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    CHAPTER Hamilton's Principle— Lagrangian and Hamiltonian Dynamics 7-4, Four coordinates are necessary to completely describe the disk. These are the x and y coordinates, the angle @ that measures the rolling, and the angle ¢ that describes the spinning, Gee figure). ec ~~ ‘ Since the disk may only roll in one direction, we must have the following conditions: dx cos ¢+ dy sin 6=Rdo a ay dx tan 2) These equations are not integrable, and because we cannot obtain an equation relating the coordinates, the constraints are nonholonomic. This means that although the constraints relate the infinitesimal displacements, they do not dictate the relations between the coordinates themselves, e.g, the values of x and y (position) in no way determine @ or (pitch and yaw), and vice versa. 7-2. Start with the Lagrangian LEI (ep +a 2dcos ) + (¢0sino) ]+ mgr cos a) =F [(% bat)? +2(09 + at)4Bcos + £4 } mgt cos 0 @ 181 182 CHAPTER? Now let us just compute die m(2) + at) Ecos 0+ me0 | @) = mat cos 0 ni(v,—at)¢0 sin 0+ mt @ in(o + at) £0 sin 0—mgé sin O 6 According to Lagrange’s equations, (4) is equal to (5). This gives Equation (7:36) s sin +5008 0=0 6) To get Equation (7.41), start with Equation (7.40) g.6089, asin 6, oe @” and use Equation (7.38) 8) cos sin, = @ Inserting this into (7), we obtain (10) as desired. We know intuitively that the period of the pendulum cannot depend on whether the train is accelerating to the left or to the right, which implies that the sign of a cannot affect the frequency. From a Newtonian point of view, the pendulum will be in equilibrium when it is in line with the effective acceleration. Since the acceleration is sideways and gravity is down, and the period can only depend on the magnitude of the effective acceleration, the correct form is clearly fa? + 3° HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 183 73. \ » a \ "ey b If we take angles @ and ¢ as our generalized coordinates, the kinetic energy and the potential energy of the system are T Ami(R-pyo? tie a U=[R-(R- p)cos @|mg @) where nr is the mass of the sphere and where LI = 0 at the lowest position of the sphere. lis the moment of inertia of sphere with respect to any diameter. Since { = (2/5) mp, the Lagrangian becomes L=T-U= Fm(R—py oe inte -[R-(R=p)cos @|ng 3) When the sphere is at its lowest position, the points A and B coincide. The condition A0 = BO gives the equation of constraint: £(8,9) =(R— pyO- pd=0 @ Therefore, we have two Lagrange’s equations with one undetermined multiplier: a ad iS ad. 00 tt wl" 20 cob ead (OL Oe o¢ dt| ap) “Op After substituting (3) and af/00=R~p and of /@¢=—p into (3), we find 6) —(R- p)mg sin 0—m(R— py B+ A(R-p)=0 © 2 npb— 10-0 0 From (7) we find 4: or, if we use (4), we have 2 Zm(R- 0 ® Substituting (@) into (6), we find the equation of motion with respect to @: 184 CHAPTER? B=-0" sind (oy where @is the frequency of small oscillations, defined by Sy o any 74, @ If we choose (7,0) as the generalized coordinates, the kinetic energy of the particle is Lin(at oa) =Z n+ 22?) a) Since the force is related to the potential by 2) we find @) where we let [I(r = 0) = 0. Therefore, the Lagrangian becomes 1 ia, a 4 a re)—Ap 4 nf -e)-Ar @ Lagrange’s equation for the coordinate r leads to fet — ar P+ Ar ® Lagrange’s equation for the coordinate @ leads to a Lr (ar?8) =o © Since mr’4= is identified as the angular momentum, (6) implies that angular momentum is conserved. Now if we use ¢, we can write (5) as a Multiplying (7) by +, we have HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. which is equivalent to | = d[4e|-o at|Qmr? | dela | Therefore, da irs =9} and the total energy is conserved. 