T = 12 mv 2 = 12 m˙ 2 = 12 m(ẋ2 + ẏ 2 + ż 2 ).

U = U ( ) = U (x, y, z).

L = T ´ U = L(x, y, z, ẋ, ẏ, ż).

T +U
T U

BL BU
=´ = Fx , x
Bx Bx
BL BT
= = mẋ = px , x
Bẋ B ẋ

Fx = ṗx

d BL BL
= ṗx = Fx = .
dt Bẋ Bx
d BL BL d BL BL d BL BL
= , = , = .
dt B ẋ Bx dt B ẏ By dt B ż Bz
 f ( α , . . . ˙ α , t) = 0.

n = 3N ´

n ď 3N

n
n q1 , . . . qn qi

q
N α α = 1, . . . N
q1 , . . . qn
α qi

α = α (q1 , . . . qn , t), α = 1, . . . N.

qi

qi = qi ( 1 , . . . N , t), i = 1, . . . n.

n 3N

1023 n
3N N

qi
f ( 1, . . . N , t) = 0,

qi
qi (t0 )
q̇i (t0 )
 Fr = m(r̈ ´ r φ̇2 )

BL d BL
= , i = 1, . . . n
Bqi dt B q̇i BL d BL BU d
= ñ ´ = mr2 φ̇.
Bφ dt B φ̇ Bφon
loomo dt

L
= ´∇U

BU 1 BU
BU ∇U = r̂ + φ̂
´ = i, Br r Bφ
Bqi
BL 1 BU BU
= i, ñ Fφ = ´ ñ´ = rFφ ,
B q̇i r Bφ Bφ
´BU /Bφ rFφ

mr2 φ̇

(x, y)
(x, y) Ñ (r, φ)

T = 12 mv 2 = 12 m(ṙ 2 + r 2 φ̇2 ) x y
ñ L(r, φ, ṙ, φ̇) = T ´ U = 12 m(ṙ 2 + r2 φ̇2 ) ´ U (r, φ). x2 + y 2 = l 2

BL d BL BU d a ? x =
= ñ mr φ̇2 ´ = mṙ = mr̈, l2 ´ y 2 y = l2 ´ x2
Br dt B ṙ Bron
loomo dt
Fr

řn Qj =
i i ¨ B i /Bqj
´BU /Bqj r =l φ
 x=l φ, l0
y=l φ.

❩ ✚
✚l˙2 + 1 ml2 φ̇2 .
T = 12 m
❩
✚ ❩ 2

U = mg ˆ = mg(´y) = mg(´l φ) = ´mgl φ. φ l r

1
2
kr2

l(t) = l0 + r(t) ñ l˙ = ṙ,

T
´ φ

T = 12 m ṙ2 + (l 2 2
0 + r) φ̇ ,
looomooon
L = L(φ, φ̇) = 12 ml2 φ̇2 + mgl φ,
l2

U= = ´mg (l0 + r)
loomoon φ + 12 kr2 ,
l
L(x, ẋ) L(y, ẏ) L(φ, φ̇) L(q, q̇)
ñ L(r, ṙ, φ, φ̇) = 12 m ṙ 2 + (l0 + r)2 φ̇2 ´ 12 kr2 + mg(l0 + r) φ.
BL d BL
= .
Bq dt B q̇
BL d BL
Bq
= dt Bq̇

BL B B
= (mgl φ) = mgl ( φ) = ´mgl φ,
Bq Bφ Bφ BL
= m(l0 + r)φ̇2 ´ kr + mg φ,
BL B 1 2 2 d/dt Br
= ( ml φ̇ ) = ml2 φ̇ ÝÝÑ ml2 φ̈. BL
B φ̇ B φ̇ 2 d/dt
= mṙ ÝÝÑ mr̈,
B ṙ
mo❆on φ̈
2
ñ´ ✟✟ l❈
mg o✟
φ = lo✟
looooomooooon ml
ñ✟ ✟ =✟
mr̈ ✟ 0 + r)φ̇2 ´ lo
m(l k/m ✟
omoon r + ✟
mg φ
/m
g
ñ φ̈ = ´ φ . k
l ñ r̈ = ´ r+g φ + (l0 + r)φ̇2 .
m
 BL
BL = (m1 ´ m2 )g,
= ´mg(l0 + r) φ, Bx1
Bφ
BL d/dt
BL d/dt = (m1 + m2 )ẋ1 ÝÝÑ (m1 + m2 )ẍ1 ,
= m(l0 + r)2 φ̇ ÝÝÑ m(l0 + r)2 φ̈ + 2m(l0 + r)ṙ φ̇, B ẋ1
B φ̇
m1 ´ m2
ñ✟
m(l ✟❳
✟ 0 + r)❆2 φ̈ + 2✟
m (l0❳+❳r) ✟ ❳
❳ṙφ̇ = ´✟
mg (l0❳+❳r)
❳ φ ñ(m1 + m2 )ẍ1 = (m1 ´ m2 )g ñ ẍ1 =
m1 + m2
g.

