PH 101: PHYSICS 1 Lecture 07 [1]

New recipe alternative to Newton’s law

Our life would be easier if
(1) There would exist any new recipe, alternative to Newton’s law, which does not
require to consider constrain forces.

(2) Further, it will be ideal if the new recipe does not depend on any specific
coordinate system.

Then switching from one coordinate system to another coordinate will be very
simple.

Good News
There is one new formalism alternative to Newtonian mechanics which does not
require to consider constrain forces and also independent of the choice of the
coordinate system
New recipe ➔ Lagrangian formalism
PH 101: PHYSICS 1 Lecture 07 [2]

Lagrangian formalism
Introduce a new function of generalized coordinates, generalized velocities and time :
𝑳𝒂𝒈𝒓𝒂𝒏𝒈𝒊𝒂𝒏 𝑳 𝒒𝟏 , … , 𝒒𝒏 , 𝒒ሶ 𝟏 , … . , 𝒒ሶ 𝒏 , 𝒕

Potential energy
Lagrangian
𝑳 𝒒𝟏 , … , 𝒒𝒏 , 𝒒ሶ 𝟏 , … . , 𝒒ሶ 𝒏 , 𝒕 = 𝑻 − 𝑼 Kinetic energy
Everything about this system is embodied in the scalar function L

Largrangian satisfies the Lagrange’s equation

𝑑 𝜕𝐿 𝜕𝐿 One equation for each generalized
− =0 coordinate.
𝑑𝑡 𝜕𝑞ሶ 𝑗 𝜕𝑞𝑗
• To define the Largrangian, potential 𝑈 𝑞1 , … , 𝑞𝑛 , 𝑡 must exist, i.e., the given force
field is conservative.
• There is no need to consider constrain forces in Lagrange’s formalism
• The form of Lagrangian equation is independent of choice of any set of
generalized coordinate systems
PH 101: PHYSICS 1 Lecture 07 [3]

Example 2
A mass 𝑀 slides down a frictionless plane inclined at angle 𝛼. A pendulum, with
length 𝑙, and mass 𝑚, is attached to 𝑀. Find the equations of motion.

X
Four constrains equations
𝑀
𝑠 𝑧1 = 0; 𝑧2 = 0
(𝑥2 , 𝑦2 ) 𝑦2 = 𝑥2 tan 𝛼
(𝑦2 − 𝑦1 )2 +(𝑥2 − 𝑥1 )2 = 𝑙 2
𝜃
𝑚 Step-1: Find the degrees of freedom and choose
(𝑥1 , 𝑦1 )
𝛼 suitable generalized coordinates

Two particles: N = 2, No. of constraints, 𝑘 = 4

Thus, the degrees of freedom = 3 × 2 − 4 = 2
Hence number of generalized coordinates must be two.
Y
‘s’ and ‘’ can serve as generalized coordinates (they
are independent nature).
PH 101: PHYSICS 1 Lecture 07 [4]

Example 2: Continued . . .
Step-2: Find out transformation relations All the constrains
𝑥2 = 𝑠 cos 𝛼; 𝑦2 = 𝑠 sin 𝛼 relations have been
𝑥1 = 𝑠 cos 𝛼 + 𝑙 sin 𝜃 ; 𝑦1 = 𝑠 sin 𝛼 + 𝑙 cos 𝜃 included in the
problem through these
relationship
Step-3: Write 𝑇 𝑎𝑛𝑑 U in Cartesian
1 1
𝑇 = 𝑚 𝑥ሶ 1 2 + 𝑦ሶ 1 2 + 𝑀 𝑥ሶ 2 2 + 𝑦ሶ 2 2
2 2
𝑈 = −𝑚𝑔𝑦1 − 𝑀𝑔𝑦2

