Classical Mechanics Lagrunglan Dynamies

2.7. LAGRANGE'S EQUATIONS FROM D'ALEMBERT'S PRINCIPLE It is easy to prove that

Consider a system of N particles. The transformation equations for the position vectors of the particles
are
23 a

..(15)
where t is the time and a (k =1, 2,) are the generalized coordinates 23 b)**
and
Differentiating eq. (15) with respect to t, we obtain the velocity of the ith particle, i.e.,
Therefore, eq, (22) is
d d
d W
mid ...24)

Or
k=109k (16) Substituting in (21), we get

where 4 are the generalized velocities.s

The virtual displacement is givea by

or ..(17)
since by definition the virtual dispBlacements do not depend on time. (25)
According to D'Alembert' s principle,

F-P.) =0 ..(18) Here

i=1

which has been obtained by treating or,o4, as a single quantity being the function of the generalized coordi
nates 4, and time t.
Here .(19)
i=1

But
where .(20)
and its partial derivative with re_pect to q, is

are called the components of generalized force associated with the generalized coordinates q This may
be mentioned that as the dimensions of the generalized coordinates need not be those of length, similarly
those of force. However, the
the generalized force components G, may have dimensions different than From eqs.i) and (i)
will have the
dimensions of G, õq, are those of work. For example, if öq, has the dimensions of length, G,
dimensions of force; if has the dimensions of angle (® ), G, will have
dq, dimensions of torque (T).
the 23a)
Further d dqs
..(21)
i=i k=1d9k .23 b)

22)
Now dki skroneckerdelta
as the constraints are holonomic and which is 1 forj =k and zero forj # k
 0
Classical Mechanics ugranglan Dynamles 41
where m (v,*v,)= zmví = T is the kinetic
energy of the system. These cquations arc known as Lagrunge's
equations for Unservatíve system. They are n in number
And there is one equation for each generalized wordinate. In order to ulve these
equations, we must know
Substituting for F8; from (19) and Ep, »& from (25) in eq (18), the D'Alembert's principle the Lagranglan function L=T- Vin the appropriate generalized vondinates.
becomes
2,8 PROCEDURE FOR FORMATION OF LAGRANGE'S EQUATIONS
The Lagrangian function L of a system is given by
..(26) L= T- V
36)
In order to form L, kinetic energy 7T and potential energy V are to be writen in
As the constraints are holonomic, it means that any virtual displacement g, is independent of , gerceralized coordinates.
Therefore, the coefficient in the square bracket for each dg, must be zero, i.e., This is then substituted in the Lagrangian equations

a -0 - ..(27)
to obtain the equations of motion of the
37)

This represents the general form of Lagrange's equations. system. This involves sirst to sind the paria! derivatives of L, ie.,
For a conservative system, the force is derivable from a scalar potential V: aL04, and oL/dG, and then to put their values in eq (37).
Kinetic Energy in Generalized Coordinates: The transformation
equatiors (15) and (16) are used to
--i-i .28) transform T from cartesian coordinates to generalized coordinates. Therefore

Hence from eq. (20), the generalized force components are

w
T-Fm m= k=1d4
.(29) T
Mo+EM, i + Mu 4u 4n (38)
Clearly the right hand side of the above equation is the partial derivative of V with respect to q ie..

G ..30)
where
M m.M,
dq
Thus eq.(27) assumes the form and Ma =m d,dr
.(31) Thus from (38) that in the expression for kinetic
we see
energy, first term is independent of generalized
velocities, while second and third terms are linear and
quadratic in generalized velocities respectively.
For scleronomic systems, the transformation
equations do not contain time explicitly. So that
doTaT-V)-0 32)

Since the scalar potential V is the function of generalized coordinates q only not depending on

write eq. (32) as

generalized velocities, we can
Therefore,
T-miMu4 ..(39)
B-2-)-
d4
..(33) In such a case, the expression for T is
homogeneous quadratic form in generalized velocities.
a

Ex. 1. Newton's
We define a new function givenby equation of motion from Lagrange's equations: Consider the motion of a particleof
mass m. Using cartesian coordinates as
L T- V ...34) generalized coordinates, deduce Newton's equation of motion
takes the form
from Lagrange's equations.
which is called the Lagrangian of the system. Thus, eq. (33)
Solution: The general form of the Lagrange's equations is
35)
d 0
=l, 2,. n.
.)