75. | e ~ Let us choose the coordinate system so that the x-y plane lies on the vertical plane in a 185 e 0) gravitational field and let the gravitational potential be zero along the ¥ axis. Then the kinetic energy and the potential energy are expressed in tetms of the generalized coordinates (7,9) as ees 7 znd +e) Abaca Sees mgr sin from which the Lagrangian is pipe A a mgr sin & Therefore, Lagrange’s equation for the coordinate ris int — rir? + Ar™ 7+ mg sin pO] Lagrange’s equation for the coordinate gis 8) + mgr cos p= 6) Since mr’@ is the angular momentum along the 2 axis, (5) shows that the angular momentum is not conserved. The reason, of course, is that the particle is subject to a forque due to the gravitational force. 186 CHAPTER? 76. Let us choose £$ as our generalized coordinates. The x,y coordinates of the center of the hoop are expressed by r= 8+ Seosatrsina @ yereosa+(E—S)sin Therefore, the kinetic energy of the hoop is Tap =m F)+ LI =fin| (E+ Scova) +(-Ssine) | Sie 2 Using I= mr* and $= rg, (2) becomes he =4m[2st +P 2B cosa] @ In order to find the total kinetic energy, we need to add the kinetic energy of the translational motion of the plane along the x-axis which is Tyme = ME @ Therefore, the total kinetic energy becomes T= He MSP mi cos a © The potential energy is U=mgy = mg[r cos a+ (¢-S)sin ar] © Hence, the Lagrangian is ams Hn M)E + miB cos a—mglr cos a+ (¢-S)sin a] ® from which the Lagrange equations for Zand S are easily found to be [2m + me cos c— mg sin a= 0] 6) [ime )E+ mi cos 0) ® HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 187 or, if we rewrite these equations in the form of uncoupled equations by substituting for £ and S,wehave tM (0) ig sin @cos 2(in+ M)—meos™ a Now, we can rewrite (9) as, a rll ME mS cos a] =0 a1) where we can interpret (1m + M)é as the x component of the linear momentum of the total system and iS cosa as the x component of the linear momentum of the hoop with respect to the plane. Therefore, (11) means that the x component of the total linear momentum is a constant of motion. This is the expected result because no external force is applied along the x-axis rT. If we take (6,,9,) as our generalized coordinates, the xy coordinates of the to masses are cos ¢ y= sin gy x, =f cos d + 4 cos gy a) @) sin 4, + ésin 4, Using (1) and (2), we find the kinetic energy of the system to be mya, gay, TaD) HB TELM + + B+ Hd (sin 9 sin d+ c08 4, 608 4,)] = FE [2H + + 2p, co5(H,-4)] e 188 CHAPTER? The potential energy is U=—ingx, ~ mgr, = —agé[2 cos 9, + cos ¢, | cy Therefore, the Lagrangian is Lem Ty tah ih 0s (9, ++ mge[2 cos 4 + cos $,] 6) from which = E dyghy sin (gy — by) —2ingt sin 6, = i+ eG, co5( 6, — bs) i © £ ‘ £ sin gy 3 ee éL 2 2, a ee The Lagrange equations for g, and @, are 24, +8, co9(6, —#) +d sin (Hh —4)+ 2sin 6, =0 2) 13 + #, cos(d,—9,)— Hf sin(y ~ # (8) 78. Let us choose the x,y coordinates so that the two regions are divided by the y axis: U, x<0 U(x)= Uy x0 If we consider the potential energy as a function of x as above, the Lagrangian of the particle is, clearer Eas m(x?+ VP )-U(x) a Therefore, Lagrange’s equations for the coordinates x and y are HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. ne 2) is ng= Using the relation aP,_ dP. dP, dp, fe ee ed dk tm de 2) becomes Integrating (5) from any point in the region 1 to any point in the region 2, we find 4 P dP. eaux) Vea ret Pe Pe e-t+U,-U,=0 2m 2m or, equivalently, Fins +U, a4 Solving for A and B gives: or 713, a) i HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 195 y=-beos 6 #=at—bOcos 8 y=bdsin o Vinge a? L: ame +9)-mgy od in(eet? ~208 60 cos 04 6°08) + mgh cose AB aa ao ® 4 mat bcos 0+ mi?0] mat bsin @—mgh sin 8 This gives the equation of motion 1S sino“ cos 0= 0+ F-sin 0+ cos 0=0) 1b) Tofind the period for small