~My, fa = Ve tis cORnt i ay :OBLEMS, |SUPPLEMENTAR 2 one el a AN a jeer as sania ake SAtgtacamos en wie cs ie ea ene ewe fy ate fen anl in prod at Se of te Se dacs 3H ein He Of semen fad ete eo 200) Oh sd et ating whup che ao da ne so aroun yom © econ th ene fe mig wh as nat whose on ng SERS SS see ca hen awe ca Ste coe dct y teat oe ee pen yee 1 eee wpe whan pow ne Se FoR eer F0. 20F YU Arideva—chy, wpere Fis + voy 9 Hamiltonian Formulation and Variational Principles Fie oe ee Estat bai the ferential equations of motos ofa consenting dynamical spstem in form which cones fa fear aq) be the holon ost ofthe advanced theory of dames Late In dys ny 1, the io i he generalised co-ordinates and Ie L (43 Kin.:te potential of the stem. so thatthe equations of me Lagrangian form are Howry CUA )=05 Germ ay srg f= 1/8.) we gt ye LM) UH 2am) tence Rom he fre oh of eon we 2a er Fi ats ede Oe ‘of the othe se, Now, let 8 denote the increment in any fonction of the variables Paver Pa) OF (G1. Ga- dy 341 02 nd) (a we get fie 3b EG dat ny di, ye Shae akg, i dow aa{i na)s oat arma dor, 44q)= Olan de Thus if the quantity ¥ (pj4,-L) when expressed in terms of (64. dgo— dy Pas PavsPa#) Be dened by He hae Scanned with CamScannerDCS OFA NE soy, - Bhay aire 3 i dor hd or ype § Mays Mare Fi termh dy La, Baan San a 7 ae ie a wees eng) n= a See rere, oe rao le a {era 199 EET td) enc! el of eee Poot eotenee dn $a a, f au hy (Weta bee Pf %, E-onas Bait and dy 1 v oy 2H covtant sy (©) By Euerswearem nn homagencus function, we have 24, = ar, where Tis the KE, ofthe system A ont &_am-n_ ar Bu L=7-v, ., %_ 2-, (V doesnot depend on Bg Tg, toe dapend on jp oH Sere tinea. 2rf)- L=2T- (T- Vyas vo —— —— a, tt fase By =~ QH/ag) and 6, = (ata v ‘Then we want 10 find a function uid ” —vT Bs Penns Bes ay ssc th the motion ao ise eS © 0) 4/49 @L/R},)~ (L/Aq) 0, Soe theft of equations 1) fr he pn te avande ms gt ‘Thee write 91% HE and eres a con ote gute 4 and This the required Lagann, ani, = (/49 OLA )= 5, 208 GLI uray es = Ff cavsajy)— aL/aqy~ i,+ (ansagy=0 estes 2) , erat 1985, 9,90 we io the mathemati ssn ae ole i. es te ete tay ngs hnepsn ae oa teeta ats ea ns heer, Tap Eos Spot ebay ptm msc hsp 2 ete iB Se oe a ae Fafsrr dee ° 4 scribed, The value define ae whence: he con (9 tea det te yam oe ae @ #8 nea thete wl be same CE Gonsequemy we may one tangent 1 roy Scanned with CamScannerwe owes 4 ton aap, eros eke ate an Cm ema tee ch et oi coe ee Saar mare Se Gate 1 oF hich he sae Pon of iDOUMg cure ea 9 aa con Sethe calms tnd Bn pp, Sts rs eh the =FO9) Pee Soni eA ices Maton oF te fm whore y= 5+ en and y"= "+ en" Burthc cure Cor nbich c= Gmnbes Te ationary, ro" we ust have 1 @)=.0 Noweitereniaing 2 "28 tae nt [a3 32] « J [Zac are Jac [> ysF+ enan] ae oR 100=F ingesse eny'+ enn ‘tha siila meaning for f.(x,54+ En.5°5 en"), Henel the station =! yes. FY WG: FF Nde= 0 0 ew Frgeess Pde -[u%-0.5.59] Fat Teh 5.7 7a ‘Using (6), equation (5) inpis Tole o losing (5 ‘une arbiary, ajc tis beig cere d eing a A.C tapes th GETTY 4/49 fo l05.5")= 0 * Fy) (arin (0y")=0 ‘This scale Ener Lagrange’ fom (7) by wing the fofowng Ist ms Ips, and (> 3) fad consis and § (9 i paar ominous fmcion fort, @ and f ® ©) lon. Equation (9) can be proved for evey che of continous diene fucion 1) for hich ays Hap = ten 0 msec eee A Prot, Let he fa be ot toe for alt ty & x2 a Lets" tea point whee (20 and > 0. But 9 conn in BS 25% and npr coumous a re Hewes cits an itr £38 xf arund a” where 4)» 0 for he ote 590) may ao nih en te eutin Fou 0 could be wien 0) ae Bat 9 ato dip thie comraitn Hence 908515 fe Certain rari aot Baer Lagres cz OeWeiae Oana) Mere Fe fen ‘ich an he ete we could choot it 8 greater than ze or er oher alae of Thus) @(2>O for ‘yand_canot te 2r0, Ths We arine Scanned with CamScannercare —tanrey 9 here 72 HD, oe (hE) IS) fa a ed ihe casr4d Here ©) hoe a She aN OOF AVA on a= 1a ravy ye BH VANED + OPA Eyae ay we ya ike BYs bled AH Brrre 3 hoe 12) “hist second order dierent equation for determining yasa fnetion sac Sinact teint aheay eons eh cou SSS! ome coos 1) conte $f y- y'3t Jo 3 as 40% r= y's and fs function . ie, Bok which O= f= ¥'Gh and fea function of x,y. 2 af, yt], @ ay Beso Ft] dF 1S-2 MY, dy TF dy, Fd’ af dy ayde? wy" de” By" ge By’ ae ~y Ha, "yt aen? ay [2-2 He he by 3 Sy 9 yO (ity'#0) 05 sc mea (2 an hws ttf Bl equation i sn equation (10) i ao satisfied but Equation 9) is ao satis bt i (4) i satisid, Euler's equation (© Mf een coin xe Le. 10 y.9y de the am (10, ve fae (Meerut 1988, 90 (ds) fy" Bry’, Sf" (By) constant = C (sa t by a rere gua ©) foe nt oi ya ny yen we have t= f yey") (2). Paes OY) s/h ay = oro Laie fom the equation ™ So) Cd (25°) =0, ve obs YO (920-0. on ts yy y00 ip Wwe assume ta he de eat “ : NU) #0 and napa fons nstion sl Bolin is cue. Go) is becomes he Boundary condition of te poke ns the problem, Euler asain son's nce Sy ce if {ge tere maybe no een “fh conditions tobe inp (mtn and diferense {ih The conditions te imposed onthe cre & on fare such that ts para dete A hat hey soul (tert 199) er oro pols A and Boe (ioe toed forthe movi per Behe path ANE, descend cg Mth bys own gry and roms MD bewged foe he pom At aes 5 he ont me rel he po iit nthe tener tha the oie decends wien! con Tea te oxigen kr of te pace of mas Mat pine isn by vm (da/dp = Wen ar) ns ste fe ff LOH A Weg Veen | Pius 1 1 fi ry.y gl Pedal, spol runes As ris absem inf so we have f= oles 2) Ta, eyes =A onstnt = 2, (83) (ay/dn = ny 29" 2. sect ym 2e or yo 2c cushy e+ 220 Aids“ Mie cotydy=— 29020 oY decoy dye 2 (14 cos2vid Scanned with CamScanner~e reana(ve MPMe a ere Secon Certo Suppose the meocorlinaerfy4yr-v-+4q MF €2¢H fnetion, Independent vale and a req the San af the wat ® problem =f @y 4). a8) Ms 1 dt Lr taci orte ere Fs of now fonction fr tobe determined. Le gy) a the stationary value to Tan et q, = be the nearing path, = stationary aye 400+ ang 214.6 Er gid sno: 608 smasna Fradinas ef {yo Xs yo 4} i a [Mam WO st ar. 0¢¢) hs } Pitan Br 26 f froze voxtle Snagtar selina =, fyataese| a Xl’ {hn Al 2 ay {ror | inal} ty ‘ AV N/8 are arbiary and 1s siioday, so we have (| =f (a4) ~ (d/ay (rag, (i= 12a [Meerut 1991 9) pssiTONAN FORMULATION te teen rn é (sagan ret EEtoancene of aussi i seh oe at "ie he Herat niece Cos on herein mechanics Fence ecm nda ah pena a of on Getta tie Wage HD cy Ofte gations fF te motion of te Sum nel a a hes fp Sechane te Cnt Om) - wareuragre Now applying previous atc yaar pate eS to Petemmve | I fod mds drenatonny te ay » ete Ble whet. fy are ed. Thus we have eben During the motion of«‘conenaive oonene prncite Hamilion’s principe impies west Oo 8f trp. 4- Mip.olaeo be Leda Hlae.n tris inpies 2 "p, .~8 Eavaton (1) cd he mode Haan’ as Sua Now t= Saas dag. tani -Hia.dee9 : where 52 da(@/9y) This pstc war wy We Dan Beth ne 106 ee co he tine. Athongh Newent co sad toe poten i wh. Frown ot he Cael fot pepe of Beebe ten five te ma boggy Om raniciree ee am he pe Besos net wt rw me Scanned with CamScannerLzped~ H caret 1 gor varied and 30 IBEY FE 20 faretion ee imerehansed! es the siesta 90 thus the diflereiton £08 au ay p, a} aH 3% ne 2 nals] 2, Ws. Hence 2 at ae wid pte ete se eb points Hence 3 ‘ Part : sory ed ood Barn Si saae= Inia [Mating his sebsaton i equation (2), we have ; al, 7 a Fi Fat] d= 0 2 ) 2H), 4, (2. -# I} 5 Jena “ Teton 8, ad Bp, are independent ocd other, hence equine (4) folds ood oly when the coefcests ofp, and Be, vanish separa This (8) = dy = GHI/Ap) j= (OH/dg). These are Hamilons ‘eomsrrsive, holonomic dinamieal 4s Kinetic energy, at time 4 of stem specified bythe genes fas necessary an exteme value, mintinu ompind wth neat insu ir maxim, on acl pe aie yo anoter cop le ems pases from’ one confit inate yt Sterat 19923888 uMIZTONIAN Fonuaron We inow hat Le Tv. aed Ts Ve (cons, since puanti = KE— pp But by Hamiions princi: we Lan come Ssanostaremacy | 0 bear pe, Fear nase Feanaeo ssh enace r t “0 Rest (Dis tno as Pag oc Equation (1) can also be written as 84 =0, tere A= f are Ne that he conn he aa ‘ne configuration trot ath athe tm pss, Tio pence he in of decipion 4 te boty moves fom one enigaon eea® ine cpl of a cn Sm rh ee 4,— fy bid the total energy beneen the ond pace ot Cn ih nd Bs pet Deduction o Lagrange Equant aes Pipe at 5) 7 1s peed (ad) confiuaon, whe By Hamitons principe, we hve [ 8. wal 3g dei) a} ExXanast EXL apace ui tg = 184 “lea ae . [> niddle term vanishes as all y20 af 28d 4) Scanned with CamScanner4] g[e(a}- He et ee ser thee af ae) a3 wal “ gma ipa, ase principle (Poof base at Ava he pale mus be at C 2 emast be equal to zero at A and C= that the points A, and Care Now site thatthe stem is acted upon by a number of forces represented by F Tel the ah particle of system be acted: upon by a force = mf whew fs sceleraton vector. ‘Avan by D’Alember's principle, we have ke B Bye 8 = Empey ob “ EC mi), Hers sate cation long he actual and neighbouring paths then r= 1 (9) UW) (Br) = (Ya, ) = (ya) — (a, = 5(én/d) 5a) @ reds eben ed for neighbouring pth Bu Es 65 (den, «Be, *(d/db) (6). Oy “ Using (2,0) = Brym adn, 68) ~ £, 6(¢,) © DERI bi Lm ld (e565) é,6 86, Je 0 FEB Emile eo yet) 4862 9 + TS Bim Be Leaene,oagy a FEY Edit = Daan yeetey 9 But Em #P hint eneay of the suena 7 00 ER, obey= wok done by the ces, iy Alspacement r= BW (ay equation (9) 984 87=E (6/49 (mi, (om oe) © Terrain (6) between the Limits % and Jy we get ZL dtme,bep Saws anda fa om, tet x[ wt te] ote eon cn pat 8 conserve sytem, 8 “where Vis potential enecay Se ys onano, te sf r= nano ie sf naroosle stremum. Ths is Hamilton's principe or Stare a Ex L Use Hamiton’s pce t fd the equation of motion of one-dimensional hamoni orca " Sol. The kinetic energy of harmonic oir i gen by T= ma? and the potential encay ofthe barmopi otllator-t given by vex J rav= J ixdr= tee. «The Lagrangian ofthe atom L= T-V=}n ~ be? Scanned with CamScanner‘bet Sis stray, hence the above equation is omly satisfied ig _nf+ kxe0 Thbisthe equation ofmotion for one dimensional harmonic San $058. Exeasion of Hamilton's principle to non-conservative and Seoboloome etm, ‘Wecas proera Hamilton's principe to include non-conservative ores 5 velo dat so alerste form ofthe Lagrange's equation can be chabed, he exenson ofthe Hamilton's principle is wesfreman0, 0 we We2Ren 2 Be tooe tat he aoa Bq ob ae identical wth vl esplcenens of the