sin ϕ = Lphi¨ + ẍ cos ϕ
−g sin ϕ − Lphi¨
ẍ =
cos ϕ

If angle ϕ is very small ,so sin ϕ = ϕ and cos ϕ = 1 We got

−kx − M L(ϕ̈ cos ϕ − ϕ̇2 sin ϕ)
ẍ =
(M + m)
−kx − M L(ϕ̈ − ϕ̇ϕ)
ẍ =
(M + m)
Problems' Solving in Chapter 7 หน้า 9/8 Classical Mechanics; J. R. Taylor

And
¨
−g sin ϕ − Lphi
ẍ =
cos ϕ
ẍ = −gϕ − Lϕ̈