oscillations, we must expand sin and cos @ about the - For equilibrium, equilibrium point 4,.We find @, by setting @= sin A = 2.605 0, tan @ = Using the first two terms in a Taylor series expansion for sin @ and cos @ gives F(O)= F()+ FJ, (0-4) sin 0 = sin 4, + (8-@,)c0s % cos 0=c0s & ~(0~0)sin A tan ay implies sin 4, 196 CHAPTER? Thus 0s O=: lg Substituting into the equation of motion gives 0-04 This reduces to The solution to this inhomogeneous differential equation is 0=0,+ Acos 00+ Bsin 08 where (e+e)! eae Thus 714, x=bsinO 1 = Lat? —b eos yazat bos ¥=b9e08 yeats bosin@ e +P )=5 (PO +0°t + 2abtdsin 6) HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 197 U=mgy~ m3 at°—cos a] L=T- ice 1 Lin(ie? =< +2abtd-sin 0) ng{ boos o-La Lagrange’s equation for @gives Simvios ‘abt sin 8 |= mabt@ cos 8~imgb sin 8 0784 absin d+ abtO cos A=abtOcos 0 ghsin @ Ja+*8 cin o=o] b For small oscillations, sin 0= 0 86-9. Oy & Comparing with 6+*0-0 gives 715. b= unextended length of spring 4= variable length of spring Liege ym? +20) U=sk(£—by + mgy=—k(¢—b) —mg £08 8 2 see ate spy ede eae T-Uazm(e +0 #)-5 (Wy + mg 600s O Taking Lagrange’s equations for fand @gives Simi = mee? —K(¢—0) + mg cos 0 198 CHAPTER? This reduces to 7-16. For mass m: reasin ot +bsin 0 y=-beos 6 = 200C05 ot + bOc08 O y= basin @ Substitute into Ain(ses U=mgy and the result is La1-U-L nt st «Pie cos et cos 0-10) meas Lagrange’s equation for gives d ns a aber cos et cos 0+ mb6) = —mnabewO cos ot sin A mgh sin 8 —abeo? sin ot cos 0 aberd cos ot sin 8+ b= — abeod cos wt sin O~ ghsin @ or a+ Sin ofa sin ot cos = 0] HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 199 TAD Using q and (= of since @(0) = 0), the 1,y coordinates of the particle are expressed as x= heos 0+ 4qsin = heos of +4(!)sin ot qa) sin 9-4 cos 0=hsin a! —4(}cos a from which ey sin ot + 4or cos a+ sin ot @ Y= he cos ot + gorsin of —jjcos ot Therefore, the kinetic energy of the particle is m(2+9) (20? + qo? + q)—mhoy @) The potential energy is U=mgy = mg(hsin ot —4cos et) @ Then, the Lagrangian for the particle is Lad mite? + 3 gta? + + ng? — gh sin eat + 13gq c0s cot — hax} ® Lagrange’s equation for the coordinate is jeg g cos ot 6 The complementary solution and the particular solution for (6) are written as q.(t)=A cos (iat + 5) @ £ cos ot pl!) =-sRpeos 0 so that the general solution is a(t) = A cos (iat + 3)— 6) Using the initial conditions, we have 200 CHAPTER? g 9(0)= A cos 5-~S-=0 207 @ §(0)=—oA sin 5=0 Therefore, s = 0, A=a8, ) 820, Aaa (a0) and (8) = 55 (cos ft — cos!) «ay or, al?) = 55 (cosh ot cos | ay In order to compute the Hamiltonian, we first find the canonical momentum of . This is obtained by p= Gam- moh (13) Therefore, the Hamiltonian becomes H=py-L = mij? — mosh ; mark Fmot ing + mgh sin oo — mgq cos ort + moxjl so that B= Ang? — 4 mo? mate? = mghsin ot —mgq cos oF a4) gmt 5 zmorg +m 81 Solving (13) for j and substituting gives =F + lp 3 mesg? + mghtsin ot ~ mgq.cos ot (15) The Hamiltonian is therefore different from the total energy, T + U. The energy is not conserved in this problem since the Hamiltonian contains time explicitly. (The particle gains energy from the gravitational field.) HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 201 7-18, we From the figure, we have the following relation: AC=¢-s=t-RO ay where Gis the generalized coordinate. In terms of @, the «vy coordinates of the mass are x= TAC cos 0+ Rsin 0=(— RO)cos 0+ Rsin a Q) y=Reos 0~ AC sin @= Reos O-(?—RO)sin 8 from which @) Therefore, the kinetic energy becomes Tapm(s + A)=hm[ CO RPP 2R008"] ® The potential energy is U=mgy = mg| R cos 6-(€- RO} sin 0] ©) Then, the Lagrangian is L=T-U 3 m[ 26 + R06 —~2REAP |- mg[ Roos 0-(¢—R9) sin 6] (6) Lagrange’s equation for is (¢-RO}D- RE — gcos 0=0 @ Now let us expand about some angle 4, ,and assume the deviations are small. Defining, =0- 0,, we obtain ep 880%, $054 ® 4-R0, RA, The solution to this differential equation is 2=Asin(o! + 8)+ 22% ° sin, where A and éare constants of integration and 202 CHAPTER? oy is the frequency of small oscillations. Its clear from (9) that @ extends equally about 4, when = 2/2. 7-19, Because of the various constraints, only one generalized coordinate is needed to describe the system. We will use ¢, the angle between a plane through P perpendicular to the direction of the gravitational force vector, and one of the extensionless strings, e.g., f,,.a3 our generalized coordinate. The, the kinetic energy of the system is ToS m(eyd) + Rm(to9) a 2! The potential energy is given by U=—mgt, sin(2—(p+ ))- m,gé, sin p 2) from which the Lagrangian has the form 8h = mt3) + mgt, sin( 9+ O)+m,ge, sin p 8) The Lagrangian equation for ¢ is Mm,gl, cos. b+ m,88, cos( $+ O)—(m1y!7 + Hye This is the equation which describes the motion in the plane m,, ,,P To find the frequency of small oscillations around the equilibrium position (defined by ¢= 4,), we expand the potential energy Labout 4: (A) =A) (Aon SUM(A)E , p =hun(ayy 6 where the last equality follows because we can take LU(,)=0 and because U'(4)=0. From (4) and (6), the frequency of small oscillations around the equilibrium position is HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. Una) me + My The condition U’(4)=0 gives or, sin 4, = _ bs + mye 6058 tan $d, sin O if, + My! cos 0 (22 HBB 2mame, cos Then from (2), (7), and (8), U"() is found to be U"(H)=g sin Fy f + m6, c08 A+ ms sin O cot gy) 3 (me, + mL, cos A) apie aia soa| (ne + 8 + Qnynty£ 2 cos 8) mf} sin? 0 Myf +m, cos 04M _ wee My + mE, cos O (mej + mB + 2m, e, 2, cos 0)” Finally, from (6) and (9), we have which, using the relation, can be written as (ej +86 + 2mm f, cos 0)” aye + 0s 0-St hot 2h joo” gL lm +m (me + m0) — may (inmate) 203 @) oy at) 2) Notice that * degenerates to the value ¢// appropriate for a simple pendulum when d-> 0 (Go that f,=#,). 204 CHAPTER? 7-20. The vy plane is horizontal, and A, B, C are the fixed points lying in a plane above the hoop. The hoop rotates about the vertical through its center. The kinetic energy of the system is given by 1 T Piet Bi oe, Ld ee Jos 7M <5 atu S ho @ For small the second term can be neglected since (22/06), ,=0 The potential energy is given by U= Mgz @ where we take U =O atz Since the system has only one degree of freedom we can write z in terms of 0. When 0= 0, z=—f, When the hoop is rotated thorough an angle @, then —(R-Reos a —(Rsin a) 8) so that z=-[P+2R?(cos 0-1)" @ and the potential energy is given by U=-Mgl + 2R*(cosa-1)]” ® for small 4, cos @—1= @[2;then, 6) From (1) and (6), the Lagrangian is bot ume @ aig HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 205 for small 6. The Lagrange equation for @ gives 6+56-0 ® fl which is the frequency of small rotational oscillations about the vertical through the center of where eo the hoop and is the same as that for a simple pendulum of length /. 721. From the figure, we can easily write down the Lagrangian for this system. mR? 2 U=-ingR 008 0 Q ff (@ + 0° sin® 0) a The resulting equation of motion for @ is, -e sin Ocos 0+ Ssin 0=0 3 R @) The equilibrium positions are found by finding the values of 8 for which 0 aa = 0" 608) Rising, a Note first that 0 and 7 are equilibrium, and a third is defined by the condition cos = oR To investigate the stability of each of these, expand using ¢= 0-0, cos Se ein, |(sin + 2608 0) (6) 206 CHAPTER? For 4, =, wehave b=o%(1+ o indicating that it is unstable. For 4, =0, we have é=0%(1- 6) which is stable if o < ¢/R and unstable if * > ¢/R. When stable, the frequency of small oscillations is Yo” — g/R . For the final candidate, sin’ he @ scillations of Jo” —(g/@R)_, when it exists. Defining a of = g/R, we have astable equilibrium at @ =0 when «< o, and a stable equilibrium at The frequencies of small oscillations are then of -(@./o) al frequency 0, =0s"(o/o#") when o> and @)1—(o./o)", respectively. To construct the phase diagram, we need the Hamiltonian a 06 H=6 (10) which is not the total energy in this case. A convenient parameter that describes the trajectory for a particular value of His ay so that we'll end up plotting. a2) for a particular value of « and for various values of K. The results for @<@, are shown in figure (b), and those for @ > @, are shown in figure (¢). Note how the origin turns from an attractor into a separatrix as increases through @,. As such, the system could exhibit chaotic behavior in the presence of damping. HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 207 a 43 ka os| eae EPL 1 z 3 6 (b) 1s ra os| s 2 1 0 1 z 3 6 © 7-22, The potential energy LI which gives the force F(x a must satisfy the relation @) we find u-Ler @) 208 CHAPTER? Therefore, the Lagrangian is, a The Hamiltonian is given by © so that 2K ew Hd =seee 6) The Hamiltonian is equal to the total energy, T+ U, because the potential does not depend on velocity, but the total energy of the system is not conserved because H7 contains the time explicitly, 7-23, The Hamiltonian function can be written as [see Eq, (7:153)] A= Zo k o 7 Fora particle which moves freely in a conservative field with potential U, the Lagrangian in rectangular coordinates is Sn(x+y? + 27)-U and the linear momentum components in rectangular coordinates are @ ei Heo[i mg oat] -] nfs g 22) ) sdn(t 2) su (epee) ® 7 # Syl Pet Py + Ps which is just the total energy of the particle. The canonical equations are [from Eqs. (7.160) and @.161)) HAMILTON'S PRINCIPLE—LAGRANGIAN AND HAMILTONIAN DYNAMICS. 209 ou oop |, = my = oA a ener oz These are simply Newton’s equations. 7-24. The kinetic energy and the potential energy of the system are expressed as 1 Fz zi T=5m(P +08 (a + 0 nf? 00)-Lm(e 02) : U=-mgt cos 4 so that the Lagrangian is LaT-U=Lin{a +26!) =mgt cose @) The Hamiltonian is H=po-1- 4-1 08 7 Le paae 4 =| Peep mat — mgt cos @) which is different from the total energy, T+ U. The total energy is not conserved in this system because work is done on the system and we have fe+ ujz0 a 210 CHAPTER? 7-25. In cylindrical coordinates the kinetic energy and the potential energy of the spiraling particle are expressed by Lifeareee Tame 2] Usmez Therefore, if we use the relations, 22k ie, 2=kO 7 =const. the Lagrangian becomes mg Then the canonical momentum is or, The Hamiltonian is or, Fe ge zl m Now, Hamilton’s equations of motion are @ © ® HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 211 8) so that (O) (ao) Taking the time derivative of (10) and substituting (9) into that equation, we find the equation of motion of the particle: ay It can be easily shown that Lagrange's equation, computed from (3), gives the same result as ay. 7-26. a) N Lath nee gy a I a eer L=hine2d? + mge cos Fint?O + mg Leo 30 Since UI is velocity-independent and the coordinate transformations are time-independent, the Hamiltonian is the total energy H=T+U=—P2._ ge cos 6 me” The equations of motion are 212 CHAPTER? oH Bo omstsin b) | @ re A mx? 2 where = moment of inertia of the pulley U=-mgx—mg(t—x) [ mt, + H=T+u i= —m,gx—mg(¢— 3) 2) m+ m+ a The equations of motion are eH = *. Ps Trem ] oH FE = mg —g = (th,— HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 213 7-27. a) a a %,, y) = coordinates of m, Using £, 0 as polar coordinates ay =, + feos 0 Yat esin d y= i, + 2c0s 0—¢0sin 8 a Go=9,+ bsin 8+ LBc0s 0 @ If we substitute (1) and (2) into Le (apr\etmnlesy)t 2 La TU sm (ai + 98) + mab +8) saleby the result is 1 ee eee 2 9 L= (mm + ims) (3 rH) esl? +068) stm} (cos 0+ Hy sin 8) + m2, £0( 1) cos 6% sin) —S(e-07 The equations of motion are 32 f lm =m) x, +m 208 0-m,0sin 6] =0 = my + my = So p, = constant vy Alm +m), + mye sin 2+ m4 cos 8] =0 [lm + mdi m ear tra Fy So p, = constant a £ vagume + my 1 60s + j, sin 8) |=, —K(£—b) + m,0(1p, cos O~ i sin 8) which reduces to 214 CHAPTER? B00? + ¥, c08 0+ ih sina K(e-v)=0 OA m0-+ mal c0s O-¥ sin )] yi sin @~ 9, 005 6) + ma F0(-%, cos Oy sin 4) which reduces to a+ 279, S285, 08 xo £ £ £ Bb) Aswas shown in (a) oL Bye Py eonatant (total linear momentum) @) Using 1 from part (a) = LL (i+ my) hy + nef cos O— my tO-sin 8 Ps, Py a (nt + 1,) 94 + mg sin O— n,80 005 0 » = imi €08 8+ myjh sin O+ mye Po =— Might, sin O+ m,j, €08 0+ m,20 Inverting these equations gives (after much algebra) 1 sind aa alr Coane) ».| : [ 1, €05 0 py sin 04 T= MB. 05 6 1 =+| p, -p,sino— it Am Py sin mh, my, | 1 ot sin 6- p,, cosO+ ma [rn Pr Since the coordinate transformations are time independent, and Uis velocity independent, H=T+U Substituting using the above equations for jj in terms of p, gives HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 215 The equations of motion are aH Py my sind ain Pics Os »| my + my Mt, ~ Pr, 089- Py, sin 4| oH +m, = +p,, sin @—p,, cos 8 oe a mye Pat Po Pry | OH 0 peo coe aH _tm +m nals sin @— p,, cos @)—k(£—b) eC sin +p, 608 0) fe alts 050+ p,, sin] Note: This solution chooses as its generalized coordinates what the student would most likely choose at this point in the text. If one looks ahead to Section 8.2 and 8.3, however, it would show another choice of generalized coordinates that lead to three cyclic coordinates (Xe Yew» and @), as shown in those sections. 7-28. F Since the coordinate transformations are independent of t, and the potential energy is velocity- independent, the Hamiltonian is the total energy. 216 CHAPTER? lm Hamilton’s equations of motion are oe op. om 7-29. t oA b= unextended length of spring {= variable length of spring. a) x=fsin@ X= fsin 0+ £0cosO fat? 260s 0 y=at—?cos 4+ £@sin @ Substituting into T= oe) Um mgy +5 (eb)! oe) 2 inf + 202 022+ 2at(tdsin 0-208 6) |= gl # os 0 (e-vF Lagrange's equations give: HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 217 el nd amt cos @] = mtd? + mat@sin @+ mg cos @-K(!—B) d . 0: iO mate sin 8] = mat? sin Ome sin 8+ mate dcos 8 Upon simplifying, the equations of motion reduce to: li c0? -(a+ g)coso+£e-v)-0} ™ 0+ 210+ 8 sin o=0 Z £ b) 2) Since the transformation equations relating the generalized coordinates to rectangular coordinates are not time-independent, the Hamiltonian is not the total energy. H=Dpage—Le pubs poO-Lb Substituting (1) and (2) for ! and @ and simplifying gives Be © 2” 2m op sin 0+-atp, cos 0+ dae —oy+ 3 ngat? — mgt cos 0 The equations for @ and # are oH Pe Being ope mee ie oe Fes at cos a agreeing with (1) and @)] The equations for p, and ji, are at fa SF pe sin O—k(4—b}+ a Pe sin O-K(E—b}+ mg cos +7 or at Spa c09 0 at p sin Omg tsin @ 218 CHAPTER? or lie p,0080 at p, sin 04 mgt sin 0=0 e) sin d=0,cos=1- = 2 Substitute into Lagrange’s equations of motion . [,#].