1. A small block of mass m rests atop a smooth hemisphere of radius R. Itis given a small (infinitesimal) push and slides without friction across the surface of the sphere. At what elevation above the center of the sphere will the block leave the sphere?L.A bead of mass m slides without friction on a circular wire hoop of radius a. The hoop lies in a vertical plane and rotates about a vertical diameter with constant angular velocity w. (a) Write an expression for the kinetic energy, T. (b) Write an expression for the potential energy, V. c) Write the Lagrangian function. (e) ls 7 +V constant? Why (or why not)? (t (g) What is the critical value of w below which no equilibrium is allowed for @ > 0? } } (ce) (d) Write the Lagrangian equation of motion. } ) Determin the equilibrium position wy for a given w.1. A rocket is to be launched straight upward. If its engines cject gas at 1500 kg/sec with a molecular velocity of 50 km/sec, what is the maximum initial mass that the rocket can have and still achieve “lift-off”?1. A uniform cylinder of radius F rolls without slipping on a horizon- tal surface. A massless spring is attached as shown in the figure. If the mass of the cylinder is m and the spring constant is k (a) determine the frequency of oscillation, and (b) a relation between the maximum velocity of the center of the cylinder and the amplitude of oscillation of the center of the cylinder. e ee ee1, Note: A dean concise explaination of your work should accompany all equations] V particles whose cartesian coordinates (0) Consider » system of V, depend cn generalized coordinates 9, but no 6-1 explicitly upon time Ti Ti (492:- With 7, the kinetic energy of the system, the generalized mo- mentum p, is cetined vie Tus the cartesian system, Newtou’s equations at d, Fy iman) = F: i, Write the total work dW’ cone by the jorces Fy in terms of generalized ierces Q; and infiniteseimal displacements of the generalized coordina: 11, Show that eolaining especially the term 2. lil, Ifthe forces Q; are derivable from a potential V, derly Legranges equations involving L—T—V, assurning V does aot depead on the 4) iy. What are the independent variables in L? vy. Define the Femiltonian W= So p59, -L and show that = T+V. vi. Derive Hamilton's equations, explici:ly stating what variables are independent. (b) Consider a particle constrained to move on tie surface of a Exed nocth cylinder cf radias R. The particle is attracted to a fed point O, on tae axis of the evlinder with a force proportional ta the dlistance from Q. “The motion isto besolved using Karvilton's equations. i. What generalized coordinates have you: chosen’? fi, Welle the Legrandiaa. 1, Find the generalized momenta iy. Pad te Hauuiltoaia vv. Solve for the motion, using Hamilton's eqnations, vi. Describe in words the motion of the patticleL. A simple pendulum of mass m and length | is rotating rapidly in a vertical plane. Thus the parameter => 0. In addition, the two marbles repel each other by the somewhat strange interaction potential : 1 2 U(r) = —5htr = re) (a) Write down the total Hamiltonian of the system. What are the constants of the motion and why? (b) Change to center of mass and relative coordinates, and identify a special value of k that simplifies the problem. (c) For this special value of k, identify the cyclic coordinates and write the equation of motion for the non-eyeclic coordinate(s). [Do not try to solve.)L. Two identical pendula with bobs of mass, m. and massless strings of lenght €, are coupled together as shown and confined to move in the plane of the paper. (a) Construct the Lagrangian for this svstem in the coordinates @1, Oy. (b) Derive the equations of motion for this system. (c) For small @;, 8, find the normal mode frequencies of this system.L. A bead of mass m slides without friction on a circular loop of radius a. The loop lies in a vertical plane and rotates about a vertical diameter with constant angular velocity w. (a) Por angular velocity w greater than some critical angular velocity w,., the bead can undergo small oscillations about some stable equilibrium point 65. Find w,. and @,{w). (b) Obtain the equations of motion for the small cscillations about % as a function of w and find the period of oscillations.L. Consider a particle with mass m in a central potential U(r) = Kr”. (a) For what values of A’ and n would a stable circular orbit exits? (b) Find the radius of the circular orbit. (c) An almost circular orbit can be considered to be a cireular orbit to which a small perturbation is applied in the radial direction. Find the frequency of the radial motion for an almost circular orbit in this potential. (d) Show that the apsidal angle (the angle subtended by two suc- cessive minima in the radius r of this almost circular orbit is InP n. (ce) What are the values of A’ and n that would give closed almost circular orbits? Sketch the orbits for three examples.1. You have been asked to help a sixth grader with his Science Fair project. He has decided to “race” a series of rolling cylinders down an inclined plane and measure their times of travel. Some of the cylinders are solid and some are cylindrical shells. Although they are of varying dimensions and materials, each is of uniform density. He starts each cylinder from rest at the top of the same plane, as shown in the diagram below. Much to his suprise, he has found that all of the solid cylinders take the same amount of time to roll down the plane, and all of them roll faster than any of the cylindrical shells. (a) Derive the formula for the moment of inertia of a cylindrical shell of mass m, inner radius r), and outer radius ro, rotating about a longitudinal axis through the center of the cylinder. (b) Write the Lagrangian for the rotating cylinder with mass m, moment of inertia 7, and outer radius r, in the diagram above, in terms of the coordinate s measured along the inclined plane as shown. The cylinder starts from rest at the point s = 0, which is at the top of the plane. Assume that the cylinder rolls without slipping. Use your Lagrangian to derive the equation of motion s(#) for the cylinder. (c) Use the results from parts (a) and (b) to find the times s(t) for both the solid cylinder and the cylindrical shell to roll down the inclined plane. Use these times to explain the results in the sixth grade student's experiments. (d) The moment of inertia of a solid sphere of mass m and radius r is] = 2 ar, Use this result to show that all solid spheres would take the same amount of time to travel down the inclined plane, and that they would win the race against all solid cylinders, ie. their travel time down the plane is shorter than any solid cylinder,L.A free particle in two dimensions has a Lagrangian L = $m(a? + y?). Suppose the particle is constrained to move on a circle 2? + y? = PR’. (a) Using a Lagrange multiplier, write the Lagrangian with this con- straint. (b) Find the resulting Euler-Lagrange equations. (c) Solve the Euler-Lagrange equations and the constraint to get the motion of the particle.|. Consider a spring of length x (unextended) and spring constant A’. Assume the spring is completely rigid in the direction perpendicular to its length. One end of the spring is fixed, the other attached to a rod of length L, mass AM, and density p twice that of water. The rod hangs into a tub of water; at equilibrium, half its length is submerged. For this problem, ignore the viscosity of the water. (a) How long is the spring when the system is in equilibrium? (b) Assume that the kinetic energy part of the system’s Lagrangian has the form 4M*z?, where AM! is an effective mass. Explain why M* 4M. Is M* smaller or larger than MW? (c) Find the potential energy part of the Lagrangian, assuming the tub of water is extremely large. What is the frequency of small oscillations in this case? (d) Pind the potential energy part of the Lagrangian if the cross section of the tub is only four times that of the rod.1. Consider an oscillating svstem with two masses and three springs connected to two fixed walls, as shown. Set all masses equal to 1 and all spring constants equal to 1. Let TQ displacements from equilibrium. The equations of motion can be written X = FX, x| . X= ( ) be the vector whose components x; are the horizontal (a) Find the matrix F. (b) Solve for the frequencies w that satisfy -w2N = FX. (c) Solve for the normal modes, i.c., the eigenvectors. } (d) Sketch the modes.L. Astraight wire with one end at the origin rotates in the x-y plane with constant angular velocity w. A bead of mass m slides along the wire without friction. At time ¢ = 0, the bead is located a distance 7p from the origin and has zero initial racial velocity. Ignore gravity. (a) Find the position of the bead as a function of time. (b) Construct the Hamiltonian for the bead and determine whether it is a constant. (c) Is the bead’s energy conserved’? Explain how your answers to b) and c) are consistent.L. A uniform thin ladder is set at rest against a frictionless Hoor and wall. (a) Use Lagrange’s equations to obtain the equation of motion. (b) At what height will the top of the ladder lose contact with the wall? [s your answer to a) valid for subsequent times’1. Consider the system in the figure consisting of two identical mass- less springs, a mass-less string, a frictionless pulley, and a block suspended in a uniform gravitational field g. The block can only move up and down. The pulley is a uniform disk of radius A, the pulley and the block have the same mass, .W. The spring constant for each spring is A’. The string over the pulley does not slip. (a) Show that the moment of inertia of the pulley is J = 5MR?. (b) Define suitable coordinates and write down the Lagrangian of this system. (c) Find the equations of motion. (d) Find the eigen-frequencies.L. Three equal masses (M) are connected by three equivalent springs (spring constant A’) and at equilibrium form an equilateral triangle configuration. The masses move frictionlessly on a flat table (the x — y plane). (a) Write the Hamiltonian of the