****
2 Classical Mechanien Ingranglan Dynamle 43
Here, q x, 92= y. 9 and generalized force components are G,- F, , G, F,, G, , gereralized coordinate
IIg these values in the Lagrange's eeguation (here there is only one

The kinetic energy 7 is

T-m ]|
For x-coordinate, cq (i) takes the form
WC f

.(i)
mgl sin 6 = 0 cr
ml6+ mgl sin 9=0
But
dx
0 and 04sin 0=0
Substituting in eq. (ü). we get This represents the equation of motion of a simples pendulum.
mai)= FE or F, = For small
pendulum is
amplitude oscillations, sin 0 = 0, and therefore the equatíon of motion ofa simple
d
obtain
where
p,= mi is the x-component of momentum. Similarly, we can
0+&0=0
and F This represents a simple harmonic motion of period, given by

Thus .it) T2m

Ex.3. Atwood's Machine: Obtain the
which is Newton's equation of motion. equation of motion of a system of two masses, cornected by an
inextensible string passing over a small smooth
pulley. (Mumbai 2002; Agra 1989, 96)
Pr. 2. Simple Pendulum: Obtain the equation of motion of a simple pendulum by using Lagrangian Solution: The Atwood's machine is
method and hence deduce the formula for period for small amplitude oscillations.
its time an example of a conservative
system with holonomic constraint. The pulley is small, massless and
(Agra 1999, 91; Garwal 98, 97; Kanpur 2003) frictionless.
Let the two masses be
m, and m, which are connected
Solution : Let 6 be the angular displacement of thee simple C by an inextensible string of length . Suppose x be the variable -x
pendulum from the equilibrium position. If i be the effective lengthhof vertical distance from the pulley to the mass
m. Then mass m, will
the pendulum and m be the mass of the bob, then the displacement along be at a distance
x from the pulley [Fig. 2.6]
arc OA = s is given byy Thus there is only one
independent coordinatex. The velocities
of the two masses are V =-ax. *
s 16 because 6=adi and =-i.
dt Fig. 2.6:Atwood's machine
Therefore,
*************

Kinetic energy T=zm=m Potential energy of the system with reference to the
pulley is

If the potential enerey of the system, when

the bob is at 0, is zero, Y=-m,8x- m28 (l- x)
is given by
Fig. 2.5: Simple pendulum Thus the Lagrangian is
then the potential energy, when the bob is at A,
V= mg (OB) = mg (OC- BC) mg (l- l cos6
= ) =
mgl (1- cos 0) L= T-V=
(m, nm2 +
+m,8x +
ms (- )
Hence L= T-V, or L=zm 0 -mg! (1 - cos )
OL
Now, =(m+ma)i and m-m)s
mgl sin6 and =ml?o Here the
Now, -mgl generalized coordinate is q = x. Now Lagrange's equation is
3
Classical Mechanies
ugranglan Dynames 45

If O s thc instuntancous angle which SC makes wíth the

=0 or (m +ma)i-(m -ma) s=0 vertical axis through 0, then the kinetic energy of the oscillatíng
5ystem is

