SPA5304 Physical Dynamics Homework 9

Due on Friday 22nd March 2019 at 16:00

Problem 1 [20 marks]

(i) Consider the motion of a single particle with Hamiltonian H = p2 /(2m) + V (q). Here we use
the cartesian components of the position vector as generalised coordinates. Prove that
{qi , qj } = 0 , {pi , pj } = 0 , {qi , pj } = δij ,
where the Poisson bracket of A and B is given by
∂A ∂B ∂A ∂B
{A, B} := · − · .
∂q ∂p ∂p ∂q
As usual, a dot between two vectors stands for the scalar product.1 [3]

(ii) Prove that

{A , B C} = {A , B} C + B {A , C} ,
for any A, B and C. [3]

(iii) Let L := q × p be the angular momentum of a particle (it will prove useful to recall that its
ith component can be written as Li = ijk qj pk , where ijk is the Levi-Civita symbol). Using
the result in part (ii) above, prove the following relations:
{qi , Lj } = ijk qk , {pi , Lj } = ijk pk .
[5]

(iv) Use the results in part (ii) and (iii) above to prove that
{L1 , L2 } = L3 , {L2 , L3 } = L1 , {L3 , L1 } = L2 .
The last two equations are obtained by cyclically rotating indices – you have to prove only
one of them! You may prefer to prove directly the equivalent, more compact result:
{Li , Lj } = ijk Lk , i, j, = 1, 2, 3 ,
where repeated indices are summed over, as usual. If you try this way, remember that Li =
ilm ql pm , and also qi pj − qi pi = ijk Lk . Remember also the very useful identity ijk lmk =
δil δjm − δim δjl (another useful formula is ijk ljk = 2 δil ). [6]

(v) Prove that {L2 , Li } = 0, for i = 1, 2, 3, where L2 := Lk Lk . [3]

1
Opening up this formula using indices, one gets
3  
X ∂A ∂B ∂A ∂B
{A, B} := − .
i=1
∂qi ∂pi ∂pi ∂qi
In the following we will use the Einstein convention and omit writing the sums over repeated indices.

1
 Figure 1: The windmill.

Problem 2 [20 marks]

Poor Don Quijote is stuck on the windmill! Sancho Panza is trying to free him by using the lance.
Together they form a conservative mechanical system: a particle of mass m (Quijote) which is
confined to move without friction along a vertical circle of radius R whose centre is at O. A rod of
negligible mass and length l has one of its endpoint coinciding with the first mass, while a second
particle with mass M (Sancho Panza) is attached to its other endpoint. The rod is free to oscillate
in the plane containing the circle. Gravity acts as usual along the vertical direction.

(i) How many degrees of freedom does the system have? Find generalised coordinates for the
system. [3]

(ii) Write down the Lagrangian for the system. [7]

(iii) Determine the equilibrium positions of the system. [3]

(iv) Write down the Lagrangian describing the small oscillations about the stable equilibrium
position. Determine the frequency of the small oscillations about the stable equilibrium
position for the case where M = m. [7]