Step-4: Convert T and U in generalized coordinate using From

transformation
1 1
𝑇 = 𝑚[𝑠ሶ 2 + 𝑙 2 𝜃ሶ 2 + 2𝑙 𝑠ሶ 𝜃ሶ cos(𝛼 + 𝜃)] + 𝑀𝑠ሶ 2
2 2
𝑈 = −𝑚𝑔(𝑠 sin 𝛼 + 𝑙 cos 𝜃) − 𝑀𝑔𝑠 sin 𝛼
transformation
equation
𝑥ሶ 2 = 𝑠ሶ cos 𝛼 ; 𝑦ሶ 2 = 𝑠ሶ sin 𝛼
𝑥ሶ 1 = 𝑠ሶ cos 𝛼 + 𝑙 cos 𝜃 𝜃;ሶ
𝑦ሶ1 = 𝑠ሶ sin 𝛼 − 𝑙 sin 𝜃 𝜃ሶ
PH 101: PHYSICS 1 Lecture 07 [5]

Example 2: Continued . . .
Step-5: Write down Lagrangian
𝐿 =𝑇−𝑈
1 2 ሶ2
1
ሶ
= 𝑚[𝑠ሶ + 𝑙 𝜃 + 2𝑙 𝑠ሶ 𝜃 cos(𝛼 + 𝜃)] + 𝑀𝑠ሶ 2 + 𝑚𝑔(𝑠 sin 𝛼 + 𝑙 cos 𝜃)
2
2 2
+ 𝑀𝑔𝑠 sin 𝛼
Step-6: Write down Lagrange’s equation for each generalized coordinates
𝑑 𝜕𝐿 𝜕𝐿 𝑑 𝜕𝐿 𝜕𝐿
− = 0 𝑎𝑛𝑑 − =0
𝑑𝑡 𝜕𝑠ሶ 𝜕𝑠 𝑑𝑡 𝜕𝜃ሶ 𝜕𝜃
From 1st eqn.
𝑑
[𝑚𝑠ሶ + 𝑚𝑙 𝜃ሶ cos 𝛼 + 𝜃 + 𝑀𝑠]ሶ − 𝑚g sin 𝛼 − 𝑀𝑔 sin 𝛼 = 0
𝑑𝑡
𝑚 + 𝑀 𝑠ሷ + 𝑚𝑙 𝜃ሷ cos 𝛼 + 𝜃 − 𝑚𝑙 𝜃ሶ 2 sin(𝛼 + 𝜃) − 𝑚 + 𝑀 𝑔 sin 𝛼 = 0

From 2nd eqn.

𝑑
[𝑚𝑙 2 𝜃ሶ + 𝑚𝑙 𝑠ሶ cos(𝛼 + 𝜃)] + 𝑚𝑙 𝑠ሶ 𝜃ሶ sin 𝛼 + 𝜃 + 𝑚𝑔𝑙 sin 𝜃 = 0
𝑑𝑡
𝑚𝑙 2 𝜃ሷ + 𝑚𝑙 𝑠ሷ cos 𝛼 + 𝜃 + 𝑚𝑔𝑙 sin 𝜃 = 0
PH 101: PHYSICS 1Lecture 07 [6]

Kinetic energy in generalized coordinate without

transformation relation: Is it possible?
If (i) You can identify the generalized coordinates as coordinates of either Polar/
Cylindrical/ Spherical polar with its Origin (and also plane in case of plane polar)
fixed during motion. (ii) Constrain condition is known in terms of terms of identified
Polar/Cylindrical/Spherical polar coordinates.
Then one can directly write the expression of kinetic energy in terms of generalized
coordinates without using transformation equations

Review problem 1
X
Identify that in XY plane, generalized coordinate 𝜃 is the
𝑟=𝑙 coordinate of Plane polar system with 𝑟 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝜃 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
Velocity in polar coordinate 𝑣Ԧ = 𝑟ሶ 𝑟Ƹ + 𝑟𝜃ሶ 𝜃መ

Y Now 𝑟 = 𝑙 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 , thus 𝑟ሶ = 0 ; Hence 𝑣Ԧ = 𝑙 𝜃ሶ 𝜃መ

Constrain condition in
1 1 2 2 Same as using
plane polar coordinate 2
𝑇 = 𝑚𝑣 = 𝑚𝑙 𝜃 ሶ
𝑟 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 2 2 transformation
 Lecture 07
PH 101: PHYSICS 1 [7]

Kinetic energy without transformation relation in

problem 2?
X
𝑀 Is it possible to directly write 𝑇 in terms of generalized
𝑠 coordinates ‘𝑠’ and ‘𝜃’ without using transformation
(𝑥2 , 𝑦2 ) relation?
𝜃
Kinetic energy of 𝑀 (as it exhibits only linear motion
(𝑥1 , 𝑦1 ) 1
𝛼 along 𝑠) = 𝑀𝑠ሶ 2
2

What about kinetic energy of the pendulum?