system. (b) Identify and describe the constants of motion of the system. (c) Categorize completely the normal modes of motion of the system by sketching and giving the rough order of frequencies. (d) Pind the frequency of the fully symmetric vibration, if M is the mass of the carbon atom (six protons + six neutrons) and A= 10 ev/A®,L.A mass-less rod of length | is free to rotate around one end in the vertical plane. The other end of the rod is a mass m, which has a velocity v at the bottom. © is a small velocity compared to ql. Describe the motion as quantitatively as possible when w is (a) (b) (c) (d) (e} 13 bo my 5° ot ‘ bo e (iL.A beam of mass my and length £ is connected to a wall by a massless hinge and a massless wire, as shown in the figure. A mass my is suspended from the end of the beam, as shown. (a) What is the tension in the wire? What is the force exerted by the hinge? (b) The wire snaps. What is the angular acceleration of the beam about it’s pivot point immediately afterward? (c) What is the angular velocity of the beam as it falls through the horizontal position’?1. Three masses are connected by two springs and slide without: fric- tion on a wire in 1 dimension, as shown above. The spacing between the center mass and either outer mass is / when the springs is un- stretched. The force constant of the spring is k. Neglect rotation about the «c-axis. (a) How many normal modes of oscillation are there for the system? Explain, describing as much as you can about the properties of the normal modes without going through the complete analysis of the system. (b) Introduce appropriate “equilibrium coordinates”, set up the sec- ular determinant for the eigenfrequencics, and solve for them.1. A uniform steel loop 4 ft. in diameter and weighing 20 Ibs is hung, as shown, on two small pegs 3 ft. apart and determining a vertical line. The upper peg is within the loop, the lower peg is outside the loop, and there is negligible friction at the points of contact of the loop and pegs. Find the force exerted by each peg.1. A particle moves in a central potential V(r). If the angular mo- mentum /, and the constant & are properly chosen, then particle will describe an orbit r= ke Assuming that you know the particular values of / and & that make this work, find V(r).1. When lying on the ground, a uniform cable, composed of material of mass density » and Young’s modulus Y, is of length Ly. How long is the cable when it is suspended from its top end in a uniform gravitational field g?1. The transformation g,.p — Q(g.p), Pg. p) is canonical. Given that Q = ia + p°), what is the most general form of P(q,p)?1. Consider a system assembled of identical particles of mass m, and identical massless springs of constant &. Motion is confined to a line (longitudinal motion only). (a) First consider one mass and two springs in a gravitational field as drawn in Figure (1). Use y as a generalized coordinate. Find the Lagrangian, Lagrange’s equation(s) and the equilibrium value of y. (b) Now with g = 0, imagine a system of N masses and N + 1 springs between two fixed supports a distance I(.N + 1) apart as drawn in Figure (2). (The motion is only along a line.) Find the Lagrangian, the equations of motion and the normal modes. Boundary conditions are most easily treated by imagining a mass at each support which does not move, i-c., to = ry y1 = 0.1. A particle moves on a smooth cone of half angle a that is inverted in a uniform gravitational field g as drawn. (a) (15 pts.) What is the angular velocity, w, if the particle describes a horizontal circle at a height h above the vertex? (b) (25 pts.) Show that the period of small oscillations about this cireular path is 7, /2. cosa \f 3g1. A small bead of mass rm is constrained to a frictionless wire in the shape of a parabola y = aa” in the «-y plane. There is a constant gravitational acceleration g, in the y— direction. Use x as a generalized coordinate. a) Find the Lagrangian and Lagrange’s equations. (Do not solve.) b) Find the momentum canonically conjugate to =. } c) Find the Hamiltonian and Hamilton's equations. ) d) Using energy techniques, prove that 1+ 4a*x? 2¢al, 2gal A? — x?) — a?) where 7 is the period of the motion of the bead from 2 = —A to z = +A and back.l(a) Prove that the Poisson bracket of two constants of the motion is itself a constant of the motion even when the constants depend on time explicitly. (b) Prove that 2° is a constant of the motion if the Hamiltonian and F are constants of the motion. (You may find (a) above useful in answering this question.)1. A particle of mass MW is constrained to move without friction on the surface of a sphere of radius R, (the particle is always a distance R from a fixed point). Gravity is acting vertically downward. The particle is projected horizontally with a speed Vo at a point which is at a height that is B below the center of the sphere. Show that when the particle is next moving horizontally, it will be at a height that is X below the center of the sphere, and find the