Lagrange’s Equations for Conservative Systems

In a conservative system, the generalised forces can be derived from a potential function V. Potential functions
can represent the effects of:

• Ideal springs (energy storage) - Energy storage = 1

2 kx 2

• Gravity - energy storage = mgh

When dealing with such systems, a so-called ‘Lagrangian’ L is defined as follows:

L  T V (1)

The appropriate form of Lagrange’s equations for conservative systems is given by:

d L L (2)
  0
dt   q i   qi

1.1 Application to a 2-degree-of-freedom system

This is a conservative system, and so we can use form (2) of the equation above. The springs have negligible
mass, and there is no energy loss in system. We define generalised co-ordinates x (displacement from
equilibrium - this eliminates any gravity forces) and , the angular displacement of the pulley whose moment
of inertia through its axis is I.

Kinetic and potential energies given by:

T  12 I 2  12 mx 2
V  12 k1 (r ) 2  12 k2 ( x  r ) 2

(recall that energy stored in a linear spring, stiffness k, E = 1/2 kx2).

Thus the Lagrangian L  12 I 2  12 mx 2  12 k1 (r ) 2  12 k2 ( x  r ) 2 . This has to be differentiated as

follows:

L  ,  d   L   I
 I  
 dt   
L
 k1r 2  k 2 r ( x  r )

 r 2 (k1  k2 )  rxk 2

So the first equation of motion can be written as:

I  ( k1  k2 )r 2  rk2 x  0

Similarly,
L d L
 mx ,     mx
 x dt   x 
L
  k2 (x  r )
x
which leads to the second equation of motion: