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Solutions To Problems in Goldstein, Classical Mechanics, Second Edition
Solutions To Problems in Goldstein, Classical Mechanics, Second Edition
Chapter 1
Problem 1.1
Place the nucleus at the origin, and suppose the electron is emitted in the
positive y direction, and the neutrino in the positive x direction. Then the
resultant of the electron and neutrino momenta has magnitude
p
|pe+ν | = (1.73)2 + 12 = 2 MeV/c,
and its direction makes an angle
1.73
θ = tan−1 = 60◦
1
with the x axis. The nucleus must acquire a momentum of equal magnitude
and directed in the opposite direction. The kinetic energy of the nucleus is
p2 4 MeV2 c−2 1.78 · 10−27 gm
T = = −22
· = 9.1 ev
2m 2 · 3.9 · 10 gm 1 MeV c−2
This is much smaller than the nucleus rest energy of several hundred GeV, so
the non-relativistic approximation is justified.
1
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 2
Problem 1.2
The escape velocity of a particle on the earth is the minimum velocity required
at the surface of the earth in order that the particle can escape from the earth’s
gravitational field. Neglecting the resistance of the atmosphere, the system is con-
servative. From the conservation theorem for potential plus kinetic energy show
that the escape velocity for the earth, ignoring the presence of the moon, is 6.95
mi/sec.
If the particle starts at the earth’s surface with the escape velocity, it will
just manage to break free of the earth’s field and have nothing left. Thus after
it has escaped the earth’s field it will have no kinetic energy left, and also no
potential energy since it’s out of the earth’s field, so its total energy will be zero.
Since the particle’s total energy must be constant, it must also have zero total
energy at the surface of the earth. This means that the kinetic energy it has at
the surface of the earth must exactly cancel the gravitational potential energy
it has there:
1 mMR
mve2 − G =0
2 RR
so
s 1/2
2 · (6.67 · 1011 m3 kg−3 s−2 ) · (5.98 · 1024 kg)
2GMR
v= =
RR 6.38 · 106 m
1m
= 11.2 km/s · = 6.95 mi/s.
1.61 km
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 3
Problem 1.3
Rockets are propelled by the momentum reaction of the exhaust gases expelled from
the tail. Since these gases arise from the reaction of the fuels carried in the rocket
the mass of the rocket is not constant, but decreases as the fuel is expended. Show
that the equation of motion for a rocket projected vertically upward in a uniform
gravitational field, neglecting atmospheric resistance, is
dv dm
m = −v 0 − mg,
dt dt
where m is the mass of the rocket and v 0 is the velocity of the escaping gases relative
to the rocket. Integrate this equation to obtain v as a function of m, assuming a
constant time rate of loss of mass. Show, for a rocket starting initially from rest,
with v 0 equal to 6800 ft/sec and a mass loss per second equal to 1/60th of the initial
mass, that in order to reach the escape velocity the ratio of the weight of the fuel
to the weight of the empty rocket must be almost 300!
Suppose that, at time t, the rocket has mass m(t) and velocity v(t). The
total external force on the rocket is then F = gm(t), with g = 32.1 ft/s2 , pointed
downwards, so that the total change in momentum between t and t + dt is
F dt = −gm(t)dt. (1)
On the other hand, during the time interval dt the rocket releases a mass
∆m of gas at a velocity v 0 with respect to the rocket. In so doing, the rocket’s
velocity increases by an amount dv. The total momentum at time t + dt is the
sum of the momenta of the rocket and gas:
−gm(t)dt = m(t)dv + v 0 ∆m
or
dv v 0 ∆m
= −g −
dt m(t) dt
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 4
dv v0
= −g − γ (4)
dt m(t)
where
∆m 1
γ= = m0 s−1 .
dt 60
This is a differential equation for the function v(t) giving the velocity of the
rocket as a function of time. We would now like to recast this as a differential
equation for the function v(m) giving the rocket’s velocity as a function of its
mass. To do this, we first observe that since the rocket is releasing the mass
∆m every dt seconds, the time derivative of the rocket’s mass is
dm ∆m
=− = −γ.
dt dt
We then have
dv dv dm dv
= = −γ .
dt dm dt dm
Substituting into (4), we obtain
dv v0
−γ = −g − γ
dm m
or
g dm
dv = dm + v 0 .
γ m
Integrating, with the condition that v(m0 ) = 0,
g m
v(m) = (m − m0 ) + v 0 ln .
γ m0
Now, γ=(1/60)m0 s−1 , while v 0 =-6800 ft/s. Then
m m
0
v(m) = 1930 ft/s · − 1 + 6800 ft/s · ln
m0 m
For m0 m we can neglect the first term in the parentheses of the first term,
giving m
0
v(m) = −1930 ft/s + 6800 ft/s · ln .
m
The escape velocity is v = 6.95 mi/s = 36.7 · 103 ft/s. Plugging this into the
equation above and working backwards, we find that escape velocity is achieved
when m0 /m=293.
Thanks to Brian Hart for pointing out an inconsistency in my original choice
of notation for this problem.
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 5
Problem 1.4
Show that for a single particle with constant mass the equation of motion implies
the following differential equation for the kinetic energy:
dT
= F · v,
dt
while if the mass varies with time the corresponding equation is
d(mT )
= F · p.
dt
We have
F = ṗ (5)
If m is constant,
F = mv̇
1 d 2
F · v = mv · v̇ = m |v|
2 dt
dT
= (6)
dt
On the other hand, if m is not constant, instead of v we dot p into (5):
F · p = p · ṗ
d(mv)
= mv ·
dt
dm dv
= mv · v +m
dt dt
1 d 1 d
= v 2 m2 + m2 (v 2 )
2 dt 2 dt
1 d d(mT )
= (m2 v 2 ) = .
2 dt dt
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 6
Problem 1.5
Prove that the magnitude R of the position vector for the center of mass from an
arbitrary origin is given by the equation
X 1X
M 2 R2 = M mi ri2 − 2
mi mj rij .
i
2 ij
We have
1 X
Rx = mi xi
M i
so
1 X X
Rx2 = 2 m2i x2i + mi mj xi xj
M i i6=j
and similarly
1 X X
Ry2 = 2 m2i yi2 + mi mj y i y j
M i i6=j
1 X X
Rz2 = 2 m2i zi2 + mi mj z i z j .
M i i6=j
Adding,
1 X X
R2 = 2 m2i ri2 + mi mj (ri · rj ) . (7)
M i i6=j
Next,
!
X X X X X
M mi ri2 = mj mi ri2 = m2i ri2 + mi mj ri2 . (9)
i j i i i6=j
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 7
r0 , φ0
r, φ
(x, y)
Problem 1.8
Two wheels of radius a are mounted on the ends of a common axle of length b such
that the wheels rotate independently. The whole combination rolls without slipping
on a plane. Show that there are two nonholonomic equations of constraint,
cos θ dx + sin θ dy = 0
If the φ wheel rotates through an angle dφ, the vector displacement of its center
will have magnitude adφ and direction determined by θ. For example, if θ = 0
then the wheel axis is parallel to the x axis, in which case rolling the φ wheel
clockwise will cause it to move in the negative y direction. In general, referring
to the Figure, we have
Next, consider the vector r12 = r − r0 connecting the centers of the two wheels.
The definition of θ is such that its tangent must just be the ratio of the y and
x components of this vector:
y12
tan θ =
x12
2 y12 1
→ sec θ dθ = − 2 dx12 + dy12 .
x12 x12
1
sec2 θdθ = −a[dφ − dφ0 ] (tan θ sin θ + cos θ)
x12
or
1
dθ = −a[dφ − dφ0 ] (sin2 θ cos θ + cos3 θ)
x12
1
= −a[dφ − dφ0 ] cos θ. (12)
x12
1 Thanks to Javier Garcia for pointing out a factor-of-two error in the original version of
these equations.
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 9
Problem 1.9
A particle moves in the x − y plane under the constraint that its velocity vector is
always directed towards a point on the x axis whose abscissa is some given function
of time f (t). Show that for f (t) differentiable, but otherwise arbitrary, the constraint
is nonholonomic.
The particle’s position is (x(t), y(t)), while the position of the moving point
is (f (t), 0). Then the vector d from the particle to the point has components
dx = x(t) − f (t) dy = y(t). (13)
The particle’s velocity v has components
dx dy
vx = vy = (14)
dt dt
and for the vectors in (13) and (?? to be in the same direction, we require
vy dy
=
vx dx
or
dy/dt dy y(t)
= =
dx/dt dx x(t) − f (t)
so
dy dx
= (15)
y x − f (t)
For example, if f (t) = αt, then we may integrate to find
ln y(t) = ln[x(t) − α(t)] + C
or
y(t) = C · [x(t) − αt]
which is a holonomic constraint. But for general f (t) the right side of (15) is
not integrable, so the constraint is nonholonomic.