T=i-M\K+P)P
+m Potential energy with respect to horizontal plane through
which is the desired equation of motion. S is

f the mass m, descends with aceleration and if m,< m2. the mass m, ascends with
constant V= - Mgl cos 0
m,> m2. is not seen
constant acceleration. It is to be noted that the tension in the rope, the force of constraint, L T- V
Lagrangian
anywhere in the Lagrangian formulation.
Ex. 4. In Ex 3, caleulae the accelerationof the is a disc of radius Rand moment
system. ifthe pulley
r
L=M(K +P)*+ Mglco0
of inertia I about an axis through is cenre and perpendicular to its plane
Now, a-Mglsin 0 and= M(K2 +12)
Solution: Angular velocity of the pulley
Lagrange's equation in coordinate is
Fig. 2.7:Compourd pendtum
Rotational kinetic energy of the pulley =lo* =2
where
Therefore, M(K2+ o+ Msl
sinG =0 B+
or
sin=0
. Tmms#}/ This is the equation of motion of the compound pendulum. If 6 is smali, sin9= 6 and then

V=-mm 8x m28 ( - )
-

Also,
0=0
Therefore, +(m =m) gx +ma 8
This equation represents a simple hamonic motion whose period is given by
The Lagrange's equation is

a+ma -m-ma]s=0 T2n 2

Ex. 6. Radial and Tangential Components of a Force Consider the motion
: of a particle of mass m
whence moving in a plane. Using the plane polar coordinates (r, 0) as generaiized coordirates, deduce expressions
for the components of generalized force. What are radial and tangential components of the force ?
Solution: For the motion of a particle in a plane, the cartesian and polar coordinates are related as
of Ex. 3 will be obtained for I = 0.
Equation of motion ofa compound x = r cos 6 and y = r sin 6
Ex. 5. Compound Pendulum: Use Lagrange's equations
the equation
to find of motionsmall
horizontal axis. Hence find the period of amplitude
in a vertical plane about a fved Hence
pendulum
oscillations of the compound pendulun.
(Agra 1999, 97, 93) cos -r0sin and y =Ysin 0+rôcos
of It is oscillating
Solution : Let the compound pendulum
be suspended from S' with C' as centre mass.
Therefore, T=m(+ å) =m (+r*)
is the plane of the paper.
in the vertical plane which Here, there are two generalized coordinates, ie., 91= r and 9= 6.
about the axis of rotation through S is given by
Moment of inertia of the pendulum

I=I+M=M(K*+1?)
radius of gyration) about a parallel axis through C and
Now
mr m d6 andnr
of the pendulum, I= MK" (K
=

where M is the mass

Corresponding to two generalized coordinates, there are two Lagrange's equations
of suspension and centre of mass.
the distance between centre

, an G
 47
Classical Mechanics
Lagrangian Dynamics
- mr - G, and ) - G Tuking g as the gencralized coordinate, the Lagrange's equation is given by

We can
express the components the of generalized force
in tems of the radial and
components of the force. From the definition of the generalized force, we have
tangential

G,Fd G-F GF Here L4 and

But r=rcos 6i +rsin j Therefore,
loor o 0
Hence cos i+ sin 6j-=f
r This is the differential equation for LC circuit, having frequency v =
t
and - r sin ei+ r cos 0j=re Ex. 8. Motion underofCentral Force : Derive egquations of motion for a particle moving under central
force. What is the the equations,
form when the particle is moving nder an attractive inverse
law force (F =- ké). square
where u n i t vector perpendicular to f. (Rohilkhand 1998; Agra 1991)
Solution: When a particle is moving under central force, then the force is conservative and the motioL
Therefore, G,=F.f=F or F mi-mr b? . is in a plane.
Let (r, 0) be the plane coordinates of the particle of mass m.
and Go F.rr F-@ rF, or rF r*b) .ii) Kinetic energy
T=m( +r)
Note that in eq. (i), mr0 mvr =J, the angular momentum and its time derivative is
=

just the applied Lagrangian

torque (rFe This is the torque equation, ie., rate of change of angular momentum is equal to the applied
where V () is the
L=T-V={m(2+rP)-v)
torque potential energy in the central force field.
Thus the radial and tangential components of the force are
Now,
F,-m-P) and (ro+2ri) dr' smr and =0 oL_
..ji) d6
Hence equations of motion are
Ex. 7. Langrange's equation for LC circuit: Find Lagrange's equation of motion for an electrical
circuit comprising an inductance L ana capacitance . Ihe capacitor is charged to q coulombs and
current flowing in the circuit amperes (Agra 20 1992)
Solution: Let us consider anelectrical circuit, containing inductance L and capacitance C. We want to
find Lagrange's equation of motion for the L-C circuit, when the charge on the condenser is q and the
current flowing in the circuít is i. or
mf-mr + 0 and =0
The magnetic energy /Li in an electrical circuit is analogous to the kinetic energymv in a For attractive inverse square law force F =
dV/or
-