£ 4 -(a+ 31-2 |+=(-v)-0 BP (ara) 1-F] (0) Forsmall oscillations, 0-1, 0<1, <1 . Dropping all second-order terms gi k k es imaesreciecei 6789-0 7 For 8, Ir, = 2220 | @ ag The solution to the equation for £ is Preegenoes + pata amma wnceafE stan En Beoa}ea So for é, 1, -2@— 9 o k 7-30, a) From the definition of a total derivat Using the canonical equations HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. One eee © OM 3p oe we can write (1) as or [as _ 28 ana eH b) 4-2 a According to the definition of the Poisson brackets, a5) Si oH eH (ay lat ar but 0 for any jx then (6) can be expressed as oH op In the same way, from the canonical equations, so that &p; OH Op; OF [pH ed Oe OP, Oe OH but ep, and 49 forany jx 219 Q) @ 6) © @ (0) ay 220 CHAPTER? oH a [pH] (a2) i aay oy, bi 2% Ca “ since, 2 0 forany kf (ay the right-hand side of (13) vanishes, and Pat, |=9| as) In the same way, Ome Oy Oe 2H (nal ae 7 ht <9 for any jt a7) OP the right-hand side of (16) vanishes and. as) d) =y| 2 (mn St % = Dou Fy as) or, 20) e) Let g()%,q,) bea quantity that does not depend explicitly on the time. If ¢(p,-¢) commutes with the Hamiltonian, ie, if [s-H]-0 Ql) then, according to the result in a) above, ag =o 2) and g is a constant of motion. HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 224 7-31. A spherical pendulum can be described in terms of the motion of a point mass 1 on the surface of a sphere of radius ¢, where / corresponds to the length of the pendulum support rod The coordinates are as indicated below. The kinetic energy of the pendulum is feed esses THE AP Fh? = 5 me (F sin? 0+) a) and the potential energy is U=mg? cos @ @ The Lagrangian is L Hine (@ sin? 6&2) mgt cos @) so that the momenta are aL p, == m0 4) Pa= aga @) po 7 =mépsin® 0 © ‘The Hamiltonian then becomes Jb: nd Ame Wi 0:2) mgrenee (6) V (0.74) = saab + mgt cos 0 @ When p, =0, V(00) is finite for all @, with a maximum at 90 (top of the sphere) and a minimum at @= 7 (bottom of the sphere); this is just the case of the ordinary pendulum, For different values of p,, the V-@ diagram has the appearance below: 222 CHAPTER? When p, >0, the pendulum never reaches 4=0 or 0= 7 because V is infinite at these points. The V-0 curve has a single minimum and the motion is oscillatory about this point. If the total energy (and therefore V) is a minimum for a given p,,@ is a constant, and we have the case of a conical pendulum. For further details, see J. C. Slater and N. H. Frank, Mechanics, McGraw-Hill, New York, 1947, pp.79-86. 7-32, The Lagrangian for this case is na) a Tot a(p orate 2 where spherical coordinates have been used due to the symmetry of LI. The generalized coordinates are 7, 6, and ¢, and the generalized momenta are ol pee me ® Laat 3 pa Se=mr'o 8) Py==mrpsin® 0 @ 8 The Hamiltonian can be constructed as in Eq, (7.155): He p.ts poO+ pgo-b ain +26 +12g sin’ )—* Eqs. (7.160) applied to H as given in (5) reproduce equations (2), (3), and (4). The canonical equations of motion are obtained applying Eq. (7.161) to H Pe mr sin (6) HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 223 GH __pycot® = can o 7 Pe 30 nr sin o au ae 8) oe @) The last equation implies that p, = const, which reduces the number of variables on which H depends to four: 7,9,P,, Ps lie a °) ral @) For motion with constant energy, (9) fixes the value of any of the four variables when the other three are given. From (9), fora given constant value of H = E, we obtain 2 my sin? 0+ const Be ao p--[ane— HE resin’ 0 t and so the projection of the phase path on the rp, plane are as shown below. 7-33. Neglect the masses of the pulleys, il aoe “ ang 5m, (8 8) + mesa 8) Tr 2 =Hm,gx—mg(E—2+ x!) mgg(f—x4 2!) 224 CHAPTER? 1 a1 2 " LR, 4 +)? +L 4 ms) + (m, —) 4g (m —m, —m,)x+ g (ms —m,)x” + constant We redefine the zero in U such that the constant in L a Py == (im, + ty + Hg) + (rg — me)” a F a. : Pe =F (ts aa) + (ty +s) Q Solving (1) and (2) for p, and p,, gives =D" [ (mp + m5)p, + (im—ms)p. | B= D"[ (1m + m,) p+ (01,4 +14) Hy ] where D= my, + iy, +4m,i, H=T+uU t,t +) Ft, samy) + (1, 1m) xk ~s(m beac tess ms) x— s(m, a m)x” Substituting for ¢ and i’ and simplifying gives JD" pb Rm, © m+ ms)" pe + (mt, — me,)D7 pe — gl ty — mt, + tty) — gm — m2" where D= yt + my + Anais The equations of motion are