1
Is it still 𝑚𝑙 2 𝜃ሶ 2 ?
2

Y
No, you can not use direct expression for velocity in polar
coordinate(hence kinetic energy) as the origin of the polar
system is moving (although plane of motion is fixed)
PH 101: PHYSICS 1 Lecture 07 [8]

More examples on Lagrange’s equation,

PH 101: PHYSICS 1 Lecture 07 [9]

Lagrange’s equation: Example 3

A block of mass 𝑚 is sliding on a wedge of mass 𝑀. Wedge can slide on the

horizontal table. Find the equation of motion.

𝑀
𝛼

X
PH 101: PHYSICS 1 Lecture 07 [10]

Lagrange’s equation: Example 3

Y
Four constrains: 𝑧𝑀 = 0; 𝑦𝑀 = 0; 𝑧𝑚 = 0;
𝑞 ℎ−𝑦𝑚
= tan 𝛼 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑥𝑀
𝑥𝑚 −𝑥𝑀
(𝑥𝑚 , 𝑦𝑚 )
ℎ
𝑀
𝛼
X
Step-1: Find the degrees of freedom and choose suitable generalized coordinates

Two particles system, thus 𝑁 = 2, 𝑛𝑜. 𝑜𝑓 𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑠 𝑘 = 4

By rule, 𝒅𝒆𝒈𝒓𝒆𝒆𝒔 𝒐𝒇 𝒇𝒓𝒆𝒆𝒅𝒐𝒎 = 𝟑 × 𝟐 − 𝟒 = 𝟐
Hence, number of generalized coordinates must be two.

The distance of the wedge from origin (𝒙𝑴 ) and distance slipped by the block (𝒒)
can serve as generalized coordinates of the system.
Important point: Only translation of the given rigid bodies are considered, thus for
the calculation of degrees of freedom both of them are considered as point particles.
PH 101: PHYSICS 1 Lecture 07 [11]

Lagrange’s equation: Example 3

Step-2: Find out transformation relations Y

𝒙𝒎 = 𝒙𝑴 + 𝒒 𝐜𝐨𝐬 𝜶 ; 𝒚𝒎 = 𝒉 − 𝒒 𝐬𝐢𝐧 𝜶 𝑞
𝑥𝑀 (𝑥𝑚 , 𝑦𝑚 )
ℎ
Step-3: Write 𝑇 𝑎𝑛𝑑 𝑈 in Cartesian
𝑀
𝛼
𝟏 𝟐 𝟐 𝟏 X
𝑻= 𝒎 𝒙ሶ 𝒎 + 𝒚ሶ 𝒎 + 𝑴𝒙ሶ 𝑴 𝟐 ; 𝑼 = 𝒎𝒈𝒚𝒎
𝟐 𝟐
From
Step-4: Convert T and U in generalized coordinate transformation
relations
using transformation
𝟏 𝟏
𝑻 = 𝒎 𝒙ሶ 𝑴 𝟐 + 𝒒ሶ 𝟐 + 𝟐𝒙ሶ 𝑴 𝒒ሶ 𝐜𝐨𝐬 𝜶 + 𝑴𝒙ሶ 𝑴 𝟐 ; 𝑥ሶ 𝑚 = 𝑥ሶ 𝑀 + 𝑞ሶ cos 𝛼
𝟐 𝟐
𝑼 = 𝒎𝒈(𝒉 − 𝒒 𝐬𝐢𝐧 𝜶) 𝑦𝑚
ሶ = −𝑞ሶ sin 𝛼
PH 101: PHYSICS 1 Lecture 07 [12]

