S

S
utt 1
(U,.t)
ndenI
indepe
vaniabie
S dependent

F SCos(0)- S
F (,S)
f(0,ste)
FFuncti onal Functhon ota dun cion

(
arc length

0S A
SayA 0
Lt 4S= da l
ds Ea)
to A2
nom
Tota
cnh
 F[x,u,H
orm
Grenena)
Fonctioncl,

# Calcoulas
of Variation_#E

possib
|le
Ce

Pe pnesChy
J) paths

eOm

uy

Le n()
&nd
) X 2 >
isthe
be an
path
Shoold

optimUm

arbhna
pa
ry
be

paih
optimum

JrOm
x to

he ns
We paramatnized

E
)&
1 a vatidiona
will
Ena)
Puramete
get
ten1
all porible
ve
palhs
thet
ven T
y
pa)
pat
value E, we nwhich
in which
PaTh bl obuncd
PDovncte hat paTh
that C an b
can dbtuned,
tllaw pah
paln
wi
A system This Optimum
aTh.
Path
paTh
1S can optimun
Ppinciple
Van iahi ona).

We dejme heinegral
)ft 30),Sra]t
tor opimom pam,

d -0 4
Fem eq-

,30.g*0

tuocio
isnota

FPom
01 Y)

-
n(
a)st6na)
euces
to THe nm

oy
his tepm, yis
his
BecaUse ot
weak
Variutional
Jon
called
toem
d
is

Let us egnatehe
Secgnd pat 6t 6
 ne )nc)-0
0-T ne
) dnn)
n()

)0
Junctidn
Joncti
arbrteap
fop any
top any arbitrany
1sYalid
Eaatio

Let Xt (time) co-oedince

a(Generaližed

y Ot lt) 2ed.
veloci
Onehenali

(7)9,)1(1,
L= T-Y
kE P.E

becomes
No q-
)P0
uter Yoatent0
Eole ogrnye equctin oj mtin.
 mas S
A ree alin bd

1Lagnangian
2 Eqn. o ebiLmotidv
e
3) Sol d
H

Ve

T(k E mv2 (V

PN E mt)
1)
T-V
Lagnangian
Lm2)m2

0
m oHdN
racth

2) E-L en o

Here
m
(2)
(-m)
E) ole bgnang
OP datd +C
0

tom ey-

dt
dz

dt 1-0 -H

(2-oH to
neduce
neduces

Equation
t(2
 Contraint

.f
a.restr ictiun
restrictiun.
to
To he h
The zhmdin
moin
ca
its Co-oorates
A Conctraint
that
its Co-oedhrates
sato
Satisty
Sme relaiq
oan ne
bect, Such
componeS
velocity

Ond/6e
t evExoy

rce
ime

which nesin lctS

ehe metion.
metion.

Velation
is
Cn.
0 cun
o1
Called.
The
Consteaint
to maintain. hC
Odec
Censtrain t lorce-

Pooperties
in UtTUrT
nuture
oces are elastic
Constrain
Contu
od
at ne Sunfute
2) Appew
don'al6u any hngE
and
3) Stror cnough
as much aS nequird
Stron
de but resst
4) No iyed maganitiio

path
maintain

Classidi coction

nelations
ane time idepercent
4) Scleronomic 9Constn aint

ape time mdeperienl

Conctnint relaions
RheonomiC

1 Holoh mic' Const rnt rel utons ae elocity Mdepend ent.

2 No holonomic Constnoio helatieins ane velocty e pencnt

n
C)
) (sosep vative

2)issiPative
mation cllouwe6
backwoaed.
1) Bi ladenal Jorwand and
backwand maion
E1hen tnwand
Uni- latera

alueet

x-1) fived legl

won
nddlum
ASimple pe

2 3D

Constnoint
nctetiovM

)ScleondmiC
C.
2)halonomi

3Bilateoct).
4)Consepvative
(olane
Ex-2) Smooth n clened
dn The2
A body

A) Kheonom
yt)=
Lt)fanb

I dnsen vative
iv Uni lafeeal.
 Cy-3
A bece on a otunnq wi e

Co tes d he bea0.dn
At he
a time..
he ip s
a0. = (t)cu(w)
Ct) Ct)Sin(WN)

) hcononei C

2HolenomiC

3)Uoil ateral

Degnees odcedorq
Vaniabhes
ind ependeMt
he numbeyd a

eqpincd
to specily
minim Um
The pos tin
t with. e
and CondiquaHoH
given
o a system which
awe
Called he
Compaitable
no ben
n o77 degrees a Jreetm
Constnai
in which N
dimension
07 Space,
Let D is The
ane mo Vin
pantic[es
No of Puticle Na, o
PimencOns

Dof 0xN

cnsmats
Fo k
DOF- pxN-K
Ex2

3y3-2

atel
(o-crdi natlcs 2Tt Co-ondin
penent
+aeneraized od inde
nUm b en dinateßS)
c0-aninateß Syt.
syst
0m c0-an
The minin

be the
befhe
cavjesian
CDIeSian
atton
atron dad a dyham)ccel
dyhamical
eS
net
(not
nece Ssaniy he condiqur
coniyur Co-
Co-ord
ncit

lo Specity
neqyived Tne ebenaliyed
called

2
TN
DoF3N- K n.

32
)