equation for X. Note, it is not necessary to solve for X’.1. A particle of mass MW and velocity 2 passes from a region of con- stant potential energy () into a region where its potential energy is Uy, also a constant. The boundary between the two regions may be assumed to be a plane. Determine the change of direction of the motion of the particle if the motion is nonrelativistic.. You are given a ring of N balls (each with mass m) connected by springs of length d@ and spring constant A’. Each of the masses is confined to move, without friction, on the circumference of this ring. (a) Within the harmonic approximation for small displacements, write down an equation of motion for one of these masses. (b) Assume wavelike solutions with frequency « and wave vector k, and derive the dispersion relation w(k) for waves traveling on this ring. (c) Calculate the speed of sound on this ring. The speed of sound is just the group velocity at low frequency.1. A bead of mass Af is constrained to move on a vertical hoop of radius R which is rotating about its vertical diameter with angular velocity w. (a) Find the Lagrangian and the Lagrange equation(s) of motion. (b) Find the critical angular velocity of the hoop, ©, such that for w < © there is a stable equilibrium position at the bottom of the hoop. (c) When w > 2, find the stable equilibrium position on the hoop.1. A uniform rod of mass m and length 3d hangs from a pin passing through it at a distance d from the upper end in a uniform g field. In terms of m, d, and g, find the magnitude of the smallest blow struck at the lower end that will make the rod describe a complete revolution.1. The Lagrangian for a relativistic particle in a potential V(x) is ba=—me* V1 — w/e — Vir) (a) Find the equation of motion. (b) Find the conserved quantity if V(r) is a constant. (c) Find the conserved quantity if V(r) = V(r}, r = |r|.1. A particle describes a plane circular orbit under the influence of a central force. If the force center lies on the circle, find the force law.1. For a rigid body, the inertia tensor is Tn = ome (= xidin — vv) o I and its kinetic energy is - lye) T=5MV"+5 pS Tx QO, where M = 3° m,, V = velocity of the center of mass, Q = (@), 9, OQ) is the angular velocity and y;, 7 = 1,2,3 denote any set of cartesian coordinates through the center of mass. (a) Write this general inertia tensor as a 3 x 3 array of expressions using x, y, z where (1, ¥2. ¥3) = (z,y, z) to demonstrate what the elements of J; actually mean. (b) How are the principal axes defined for a general rigid body. (c) Consider an ammonia-like molecule with 3 identical atoms lo- cated at the vertices of an equilateral triangle, and a fourth dif- ferent atom equidistant from these three, but not lying in their plane. Sketch the principal axes and find the principal moments of inertia.1. A uniform spherical planet of radius R describes a circular orbit of radius r about a fixed sun. The planet also rotates about its own axis, with angular velocity w normal to the plane of the orbit. Due to tidal action between the sun and the planet, w = |w| slowly decreases. Assume that the orbit remains circular and find an expression relating w and vr. (Let a, and rp be their initial values. The moment of inertia of a uniform sphere about its center of mass is 2mR?.1. A particle of mass M slides without down a frictionless include, also of mass .W. The incline is a right isosceles triangle with height and base equal to a. The incline rests on a frictionless horizontal plane. If the particles starts from rest at the top of the incline, find the time for the particle to reach the bottom of the incline.1. A wheel has a mass m and moment of inertia J = mk? where k is the radius of gyration. The wheel spins smoothly on a fixed horizontal axle of radius r which passes through a hole of slightly larger radius at the hub of the wheel. The coefficient of friction between the axle and the wheel is yu. (a) Determine the location of the point of contact between the wheel and the axle. (b) If the initial angular velocity of the wheel is wa how many revo- lutions does the wheel make before it comes to rest?1. A charged particle moves in the field of a simple fixed magnetic dipole that is located at the origin and points in the z direction. The system obviously has a symmetry with respect to rotation about the z axis. Determine the conserved quantity associated with that symmetry and verify, by calculating the time derivative of the quantity, using the equations of moetion, that it is in fact conserved.1. A particles of mass m moves under the influence of a central force —kmy'r®. The particle is in a circular orbit. Prove that the cireular orbit is stable under small oscillations for med1. A mass mm is suspended by a massless spring with spring constant Fk and relaxed length a. (a) Find the Lagrange equations of motion. (b) Use the Lagrangian to find the Hamiltonian equations of mo- tion. (c) For the case of vertical motion, use the Hamilton-Jacobi method to solve for the motion.