ñ (l0 + r)φ̈ + 2ṙ φ̇ = ´g φ.

m1 ą m2 ñ ẍ1 ą 0
m1
m1 « m2
F = ma

x1 x2
x1 + πR + x2 =
l =
x1
θ P (´π, π)
x2 = ´x1 + ñ ẋ2 = ´ẋ1
(x, y, z)
θ T

T = 12 m1 ẋ21 + 12 m2 ẋ22 ,
= 12 (m1 + m2 )ẋ21 . x=R θ ωt,
U = ´m1 gx1 ´ m2 gx2 y=R θ ωt,
= ´(m1 ´ m2 )gx1 + ✟ ❍❍
✟, z = ´R θ.

U (x1 ) m1

L(x1 , ẋ1 ) = 12 (m1 + m2 )ẋ21 + (m1 ´ m2 )gx1 .

 θ

ẋ = R θ θ̇ ωt ´ R θ ωt ω, BL
= mR2 ω 2 θ θ ´ mgR θ,
Bθ
ẏ = R θ θ̇ ωt + R θ ωt ω, BL d/dt
= mR2 θ̇ ÝÝÑ mR2 θ̈,
ż = +R θ θ̇. Bθ̇
ñ mR2 θ̈ = mR2 ω 2 θ θ ´ mgR θ
T = 1/2 m(ẋ2 + ẏ 2 + ż 2 ) ñθ̈ = ω 2 θ θ ´ g/R θ
g
ñ θ̈ = ω 2 θ´ θ.
2 2 2 2 2 2 2 2 2 2 ✟
R
ẋ + ẏ = R θ ωt θ̇ + R θ ωt ω +✟
2A
+ R2 2
θ 2
ωt θ̇ 2 + R2
θ 2
ωt ω 2 ´ ✟✟
2A 2

✿
✘ 1 ✿1
✘
✘✘✘ ✘✘✘
= R2 2 2
θ ( ✘✘ ✘✘
ωt +✘ 2 ωt) θ̇2 + R2 2 θ ( ✘✘ 2
✘✘
ωt +✘ 2 ωt) ω2
✘ ✘
ż = R2
2 2
θ θ̇2 . θ̈ = f (θ).

2A

ż 2 B
f (θ) = ´ Uef (θ)
Bθ
✘✿1
✘
ẋ2 + ẏ 2 + ż 2 = R2 ( ✘✘
2 ✘✘✘
θ✘+ 2
θ) θ̇2 + R2 2
θ ω2 g
1
✘ ñ Uef (θ) = ´ ω2 θ θ,
R
ñ T = 12 m(R2 θ̇2 + R2 ω 2 2
θ).

g ω2 2
Rθ̇ (R θ)ω ñ Uef (θ) = ´ θ´ θ.
R 2

´ θ ´ 2
θ

U = mgz = ´mgR θ,

L(θ, θ̇) = 12 mR2 (θ̇ 2 + ω 2 2

θ) + mgR θ.
R ω g

1 g
Uef (θ) = ´ ω2 θ θ=0
R
ñθ0 = 0, θ1 = π.
θ0 θ1

g g
´ ω2 θ=0Ñ θ= ,
R Rω 2

ω 2 ă g/R ñ
g/(Rω 2 ) ą 1

ω 2 ą g/R ñ θ2 = ´θ3

a
ω ωc = g/R

t1 q(t1 )
q(t2 ) t2

q(t)
ω
θ0
ωc
 t1 t2
ż t2
S= L dt ż x2
t1 S= f y(x), y1 (x), x dx,
x1

y(x)
A = (x1 , y1 ) B = (x2 , y2 ) A
B S
q(t1 ) q(t2 )
f (x)
S
df /dx = 0
d2 f /dx2 df /dx = 0
f
x f (x)
S

y = y(x)
z(x)
L
A B
L
y(x)
S
z(x) = y(x) + δy.

δy(x1 ) = δy(x2 ) = 0
y(x) z(x) A B
f δy

Bf Bf
δf = δy + 1 δy 1 .
By By

y : [x1 , x2 ] P R Ñ V V y1 :
[x1 , x2 ] Ñ Ty V f [x1 , x2 ]
Ť V y
TV = tyu ˆ Ty V R S
y(x) S[y(x)]
V
f
ñ
δy1 f L( , ˙ , t)
1 dy d
δy = δ = δy.
dx dx

ż x2
Bf Bf
δS = δy + 1 δy 1 dx.
x1 By By

ż x2 ż x2 A
Bf 1 Bf d
δy dx = δy dx B A B
x1 By 1 x1 By 1 dx
loomoon omoon
lo A B
u v1
Bf ˇx2 ż x2 d Bf
ˇ A
= 1 lo δy on ˇ ´
omo looδy
moon dx By 1 dx.
looBy
moon x1 x1 loomoon
v v
u u1 A B
żB żB
ds
t(A Ñ B) = dt = ,
A A v
ż x2
Bf d Bf
δS = δy ´ δy dx ds
x By dx By 1
ż x12 v
Bf d Bf
= ´ δy dx.
x1 By dx By 1 A x y
S δS δy
? E = 1
2
mvA2 ´ mgxA = 0 = 1
2
mv2 ´ mgx
v= 2gx

Bf d Bf a a a
´ =0 ds = dx2 + dy 2 = dx2 + y 1 (x)2 dx2 = y 1 (x)2 + 1 dx,
By dx By 1
y 1 (x) = dy/dx
f y(x)
ż xB a ż xB a
y 1 (x)2 + 1 1 y 1 (x)2 + 1
t(A Ñ B) = ? dx = ? ? dx.
0 2gx 2g 0 x
 ż c
a a(1 ´ θ)
y 1 (x)2 + 1 y= a θ dθ
f (y, y 1 , x) = ? . 2a ´ a + a θ
x ż c
a(1 ´ θ)
= a θ dθ
a+a θ
ż d
f ✚a(1 ´ θ) ?
=a 1´ 2 θ dθ
✚a(1 + θ)
Bf d Bf c
= . ż
By dx By 1 1´ θa
=a (1 ´ θ)(1 + θ) dθ
1+ θ
d
f y ż ✘✘
(1 ´ θ)(1 ´ θ)✘(1✘+✘✘ θ)
=a ✘ ✘✘ dθ
1+
✘ ✘ θ
Bf 1 2✁y 1 ż a
= ? a = .
By 1 2✁ x 1 + y 12 =a (1 ´ θ)2 dθ
ż
y1 = a (1 ´ θ) dθ

ñ y = a(θ ´ θ) + c.
12
y 1
= ,
x(1 + y 12 ) 2a x y θ
2a 1 + y 12 1 a
ñ = = 12 + 1 a
x y 12 y
2a 2a ´ x 1 c A B c=0
ñ ´1= = 12 2a
x x y
c
x
ñy 1 = ,
2a ´ x

ż ż c
x
dy = y = dx.
2a ´ x

B
A B
x = a(1 ´ θ),
ñ dx = a θ dθ,
 ż t2
S0 = L( , ˙, t) dt .
t1
ş ş
δS = S ´ S0 = (L( , ˙ , t) ´ L( , ˙, t)) dt = δL dt

L( , ˙, t) = T ´ U = 12 m˙ 2 ´ U ( ),

L( , ˙ , t) = 12 m ˙ 2 ´ U ( ) = 12 m(˙ + ˙ )2 ´ U( + ),
ş
S = L dt ñ δL = 12 m[(˙ + ˙ )2 ´ ˙ 2 ] ´ [U( + ) ´ U ( )]
= 12 m( ˙ 2 + 2˙ ¨ ˙ + ˙ 2 ´ ˙ 2 ) ´ [❍
U❍( ❍) + ¨ ∇U ´ ❍
U❍( ❍) + o( 2 )]
2
= m˙ ¨ ˙ ´ ¨ ∇U + o( ),

o( 2 ) ˙

ż t2 ż t2
δS = δL dt = (m˙ ¨ ˙ ´ ¨ ∇U ) dt.
t1 t1

= v ´ ∇U ( ). ˙ = u d = dv
ñ = v ¨ dt = du
ż ż ˇt2 ż
1 2 ˇ
t1 m˙ ¨ ˙ dt = m˙ ¨ d = m˙ ¨ ˇˇ ´ m¨ ¨ dt
t1
t2 (t)
(t) (t1 ) = (t2 ) = 0

(t) = (t) + (t). ż t2

δS = ´ (m¨ ¨ + ¨ ∇U) dt,
t
ż 1t2
=´ ¨ (m¨ + ∇U ) dt.
t1
(t1 ) = (t2 ) = 0.
(t)
ż t2
m¨ = = v ´ ∇U
S= L( , ˙ , t) dt ,
t1 ż t2
✟✟ + ∇U
✟
ñ δS = ´ ¨( v ´✟
∇U ✟✟) dt.
t1

v K ¨ v =0
δS = 0 (t)
 m q

q1 q2 q1 q2 q ˆ .
= looqmoon + loomoon

q1 q2
ż
S= L(q1 , q2 , q̇1 , q̇2 , t) dt m ¨ = q( + ˆ ).

q1 q2

BU d BU
BL d BL BL d BL Qi = ´ + ,
= ; = . Bqi dt B q̇i
Bq1 dt B q̇1 Bq2 dt B q̇2

N
m n
φ( , t), ( , t),
BL d BL
= ; i = 1, . . . n
Bqi dt B q̇i
B
= ´∇φ ´ , = ∇ˆ .
Bt
∇ˆ ‰ 0 ∇¨ =
0 ∇ˆ =

U =qφ´q ˙ ¨

∇¨ = ρ/ 0
∇¨ = 0 ∇ˆ = ´B /Bt ∇ ˆ = µ0 ( + 0B /Bt)
 ñ L = 12 m˙ 2 ´ q(φ ´ ˙ ¨ )
= 12 m(ẋ2 + ẏ 2 + ż 2 ) ´ q(φ ´ ẋAx ´ ẏAy ´ żAz ).

BL d BL
= .
Bx dt B ẋ

BL Bφ BAx BAy BAz

= ´q ´ ẋ ´ ẏ ´ ż ,
Bx Bx Bx Bx Bx
BL
= mẋ + qAx
B ẋ
d BL BAx BAx BAx BAx
ñ = mẍ + q ẋ + ẏ + ż + ,
dt B ẋ Bx By Bz Bt
dAx /dt d BL BL
´ = Qi ,
dt B q̇i Bqi
Bφ BAx BAy BAz
mẍ = ´ q +q ẋ + ẏ + ż
Bx Bx Bx Bx L
Qi
BAx BAx BAx
´ q ẋ + ẏ + ż
Bx By Bz
BAx
´q , = ´µ .
Bt
Bφ BAx BAy BAx BAz BAx
= ´q + + qẏ ´ + qż ´ ,
Bx Bt Bx By Bx Bz
1
F = µ| |2 .
ñ mẍ = q(Ex + ẏBz ´ żBy ), 2

L = 12 mẋ2 + mgx ´ 12 kx2 ,

F = 12 µẋ2 .

BL
px = = mẋ + q Ax
B ẋ
mẋ
 x̂ F
B BF
Q= ¨ =F =´ = ´µẋ.
Bx Bẋ

BL
= mg ´ kx,
Bx
d BL d
= (mẋ) = mẍ, BL
dt B ẋ dt = 0, qk : .
Bqk
ñ mẍ ´ mg + kx = ´µẋ
ñ mẍ + µẋ + kx ´ mg = 0 ,
0
d BL BL✓✓
✼ d BL
´ ✓ =0ñ =0
ẋ dt Bq̇k ✓Bqk dt Bq̇k
BL
ñ = ,
dx Bq̇k

dW = ´ ¨ d = ´F dx = ´F ẋ dt = µẋ2 dt = 2Fdt,

2F

L(x, y, z, ẋ, ẏ, ż) = 12 m(ẋ2 + ẏ 2 + ż 2 ) ´ mgz = L(z, ẋ, ẏ, ż),
x y
BL
= mẋ = = px , x,
Bẋ
BL
n n = mẏ = = py , y,
Bẏ
n
qi