Lagrange’s equation: Example 3

Step-5: Write down Lagrangian
𝐿 =𝑇−𝑈
𝟏 𝟏
𝑳 = 𝒎 𝒙ሶ 𝑴 + 𝒒ሶ + 𝟐𝒙ሶ 𝑴 𝒒ሶ 𝐜𝐨𝐬 𝜶 + 𝑴𝒙ሶ 𝑴 𝟐 − 𝒎𝒈(𝒉 − 𝒒 𝐬𝐢𝐧 𝜶)
𝟐 𝟐
𝟐 𝟐
Step-5: Write down Lagrange’s equation for each generalized
coordinates (𝒙𝑴 and q)
𝒅 𝝏𝑳 𝝏𝑳 𝒅 𝝏𝑳 𝝏𝑳
− = 𝟎….. 𝟏 ; − = 𝟎 … … (𝟐)
𝒅𝒕 𝝏𝒙ሶ 𝑴 𝝏𝒙𝑴 𝒅𝒕 𝝏𝒒ሶ 𝝏𝒒

From eqn. (1)

𝒅
𝒎𝒙ሶ 𝑴 + 𝒎𝒒ሶ 𝐜𝐨𝐬 𝜶 + 𝑴𝒙ሶ 𝑴 = 𝟎 ⇒ (𝒎 + 𝑴)𝒙ሷ 𝑴 + 𝒎𝒒ሷ 𝐜𝐨𝐬 𝜶 = 𝟎
𝒅𝒕
From eqn. (2)
𝒅
𝒎𝒒ሶ + 𝒎𝒙ሶ 𝑴 𝐜𝐨𝐬 𝜶 − 𝒎𝒈 𝐬𝐢𝐧 𝜶 = 𝟎 ⇒ 𝒎 𝒒ሷ + 𝒙ሷ 𝑴 𝐜𝐨𝐬 𝜶 − 𝒎𝒈 𝐬𝐢𝐧 𝜶 = 𝟎
𝒅𝒕
PH 101: PHYSICS 1 Lecture 07 [13]

Lagrange’s equation: Example 4

Take vertical axis about which the hoop is rotating as z axis
𝝎 and the plane of the hoop at 𝒕 = 𝟎 as the 𝑿𝒁-plane.
Z

𝜽 𝑹 𝝎
Angle by which
plane of the hoop (𝒙, 𝒚, 𝒛)
is rotated in time 𝑡 𝜃
𝑹
Y
𝑅 sin 𝜃
𝝋 = 𝝎𝒕

X
A bead of mass 𝒎 is free to slide along a frictionless hoop of radius R. The
hoop rotates with constant angular speed 𝝎 around its vertical diameter. Find
the equation of motion of the bead.
PH 101: PHYSICS 1 Lecture 07 [14]

Lagrange’s equation: Example 4 continue

Z
Two holonomic constrain relations
𝝎 𝒙𝟐 + 𝒚𝟐 + 𝒛𝟐 = 𝑹𝟐
(𝒙, 𝒚, 𝒛) 𝝋ሶ = 𝝎, 𝒊, 𝒆. 𝝋 = 𝝎𝒕
𝜽 Note:
𝑹 𝝋 = 𝝎𝒕 constrain is equivalent to
Y
𝒚
𝝋 = 𝝎𝒕 𝐭𝐚𝐧−𝟏 = 𝝎𝒕 in Cartesian system
𝒙
Step-1: Find the degrees of freedom and choose
X suitable generalized coordinates
One particle system, hence N=1, No. of holonomic constrains (k) = 2
By rule, 𝑑𝑒𝑔𝑟𝑒𝑒𝑠 𝑜𝑓 𝑓𝑟𝑒𝑒𝑑𝑜𝑚 = 3 × 1 − 2 = 1
Hence number of generalized coordinates must be one.
Angle ‘𝜽’ , which the particle makes with rotation axis (𝒛-axis) can
serve as generalized coordinates.
PH 101: PHYSICS 1 Lecture 07 [15]