on oP. oH Pe eH 2 a(n —m—m) ~m,)D* P. (1, + mt,)D" p+ (2m, —m,)D* p+ (mm, +m, + m,)D" pe HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 225 7-34, The coordinates of the wedge and the particle are Xyae Xq = 708 +x ay Yue =0 Yu =—rsin 0 The Lagrangian is then L Me 3 Ele 4 16" + 2i¢ cos O- 2ird sin 8) + mgr sin 0 Q Note that we do not take r to be constant since we want the reaction of the wedge on the particle. The constraint equation is f(x,4,r)=r-R=0 a) Right now, however, we may take r= Rand 0 to get the equations of motion for and @. Using Lagrange’s equations, %=aR(Osin 0+ F cos 0) 3) Hsin 0+ ¢ cos 0 6=—_— (4) R @ where a= m/(M +m) b) We can get the reaction of the wedge from the Lagrange equation for r A= cos O- MRO ~ mg sin O © We can use equations (3) and (4) to express ¥ in terms of @and @,, and substitute the resulting expression into (5) to obtain [baler song : asin’ @ To get an expression for @ let us use the conservation of energy ee FR e2R0sIn 0) mgR sin 0=—mgR sin 8 ” where @, is defined by the initial position of the particle, and —gR sin @, is the total energy of H the system (assuming we start at rest). We may integrate the expression (3) to obtain i =aROsin @, and substitute this into the energy equation to obtain an expression for @ — sin O;) 2) 2g(sin a op —2als R(I_asi 6) 226 CHAPTER? Finally, we can solve for the reaction in terms of only @and @ mMg(3 sin @—a sin’ @~2sin 4) (M+ m)(1-asin® of @ 7-35. We use 2, and p, a3 our generalized coordinates, the subscript i corresponding to the ith particle, For a uniform field in the = direction the trajectories ate given by (#) and momenta p = p(t) nF Bk Fal Ris ay Pe= Po —mgt where 29, Pio, and 2p = Py/ it are the initial displacement, momentum, and velocity of the ith particle. Using the initial conditions given, we have (a) 2b) (2c) (a) waz plot Ae) 1 op Qe) 2s cea Ps = Po + Apy—mgt (fy ot Ap)E 1 pt AZ, Pet Alt 1 @e) m2 Pa Po Ap — mgt @hy The Hamiltonian function corresponding to the ith particle is + mgz, = const. @) From (3) the phase space diagram for any of the four particles is a parabola as shown below. HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. 27 a ee From this diagram (as well as from 2b, 2d, 2f, and 2h) it can be seen that for any time t, P= Pe @) P= Ps 6) Then for a certain time f the shape of the area described by the representative points will be of the general form where the base T2 must parallel to the top 3-4. At time f = 0 the area is given by Az,Ayo, since it corresponds to a rectangle of base Az, and height Ay. At any other time the area will be given by {base of parallelogram| AP Ay © Thus, the area occupied in the phase plane is constant in time. 7-36, The initial volume of phase space accessible to the beam is Vo=aRiaps ay After focusing, the volume in phase space is Vi = aRiapy 2) 228 CHAPTER? where now 7, is the resulting radius of the distribution of transverse momentum components, of the beam with a circular cross section of radius R,. From Liouville's theorem the phase space accessible to the ensemble is invariant; hence, Vy =aRiap? =V, = aR ap? 8 from which RPo A= @ R If Ry < Ry, then p, > py, which means that the resulting spread in the momentum distribution has increased This result means that when the beam is better focused, the transverse momentum components are increased and there is a subsequent divergence of the beam past the point of focus. 7-37, Let's choose the coordinate system as shown: The Lagrangian of the system is with the constraints mtyah &, which imply 2x, +, +3,—@h +1 )=0 = 2B Se ® The motion equations (with Lagrange multiplier 4) are HAMILTON'S PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS. #&y, mg —m,

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