BL
:= pi ,
B q̇i

R v η F = 6πηRv
 qi pi

L = 12 m(ṙ2 + r 2 φ̇2 + ż 2 ) ´ U (r), φ z i Ñ i + , @i = 1 . . . N

i

U( 1 + , 2 + ,..., N + ) = U ( 1, 2 , . . . , N) ñ δU = 0.
BL
= mż = pz = ,
B ż
i Ñ i
BL δT = 0
= mr2 φ̇ = pφ = mr loormo
φ̇on = Lz : z
B φ̇ δT = 0, δU = 0 ñ δL = 0 @
δL
x
L
qk L
qk qi BL BL ÿN
BL
δL = +¨¨¨+ = = 0.
Bx1 BxN i=1
Bxi

BL d BL d
= = pix ,
Bxi dt B ẋi dt

ÿN
d d
0=✁ pix = Px = 0 ,
i=1
dt dt
ř
Px x̂ = i i
y z
 ÿ
N
0= ˙ i ¨ (δφ ˆ i ) + i ¨ (δφ ˆ ˙ i ).
i=1

a ¨ (b ˆ c) = c ¨ (a ˆ b) = b ¨ (c ˆ a)
δφ

ÿ
N
0= δφ ¨ ( i ˆ ˙ i ) + δφ ¨ (˙ i ˆ i ),
i=1
ÿ
N
=δφ ¨ ( i ˆ ˙ i + ˙i ˆ i ),
i=1

d ÿ
N
=δφ ¨ i ˆ i = 0 @δφ
dt i=1
ÿ
N
ñ i = = :
i=1

ẑ
δφ Ñ +δ
δ
z φ
r omooθn ñ δ = looδφ
δr = δφ lo moon ˆ .
ẑ δφẑ

1 1
= + δφ ˆ ñ ‰ , .

ñ δ ˙ = δφ ˆ ˙ δL.

ÿ
N
BL BL
0 = δL = ¨δ i+ ¨ δ˙i
i=1
B i B ˙i

¨ L(θ, θ̇) = 12 mR2 (θ̇2 + ω 2 2

θ) + mgR θ.
 H L

U H
L=
L(θ) H
H

1
mR2 θ̇2 looooooooooooooooomooooooooooooooooon
Eef = looomooon
2
´ 12 mR2 ω 2 2 θ ´ mgR θ.
ω =
Tef
Uef
E = T +U = 1
2
mR2 (θ̇ 2 +ω2 2
θ)´mgR θ.

n
0
d BL BL BL✓ ✼
L= θ̇ + θ̈ + ✓ ,
dt Bθ B θ̇ ✓Bt
d BL BL d
= θ̇ + θ̇, 0
dt B θ̇ B θ̇ dt ÿn ✼
d BL BL BL✓
d BL L= q̇i + q̈i + ✓
= θ̇ , d/dt . dt Bqi B q̇i ✓Bt
dt B θ̇ i=1
ÿn
d BL BL d
= q̇i + q̇i
i=1
dt Bq̇i B q̇i dt
d ÿ BL
n
d BL
ñ θ̇ ´ L = 0. = q̇i d/dt
B θ̇
dt looooomooooon dt i=1 B q̇i

BL ˆθ̇
= mR2 θ̇ ÝÑ mR2 θ̇2
B θ̇
2 2 f (x1 , x2 )
ñ mR θ̇ ´ 12 mR2 θ̇ 2 ´ 12 mR2 ω 2
loooooooooomoooooooooon
2
θ ´ mgR θ, Bf /Bx1 Bf /Bx2
f x1 x 2
= 12 mR2 θ̇2 ´ 12 mR2 ω 2 2
θ ´ mgR θ, x1 = x1 (x2 ) f x2
x2 f x2
= 12 mR2 θ̇2 ´ ω 2 2
θ ´ mgR θ, x2 x1
f x2
:= H. df /dt = Bf /Bx2 + (Bf /Bx1 )(dx1 /dx2 )
 H
E
d ÿn
BL d ÿ
n
q̇i ´ L = pi q̇i ´ L =0
dt B q̇i dt U
i=1 i=1