= -

k/rs, we have equations of motion as

mechanical system, where we can think inductance L as charge inertia similar to mass inertia and i =
mY-mr 6-+2
as v ; charge q is playing the role of displacement. The electrical potential energy ofthe circuit is V
...(ü a)
and
d =0 or rô+2rô=0
q/2C. Hence the Lagrangian of the L-C circuit is
...i b)
2.9. LAGRANGE'S EQUATIONS IN PRESENCE OF
L-T-V-Lf-or
2C L-j4' 2C 9299000090 When the forces acting on the
NON-CONSERVATIVE FORCES
system consist of non-conservative forces
Fig. 2.8:LC Circuit conservative
forces ( Fp. then the
generalized force can be written (f,)
components of in addition to the
as
[using eq. (20)]:
 48 Classical Mechanics I.agrangian Dyramies 49

dW=-2dr, =- , di ={Zk,vi ] dt
G 1 or G + .(40)

dW
whencc
wbere GZ .4T)
arethe componentsof generalizod non-potential fonve resulting from non-conservative This gives the physical interpretation of the Rayleigh's dissipation function
forces and 2f- for conservative part [eq. (30)]. 2.10. GENERALIZED POTENTIAIL- Lagrangian
an for
Electromagnetic Flcld (Gyroscopic Forces)
a Charged Particle Moving in
Here V is the scalar potential for conservative forces. In such a case, cq. (35) assumes the form
In general, the Lagrange's cquations can be wTitten as

.(41)
under centra where L = T- V.
verse square 43)
Agra 1991) Eqs. (41) represent the Lagrange's equations in the presence of non-conservative forces.
An example of the non-conservative force is the For a conservative system, G - a r d ther the
nd the motioz presence of frictional force, acting on the system. If the Lagrange's equations in the useal form are
frictional force is proportional to the veloCity of a da
parkcle, then
..42)
where k, is the constant of proportionality for the movement of the ith particle. dr 5e=0 with L=T-v
49)
We may derive such frictional forces from a function of the
form However, Lagrange's equations can be put in the form
(49). provided the generalized forces are
obtained from
R-t=(+v + .(43)
a function Ua4), given by
This is known as Rayleigh's dissipation function. Obviously
OR= -ky (50)
fa In such a case, L = T- U
dV
where -(51)
Thus -k,=-7,R Uqk» 4) is called velocity dependert potential or
Hence the
(44) case of a
charge moving in generalized potenticl This type of case occurs in
component of the generalized force due to the force of friction is given by In S.I.
an
electromagnetic field.
system, two of the
Max wel!l's field equations are
G'= -V,R -V,R div B
d9k
= 0 and curl E + =0

n as
aR 4 4 (45)
Or V.B =0 and x E+ =0 (52)
where E and B are electric field and
. i a) Thus Lagrange's equation (41) is
force
magnetic field vectors
respectively.
The
is given by
acting on a charge q, moving with velocity v in an electric field E
and magnetic induction B
dý F =q (E+v
dg x B)
Since V B = 0 in eq. (52) and hence B (53)
can be expressed as curl of a vector i.e.,
RCES or
d( L o, OR = 0
where A is called the
B =V x A

(46) magnetic vector 54)

tion to the (52), we get potential. Substituting for B from (54) into the
second
It can be proved that the Rayleigh's
dissipation function R is equation of
(20); equal to one half of the rate of
dissipation
energy against friction. The work done against friction is
VE A=0 VxE or
..(55)