Lagrange equations derived from

D’Alembert’s principle [mln8]

−k
3N
" N
#
X X ∂ri
D’Alembert’s equation: (mi r̈i − Fi ) · δqj = 0
j=1 i=1
∂qj

N
X ∂ri
• Fi (rj , ṙj , t) ⇒ Fi · = Qj , j = 1, . . . , 3N − k.
i=1
∂qj
N
. X ∂ri
Qj (q1 , . . . , q3N −k , q̇1 , . . . , q̇3N −k , t) = Fi · .
i=1
∂qj
N N    
X ∂ri X d ∂ri ∂ ṙi
• mi r̈i · = mi ṙi · − mi ṙi · .
i=1
∂qj i=1
dt ∂q j ∂q j

3N −k
dri X ∂ri ∂ri ∂ri ∂ ṙi
= q̇l + = ṙi (qj , q̇j , t) ⇒ = .
dt l=1
∂ql ∂t ∂qj ∂ q̇j
N
" N
!# N
!
X ∂ri d ∂ X 1 ∂ X 1
mi r̈i · = mi ṙ2i − mi ṙ2i .
i=1
∂q j dt ∂ q̇ j i=1
2 ∂q j i=1
2
N
X 1
Kinetic energy: T (qj , q̇j , t) = mi ṙ2i .
i=1
2
3N −k  
X d ∂T ∂T
⇒ − − Qj δqj = 0 with independent δqj .
j=1
dt ∂ q̇j ∂qj

d ∂T ∂T
⇒ − − Qj = 0, j = 1, . . . , 3N − k.
dt ∂ q̇j ∂qj
Assumption: Fi = −∇i Ṽ , Ṽ (r1 , . . . , rN , t) = V (q1 , . . . , q3N −k , t).
∂V ∂V
⇒ Qj = Qj (q1 , . . . , q3N −k , t) = − , = 0.
∂qj ∂ q̇j
.
Lagrangian: L(qj , q̇j , t) = T (qj , q̇j , t) − V (qj , t).
d ∂L ∂L
Lagrange equations: − = 0, j = 1, . . . , 3N − k.
dt ∂ q̇j ∂qj
. ∂L
Generalized momenta: pj = , j = 1, . . . , 3N − k.
∂ q̇ j