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 10
φ
l
Problem 1.10
Two points of mass m are joined by a rigid weightless rod of length l, the center of
which is constrained to move on a circle of radius a. Set up the kinetic energy in
generalized coordinates.
l l
(x, y) = (a cos θ ± cos φ, a sin θ ± sin φ)
2 2
and their velocities are
l l
(vx , vy ) = (−a sin θ θ̇ ∓ sin φ φ̇, a cos θ θ̇ ± cos φ φ̇).
2 2
The magnitudes of these are
l2 2
|v| = a2 θ̇2 + φ̇ ± al θ̇ φ̇(sin θ sin φ + cos θ cos φ)
4
l2
= a2 θ̇2 + φ̇2 ± al θ̇ φ̇ cos(θ − φ)
4
When we add the kinetic energies of the two masses, the third term cancels,
and we have
1X l2
T = mv 2 = m(a2 θ̇2 + φ̇2 ).
2 4
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 11
Problem 1.13
A particle moves in a plane under the influence of a force, acting toward a center
of force, whose magnitude is
ṙ2 − 2r̈r
1
F = 2 1− ,
r c2
where r is the distance of the particle to the center of force. Find the generalized
potential that will result in such a force, and from that the Lagrangian for the
motion in a plane. (The expression for F represents the force between two charges
in Weber’s electrodynamics).
If we take
v2 1 (ṙ)2
1
U (r) = 1+ 2 = + 2
r c r c r
then
∂U 1 ṙ2
=− 2 − 2 2
∂r r c r
and
2(ṙ)2
d ∂U d 2ṙ
2r̈
= − 2 2 =
dt ∂ ṙ dt c2 r
2
c r c r
so
2rr̈ − (ṙ)2
∂U d ∂U 1
Qr = − + = 2 1+
∂r dt ∂ ṙ r c2
The Lagrangian for motion in a plane is
2rr̈ − (ṙ)2
1 2 1 2 2 1
L=T −V = mṙ + mṙ θ̇ − 2 1+ .
2 2 r c2
Problem 1.14
dF (q1 , . . . , qn , t)
L0 = L +
dt
also satisfies Lagrange’s equations, where F is any arbitrary, but differentiable,
function of its arguments.
We have
∂L0 ∂L ∂ dF
= + (16)
∂qi ∂qi ∂qi dt
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 12
and
∂L0 ∂L ∂ dF
= + . (17)
∂ q̇i ∂ q̇i ∂ q̇i dt
For the function F we may write
dF X ∂F ∂F
= q̇i +
dt i
∂qi ∂t
Problem 1.16
Clearly we have
∂L ∂L
= −Kax − Kby = maẋ + mbẏ
∂x ∂ ẋ
so the Euler-Lagrange equation for x is
∂L d ∂L
= → m(aẍ + bÿ) = −K(ax + by).
∂x dt ∂ ẋ
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 13
Problem 1.17
Obtain the Lagrangian equations of motion for a spherical pendulum, i.e. a mass
point suspended by a rigid weightless rod.
Let m and L be the mass of the particle and the length of the rod. Since the
particle is constrained to move on the surface of a sphere of radius L, we may
parameterize its position by the angles θ and ϕ, in terms of which the particle’s
position and velocity are
x = L (sin θ cos ϕi + sin θ sin ϕj + cos θk)
v = L (cos θ cos ϕθ̇ − sin θ sin ϕϕ̇)i + (cos θ sin ϕθ̇ + sin θ cos ϕϕ̇)j − (sin θθ̇k) .
g 0 = g − Lϕ̇2 cos θ.
The mitigating effect is largest near the trough of the pendulum, vanishes as
the particle passes through the vertical height of the fulcrum, and becomes
an enhancing effect in the upper hemisphere. For small oscillations
p about the
trough, cos θ ≈ 1 and the pendulum frequency is reduced to ω = ω02 − ϕ̇2 .