BL/Bt = 0
H H H‰T +U

ÿ
n
H(q, p) = pi q̇i ´ L
i=1

L
q p
q q̇

H = E E

H‰E

q̇
U = U ( i ) = U (qi ) BU /B q̇i = 0 ˙
ÿ
n ÿn
BL H
H= pi q̇i ´ L = q̇i ´ L
i=1 i=1
B q̇i
ÿn
BT ´ U ÿn
BT
= q̇i ´ L = q̇i ´ (T ´ U )
i=1
B q̇i i=1
B q̇i
= 2T ´ T + U = T + U = E ,

T
ř
f k xi Bf /Bxi = k f

f (αx) = αk f (x) alpha

f (αx, αy) = α3 f (x, y)

 R
L

L q(t) Ý
φ
Ñ q(t) + R(t)
q̇(t) Ý
Ñ q̇(t) + Ṙ(t)
tÝÑt

φ( )
φ(0) qÑq+
q̇ Ñ q̇
φ
qÝÑ φ(q, ) := q( ) tÑt
q(0) = q ÐÝ
R=1 q
φ

φ
q(t) Ý
Ñ φ(q(t), ) := q(t, ) 0 = L(φ(q, ), Bt φ(q, ), t) ´ L(q, q̇, t)

q(t, ) = L(q + R, q̇ + Ṙ, t) ´ L(q, q̇, t)

BL BL
= L(q, q̇, t) + R+ Ṙ ´ L(q, q̇, t)
B Bq B q̇
q̇(t, ) = q(t, ).
Bt BL BL 0
= R+ Ṙ
Bq B q̇
d BL BL
= R+ Ṙ
dt B q̇ B q̇
d BL
ˇ = R
Bφ ˇˇ dt B q̇
φ(q, ) = φ(q, 0) + .
B ˇ =0

BL
Q := R
=0 B q̇
 L
L L0 L = 12 mẋ2 ´ mgx.

L = L =0 + Φ̇(q, t),
x1 = x + , ñ ẋ1 = ẋ,
δL = Φ̇,
ñ R = 1.

d BL
R´Φ =0
dt B q̇ δL = 1
mẋ12 ´ mg(x + ) ´ 1
mẋ2 ´ mgx = ´mg .
2 2

d
δL ‰ 0 δL = (´mg) = dt
(´mg t) L
BL
Q= R ´ Φ.
B q̇ Φ = ´mg t .

R=
1
Q = mẋ + mg t .

δL
BL BL F = ma
dL = dq + dq̇
Bq Bq̇
BL d BL d BL Q Q
= dq + dq ´ dq
Bq dt B q̇ dt Bq̇ ẋ(t) = ´ g t ñ x(t) = x(0) + t ´ 12 g t2 .
m m
BL d BL d BL
= ´ dq + dq
Bq dt Bq̇
loooooooomoooooooon dt Bq̇
=0

d BL Q
= dq .
dt B q̇

dq
ˇ
Bφ(q, ) ˇˇ q
q Ñ φ(q, ) Ñ q( ) = q(0) + dq ñ q( ) = q(0) + ˇ .
B
looooooomooooooon
=0 n
dq= R
 qi1 (t) = qi (t) + Ri (t) L

dΦ BU BU BU
δL = , δU = δx + δy + δz
dt Bx By Bz
Bξ Bξ Bξ
= U 1 (ξ) δx + δy + δz
Bx By Bz
ÿ
n
BL
Q= Ri ´ Φ, 2x 2y 2z
B q̇i = U 1 (ξ) 2
δx + 2 δy + 2 δz .
i=1 a b c
looooooooooooooomooooooooooooooon
Bqi1 δξ
Ri = B
| =0
U 1 (ξ)
δU = 0
U1 δξ = 0

U δx = δy = δz = 0
L = T ´U
z

δx = y
δy = ´ x
δz = 0
(x, y, z)

U(x, y, z) = U (ξ)  1   
x 0 x
1
 y  = ´ 0 y 
ξ ξ U z1 0 0 1 z
  
1 0 x
« ´ 1 0 y 
0 0 1 z
x2 y 2 z 2
ξ(x, y, z) = + 2 + 2.
a2 b c
ñ x1 = x + y
y1 = ´ x + y
x y z ξ
U ξ δU z1 = z
 (δx, δy, δz) x(t)
δU y(t) T
2xy 2yx
ñ δU = U 1 (ξ) ´ 2 L(x, ẋ, y, ẏ)
a2 b
1 1 1
= U (ξ)2xy ´
a2 b2
ż t2
a = b δU = 0
Lz S= L(x, ẋ, y, ẏ)dt
t1

F = ma x(t) Ñ x(t) + δx(t),

y(t) Ñ y(t) + δy(t).