coor dete sire 20 won fe Tiers er itd pa scat Surubasepiyemeraie of seal dplecnest fom Se sal pa of ate C Ape exch vital tapes Wien mt fie tan cvs the rons Be aes of {Fe Path chosen tough a parame ant we tin tae We can abbevinte the process by ting the equi sual displacement. We know tht SUSE Of Br, with a Bh =F or ay by making we of the each ¢ depends on thos) maybe putas sf rae Fre, sy a0 ey Now tcan be shown easy that (3) edvest orn foro amino principe in case Oy te dehable form he ging sant Tooefre the integral of tal work, under tse conions eons aw aav [Een 4 ag ]* Now reversing by integration paths rocedure: the ove ints canbe paws =f x{ Bags afva Ths (ede 3] rea | vacsler-narsfvarno which is Hamilton's princi, eral problem, te variation ofthe fst integral in (3) can For more bevwritn nt ones Tie Lor comerate asters i neon of quand Gy aaa asf rae f 2{ 2 Saat “6 [raed so af (2-42, o, \sqano 5) x wae rit is Sssumed thatthe co (5) can vanish if and only if the se sdarsints are holonomic, othe intezal erate coefcents vanish, te dar ato, dag, 8 Scanned with CamScannerMRAM OF A REI gop i Haniton Fic, wr sein lovee ae orient emerson rape sianementnete a jail 10 CO Ei ctogoig Ween ‘Hamilton's pi peer rie eng 3 el W gpicaton of holon scherrernnisr om a independent of ca OT pe generated co-ordinates are poy aa Ets gtd ryt ari ay voy 110 THUS Me" {further treat aoa-holonomic system. PF riant can be pain the form sion conecing the differentials of ¢ Since. in variatog Egy BHO. J= 12am) m Te egos (ea se el ewe ete inte of vin See ae Te mcd wad or ee ‘Se ors vial pce ttf Lange's andere minder ‘a no aE 20s 0 1 Do) o hee 3} sme een cosans, which in gene, ae fax in Now nig We etn) et | nd ten ing te renga 1 sya) ‘a en 2s fins comeing 1 (5) in the ease of conservative id dat Nass $2) egno an Comin te gai hy, a gu "scan not be a ll independeny vided the equations of af [at(R ga 10s 0 be noted het tat Sg a omnected by the m eclaions ge os oe ae ag Es at tm ‘ay [ee (R AE taj i [ag a ag? Since 84's inwhed here ae independent wae, i 55 * Phe Now combining (15 with (15), we get au ae Bape He Pay 01.2 06 one, therefor, we hase = 1.2m) ay Which are known as Lagmnge's equations for non holonomic sem We now observe that (1) gies us a total of only m equations, shee as the unknowns involved are (+m) in aumber, namely then w coer dinates 4; and the m 2's The additonal equations required ac the equations of contin ie i Zayit aye ‘The equations (16) togeter with (17 consis (n+ m) equations for rem uno ata be aoe hee tat equ (te mot eer pe of tooled ema a gl ton noes are rm afer Mee or # wes eee 1 equation ofthe fort Fern an pa =O ishnown ar abolonomic equation fest FQ MMe a al x 418) Eas dans coins Tis ofthe same form as the equation (7) wth the Scanned with CamScannerrot roman os » we [pet ved Pe Baateg vy a 7H a ages undetermined mottplers can be | ge have Pr= (L2H =mi.p9= (BLA) =m? Soni tise : eauatinnr atop semen we te HPHRC Of con 2 i= O/B 09/mP).b py Ane abo) , Bak Angmar fs on Fee Gentine Se © (0) Sehep te Hamitonon for te is of mo 230Gb =P, pede 75 6- Wate Hamiton ewan of 20 a force be VA. Then 9g , ata Oo tae pacha oe na A ee tmoPe fe Kea! veloiy)+ (wanserse velocity) an* IF Ime ste® VOD) Inve ul energy of he system = in PB, (o) Hamion’s equations are sven by #)-¥00. j= (@H/Ap) f,=~ @H/Aa) pen litieni p= (bem Mt jot, By Aw f te apm Oe ne mete a elie cca onesie aH Pe an _ recos®@ av Thus Hazpj4,-L=P,4,+ Pot ‘Wem? Pen Be Pama = ptt yO~ ime POH VOD Bee mw = Pom) pol rg/mr?y* Be 4. If His the Hamiltonian, prove tha ion function depending ‘on position, momento 1 time, then = $m 5/2) + 77.2 /m?r) — VQ) (af fen > Hf (fame (Rani Vp wil enetgy of the stem. (6 Hanon’ eens we ~ (Hg). 