Thanks to Tomasz Szymanski for pointing out an error in an earlier version
of this solution.
Problem 1.18
A particle of mass m moves in one dimension such that it has the Lagrangian
m2 ẋ4
L= + mẋ2 V (x) − V 2 (x),
12
where V is some differentiable function of x. Find the equation of motion for x(t)
and describe the physical nature of the system on the basis of this equation.
We have
∂L dV dV
= mẋ2 − 2V (x)
∂x dx dx
∂L m2 ẋ3
= + 2mẋV (x)
∂ ẋ 3
d ∂L d
= m2 (ẋ)2 ẍ + 2mẍV (x) + 2mẋ V (x)
dt ∂ ẋ dt
In the last equation we can use
d dV
V (x) = ẋ .
dt dx
Then the Euler-Lagrange equation is
d ∂L ∂L dV dV
− =0 → m2 (ẋ)2 ẍ + 2mẍV (x) + mẋ2 + 2V (x)
dt ∂ ẋ ∂x dx dx
or
dV
mẋ2 + 2V (x) = 0.
mẍ +
dx
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 15
(F − mẍ)(T + V ) = 0
So, this is saying that, at all times, either the difference between F and ma is
zero, or the sum of kinetic and potential energy is zero.
Problem 1.19
Two mass points of mass m1 and m2 are connected by a string passing through
a hole in a smooth table so that m1 rests on the table and m2 hangs suspended.
Assuming m2 moves only in a vertical line, what are the generalized coordinates
for the system? Write down the Lagrange equations for the system and, if possible,
discuss the physical significance any of them might have. Reduce the problem to a
single second-order differential equation and obtain a first integral of the equation.
What is its physical significance? (Consider the motion only so long as neither m1
nor m2 passes through the hole).
l2
(m1 + m2 )d¨ = −m2 g +
m1 d3
Because the sign of the two terms on the RHS is different, this is saying that, if
l is big enough (if m1 is spinning fast enough), the centrifugal force of m1 can
balance the downward pull of m2 , and the system can be in equilibrium.
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 16
Problem 1.20
Obtain the Lagrangian and equations of motion for the double pendulum illustrated
in Fig. 1-4, where the lengths of the pendula are l1 and l2 with corresponding masses
m1 and m2 .
Taking the origin at the fulcrum of the first pendulum, we can write down
the coordinates of the first mass point:
x1 = l1 sin θ1
y1 = −l1 cos θ1
The coordinates of the second mass point are defined relative to the coordi-
nates of the first mass point by exactly analogous expressions, so relative to the
coordinate origin we have
x2 = x1 + l2 sin θ2
y2 = y1 − l2 cos θ2
The Lagrangian is
1 1
L= (m1 +m2 )l12 θ̇12 + m2 l22 θ̇22 −m2 l1 l2 θ̇1 θ̇2 cos(θ1 −θ2 )+(m1 +m2 )gl2 cos θ1 +m2 gl2 cos θ2
2 2
with equations of motion
d h i
(m1 + m2 )l12 θ̇1 − m2 l1 l2 θ̇2 cos(θ1 − θ2 ) = −(m1 + m2 )gl2 sin θ1
dt
and
d h i
l2 θ̇2 − l1 θ̇1 cos(θ1 − θ2 ) = −g sin θ2 .
dt
If θ̇1 = 0, so that the fulcrum for the second pendulum is stationary, then the
second of these equations reduces to the equation we derived in Problem 1.17.
Homer Reid’s Solutions to Goldstein Problems: Chapter 1 17
Problem 1.21
A → A + ∇Ψ(r, t),
1 ∂Ψ
Φ→ Φ− ,
c ∂t
where Ψ is arbitrary (but differentiable). What effect does this gauge transformation
have on the Lagrangian of a particle moving in the electromagnetic field? Is the
motion affected?
Problem 1.22
Obtain the equation of motion for a particle falling vertically under the influence
of gravity when frictional forces obtainable from a dissipation function 21 kv 2 are
present. Integrate the equation to obtain the velocity as a function of time and
show that the maximum possible velocity for fall from rest is v = mg/k.
This says that the acceleration goes to zero when mg = k ż, or ż = mg/k, so
the velocity can never rise above this terminal value (unless the initial value of
the velocity is greater than the terminal velocity, in which case the particle will
slow down to the terminal velocity and then stay there).