ż t2
δS = δ L(x, ẋ, y, ẏ) dt = 0
t
ż t2 1
BL BL BL BL
= δx + δ ẋ + δy + δ ẏ dt
t1 Bx Boẋmoon By
lo loBoẏmoon
A B

A B
ż t2 ˇt ż t2
BL BL ˇˇ 2 d BL
loδoẋmo
dton = δxˇ ´ looδx
moon dt,
x y t1 B ẋon
loomo Bẋ t1
looomooon t1 lo B ẋ
dtomo on
dv v
u du/dt
δx =
0 t1 t2
f (x, y) = 0.
B
ż t2
x y BL d BL BL d BL
(2.15) = δx ´ δx + δy ´ δy dt
a t1 Bx dt Bẋ By dt B ẏ
f (x, y) = x2 + y2 ´ l = 0. ż t2
BL d BL BL d BL
= ´ δx dt + ´ δy dt = 0 .
t1 Bx dt Bẋ By dt Bẏ

f (x, y) = x + y ´ l = 0. @δx, δy
 δx δy δx
δy λ λ
δx = 0
δy @δy δy
@δy δy = 0
δx
δx δy BL Bf d BL
+ λ(t) ´ =0.
δx δy By By dt B ẏ

(δx, δy) x(t)

y(t) λ(t)
Bf Bf
(2.14) ñ δf = δx + δy = 0 .
Bx By
f (x, y) = 0 .
δx δy

Bf Bf
(2.17) ñ λ(t) δx + δy = 0.
Bx By

δx δy
ż
BL Bf d BL
δS = + λ(t) ´ δx dt
Bx Bx dt B ẋ λ(t)
ż
BL Bf d BL
+ + λ(t) ´ δy dt = 0
By By dt B ẏ
(δx, δy)

L = 12 m1 ẋ2 + 12 m2 ẏ 2 ´ U (x, y)
δx δy
m1 = m2 = m
λ(t) m1 m2 L
λ(t)
d BL BL Bf
(2.20) ñ = +λ ,
dt B ẋ Bx Bx
BL Bf d BL BU Bf
+ λ(t) ´ =0. ñ m1 ẍ = ´ +λ .
Bx Bx dt B ẋ Bx Bx
 x BL Bf d BL
+λ = ñ m2 g + λ = m2 ÿ .
x By By dt B ẏ
λ Bf /Bx
x
ñ ẍ = ´ÿ ´
Bf
λ = Fxvin , λ ´ m2 g ´ ✓
m1 g + ✓ λ = m1 ẍ ´ m2 ÿ
Bx
Bf ñ(m1 ´ m2 )g = m1 ẍ + m2 ẍ = (m1 + m2 )ẍ
λ = Fyvin .
By m1 ´ m2
ñ ẍ = g
f x y m1 + m2

x(t)

Lef = L + λf(x, y) = T ´ U + λf(x, y) 2m1 m2

λ=´ g.
= T ´ (U + Uef ) m1 + m2

Uef = ´λf
´BUef /Bx vin Bf 2m1 m2
1 =λ x̂ = λ x̂ = ´ g x̂.
Bx m1 + m2

λ(t) m1 ẍ = m1 g ´ T
λ = ´T ´ x
2m1 m2
ñ T = ´m 1 +m2
g

T = 12 m1 ẋ2 + 12 m2 ẏ 2 ,
U = ´m1 gx ´ m2 gy,
BU
(F1g = ´ = ´(´m1 g) = +m1 g )
Bx
ñ L = T ´ U = 12 m1 ẋ2 + 12 m2 ẏ 2 + m1 gx + m2 gy.