Lagrange’s equation: Example 4 continue

Step-2: Find out transformation relations
𝝎
𝑥 = 𝑅 sin 𝜃 cos 𝜔𝑡 ;𝑦 = 𝑅 sin 𝜃 sin 𝜔𝑡 ; 𝑧 = 𝑅 cos 𝜃
(𝒙, 𝒚, 𝒛)
Note: All the constrain relations have entered in 𝜽
𝝋 = 𝝎𝒕 𝑧=𝑅 cos 𝜃
the problem via these relationship 𝑹
Y
Step-3: Write 𝑇 𝑎𝑛𝑑 𝑈 in Cartesian 𝑅 sin 𝜃

1
𝑇 = 𝑚 𝑥ሶ 2 + 𝑦ሶ 2 + 𝑧ሶ 2 ; 𝑈 = 𝑚𝑔𝑧 X 𝑦 = 𝑅 sin 𝜃 sin 𝜔𝑡
2
Step-4: Convert T and U in generalized coordinate From
using transformation transformation
relations
1
𝑇 = 𝑚[𝑅2 𝜃ሶ 2 + 𝑅2 𝜔2 𝑠𝑖𝑛2 𝜃]
2 𝑥ሶ = 𝑅 cos 𝜃 cos 𝜔𝑡 𝜃ሶ − 𝑅 𝜔sin 𝜃 sin 𝜔𝑡
𝑈 = 𝑚𝑔𝑅 cos 𝜃 𝑦ሶ = 𝑅 cos 𝜃 sin 𝜔𝑡 𝜃ሶ + 𝑅𝜔 sin 𝜃 cos 𝜔𝑡
𝑧ሶ = −𝑅 sin 𝜃 𝜃ሶ
PH 101: PHYSICS 1 Lecture 07 [16]

Lagrange’s equation: Example 4 continue

Step-5: Write down Lagrangian
𝐿 =𝑇−𝑈
1
𝐿 = 𝑚 𝑅2 𝜃ሶ 2 + 𝑅2 𝜔2 𝑠𝑖𝑛2 𝜃 − 𝑚𝑔𝑅 cos 𝜃
2
Step-5: Write down Lagrange’s equation for each generalized
coordinates

𝑑 𝜕𝐿 𝜕𝐿
− =0
𝑑𝑡 𝜕𝜃ሶ 𝜕𝜃
𝑑
𝑚𝑅2 𝜃ሶ − 𝑚𝑅2 𝜔2 sin 𝜃 cos 𝜃 + 𝑚𝑔𝑅 sin 𝜃 = 0
𝑑𝑡
𝑚𝑅2 𝜃ሷ − 𝑚𝑅2 𝜔2 sin 𝜃 cos 𝜃 + 𝑚𝑔𝑅 sin 𝜃 = 0
PH 101: PHYSICS 1 Lecture 07 [17]

Example 4: Kinetic energy relooked

In this problem of rotation, kinetic energy can be directly written in generalized
coordinates without using transformation relations, because one can easily
identify that generalized coordinate 𝜽 is the coordinate of spherical polar coordinate
system (𝑟, 𝜃, 𝜑), and in this case 𝒓 = 𝑹 = 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕, 𝝋ሶ = 𝝎

Velocity in spherical polar coordinate

ሶ 𝒓 + 𝒓𝜽ሶ 𝜽
෡ + 𝒓 𝐬𝐢𝐧 𝜽 𝝋ෝ
ሶ𝝋 𝝎
𝒗 = 𝒓ො
(𝒙, 𝒚, 𝒛)
𝜽
Now 𝑟 = 𝑅 =constant, hence 𝒓ሶ = 𝟎; 𝝋ሶ = 𝝎 𝑅
Thus for this problem Y
𝒗 = 𝑹𝜽ሶ 𝜽
෡ + 𝑹 𝝎𝐬𝐢𝐧 𝜽 𝝋ෝ 𝝋 = 𝝎𝒕

1 1 1 X
2
Ԧ 𝑣Ԧ = 𝑚[𝑅2 𝜃ሶ 2 + 𝑅2 𝜔2 𝑠𝑖𝑛2 𝜃]
𝑇 = 𝑚𝑣 = 𝑚𝑣.
2 2 2
Basically the transformation relations from Cartesian to Spherical polar
(SP) have already been accounted in getting the relation for velocity in SP.