5* (BHR) =r (anrap) (af /any + E (Af /2q) (day “40+ (fap) (dp, /40 1 Caf) + ¥ (fq) QH/AP)~ (F/R) GHEY a i), b= (BH Lape = (pg /mr?y Bie QHh= (Bm ~ VO Fy te ByH + equations j= 2H /2p,.f;=~ (H/2A)) . i Tae UH of} ere (Hf 1s the Boson 5 Eas Bm ve eae eatin ne ML aa (a) the Hamiltonian and (lh pogel VWs (a) wine the ‘Hamiltonian and ordinates. (8) Hamilton's equations in spherical polar (0) Hamilon’s equations in caesian €22 mbar? 8s Danteg (Be nog e __— MX Scanned with CamScannerIme 2 % m Pe 2 pox @erip= mip, 01/89 @L/A8) = mi win oman oyande Le sus tatpg be htt Bvt Bt IM OPPT OH Vay, a) costae Fy el) = oe (2 my + Em) + PEN HCD Gime prin) (872m) E79 ~ @nran: Fy (4/02) ana sn @Hrapy $= (HP, x6. A sphere ile down 2 ough ncuded plane; If Be the distance af the point of contact ofthe sper from a fed point on the lane. fond she aceeaion ‘Rajasthan 95; Meerut 93) = Sol. Weave T= fm (2+47@)=1m (Pe FP) bed A) Va mex sina 2) 0 : Ba ot i = i= (5p, Im) se . oe mi mex sina py (5p, /Tm) EG /m)=mgx sina. ‘ * One of Hamilton's equations gives ° = mg sine => Imi mg sina z= $ sina B51 Ye Hamioion 1 aden of ti cpl ve ht (@) a constant, and (©) qual tothe total energy of the syste so (0) (eH /ay = © Late irano Fai Damo 4 w By -BUE' theorem on hompeacos Ba arisen ons hae 20-4 er. vA arn F id= Gra) r Pu ni= @L/a4,)= Q) 92 4, py tus WoE ayf)= be 2 beat Tye Tay. Ex & Write the Hamitonia pendulum and eon of moto or gle Sol, We hie T= n!?and Vemg (1 cova, 2B malo pb Lem Sm mal (1~con= 7+ V=tol eee, 0 17 ma —cos0) Now pg (2L/0 He Ll? (py /ml?y*+ mgl(t~ cos = (Hang (ry/mt).0H/G main Now Hamitons equation of motion fr 8 ad a La malt c058) aHt/ap ge (@H/D) = B= (pg/ml) 208 ye mal in “These fepreseat Hamiton’s equations fora simple pendlem. From above, we ae ml. ee m8 m1? malsind = 8 (7050 al ithe single pia Fee eat of matin ote i in, Pa en amin fucion ond estn of ‘Meera 95) ‘compound pendulum. Scanned with CamScannermp ond = re L200" 18. pa jpe bnpy bet 10-410 me oe n [16m co® Jp mph ev sa frm oy mahcos= GYD. Aetna 4/0 1/0) = 088 1 or Band fy sven by 8 erm) “Thus the Hain’ equations aur gh sin But py= 18=9 y= 16 0+ @u/apd.te ie, b= (y/D a8 y= He mph sno 98+ FEsn ‘Ths ier the same as obaned preoisy sing ranges equations Bea bate Ear equing fom Honiton’ equations Sah We Inow that 27= (A gt Balt C3), ale T-Va}id oie Bale CoV is ‘Ao Euler's geometrical relations ee j= Bsn y= §sinB cosy (y= Bcorys 6a @ sinysand a wr gos + Veta ult Babs Cubs v BL 30 0p 202 ay doy 20) 99 * 2a 9p * B05 99 i A oysin y+ Be; cost Cay.0 o tn 4 Ma> pn - 401 sin8 conys Bey sn sinys Cay cos (2) and p=QL/= Coy Soling he three equations for, 2.05 we have cy Po sinys (py cosd~ p,) 228M] A 7 sino. ' 2AM SH Uy 030- r) BY, and oye bry — cine [UI dm, potash an semen at") 0 = 5, a oy ony- esinyreuee w, inde ts wy fe Yas bo00 & m= bene ‘This is Euler's hid geometrical equation, Gn the same ines, we ean deduce Ba and geometrical) Ee Ih Prove thar e's oteregunion (éyanial whee H ithe Honiton’ jc, Sol, Let gy dyn, Bete generalized coordinates then Hamilton's equation ae gven by Ht aH and j= SE Geta. 0 je a ed ae i lasing) be the co-ordinates ofthe proj in peat Scanned with CamScanner