Bf Bf
f (x, y) = x + y = cte ñ = = 1,
Bx By

ñ (r, φ)
BL Bf d BL
+λ = ñ m1 g + λ = m1 ẍ ,
Bx Bx dt B ẋ
 ż φ̇ żφ
g
φ L = 1
ma2 φ̇2 ´ mga φ ñ φ̇ dφ̇ = φ dφ
2 0 a 0
(φ, φ̇)
φ̇2 g g
ñ =´ φ+
2 a a
f (r, φ) = r ´ a = 0, ş
=´ 0=1

T = 12 m(ṙ 2 + r 2 φ̇2 ),
λ
U = mgr φ r φ ,
ñ L = 12 m(ṙ 2 + r 2 φ̇2 ) ´ mgr φ. g 2g
λ = mg φ ´ maφ̇2 = mg φ + 2m✚
a φ ´ m✚
a
✚a a
✚
BL d BL Bf ñ λ = mg(3 φ ´ 2).
´ +λ = 0,
Br dt B ṙ Br λ = 0 ñ φc = (2/3) .
BL d BL Bf
´ +λ = 0.
Bφ dt B φ̇ Bφ

Br Bf
hkkkkkkkkkikkkkkkkkkj hkkik
Br kj

2
mrφ̇ ´ mg φ ´mr̈ + λ 1 = 0
2
mgr φ ´mr φ̈ ´ 2mrṙ φ̇ + loomo
looooooooomooooooooon 0 on = 0
d Bf
B
dt φ̇ Bφ

r=a ṙ = r̈ = 0

maφ̇2 ´ mg φ + λ = 0,
2
mga φ ´ ma2 φ̈ = 0. 1 dφ g
2
= (1 ´ φ)
dt a

c
1 dφ g
ñ 2
= (1 ´ φ)
d dφ̇ dφ dφ̇ dt a
φ̈ = φ̇ = = φ̇
dt dφ dt dφ żφ
dφ
ñ a =t
0 2 ga (1 ´ φ)
g dφ̇ g
φ̈ = φ ñ φ̇ = φ
a dφ a
F (φ) = t ( )... F
φ(t) = F ´1 (t)
 m
ÿ B i
2
1
a= m
2 i
,
n i
Bt
m ÿ B i B i
aj = mi ¨ ,
Bt Bqj
fj (q1 , q2 , . . . qn ) = 0, j = 1 . . . m, i
ÿ B i B i
ajk = mi ¨ .
d BL BL ÿ Bfj
m
i
Bqj Bqk
´ + λj = 0, i = 1 . . . n.
dt B q̇i Bqi j=1 Bqi
B i /Bt = 0 ñ a = aj = 0 @j
T q̇i

ÿ
m
Bfj
Qi = ´ λj , k
j=1
Bqi

f (α x1 , α x2 , . . . α xn ) = αk f (x1 , x2 , . . . xn ).

ÿ
Bf
xi= k f.
Bxi i
ř
U = U( ) E = H k = 2 T 2T = i q̇i BBTq̇i
E=H

N n

i = i (qj , t), i = 1 . . . N, j = 1 . . . n. L L1 = α k L

d i ÿB i B i
i = = q̇j + U (q) Ñ U (αq) = αk U (q).
dt j
Bqj Bt
ÿ ÿB i ÿ B i
2 q Ñ αq
ñ 12 mi vi2 = 1
mi
q̇j +
i i j
Bq
2
j Bt dq
2
αq
ÿ ÿ T (q̇) = 12 mq̇2 = 12 m ÝÑ α2 T (q̇).
1 dt
ñ T = a+ aj q̇j + 2 ajk q̇j q̇k .
q̇i q̇j
j j,k
 T U

k = 2 k ‰ 2
t Ñ βt

dq
2
αq α
2 U = ´GM /r k = ´1 ñ 1 ´ k/2 = 1 + 1/2 =
T (q̇) = 12 mq̇2 = 12 m ÝÑ T (q̇). 3/2
dt βt β 3/2
t1 l1
ñ = ,
t l
l = πab a b
L Ñ αk L = αk (T ´ U )

α2 T U
αk = ñ β 2 = α2´k ñ β = α1´k/2 .
β2
T U

T ´U

t1 t2

T ´U

x t1
t2
l l1 x t
t t1 T ´U
1 1
t l 1´k/2
=
t on loomo
loomo l on
β α

T
U = 12 Kq2 k = 2 ñ 1 ´ k/2 = 0 ñ t1 /t = cte

U9 q
k = 1 ñ 1 ´ k/2 = 1 ´ 1/2 = 1/2 t2

1/2 2
t1 l1 l1 t1
ñ = ñ = ,
t l l t
 xv 2 y ě xvy2 .

xT y v

U L