PC235 Winter 2013

Classical Mechanics

Assignment #6 Solutions
#1 (5 points) JRT Prob. 7.4
Consider a mass m moving in a frictionless plane that slopes at an
angle with the horizontal. Write down the Lagrangian in terms of coordinates x, measured horizontally across the slope, and y, measured down the
slope (treat the problem as two-dimensional, but include the gravitational
potential energy.) Find the two Lagrange equations and show that they are
what you should have expected.
Solution
The kinetic and potential energies are
1
T = m(x 2 + y 2 ) and U = mgh = mgy sin .
2

(1)

Therefore,

1
L = T U = m(x 2 + y 2 ) + mgy sin .
2
The two Lagrange equations are then
0 = m
x and mg sin = m
y,

(2)

(3)

which imply that the acceleration across the slope is zero, while that down
the slope is g sin , as expected (this goes to zero for a flat surface and g for
a vertical surface.)

#2 (10 points) JRT Prob. 7.8

(a) Write down the Lagrangian L(x1 , x2 , x 1 , x 2 ) for two particles of equal
masses, m1 = m2 = m, confined to the x axis and connected by a
spring with potential energy U = 21 kx2 (here, x is the extension of the
spring, x = (x1 x2 ), where is the springs unstretched length,
and I assume that mass 1 remains to the right of mass 2 at all times).

(b) Rewrite L in terms of the new variables X = 21 (x1 + x2 ) (the CM

position) and x (the extension), and write down the two Lagrange
equations for X and x.
(c) Solve for X(t) and x(t) and describe the motion.
Solution
(a) L = T U = 21 m(x 21 + x 22 ) 21 k(x1 x2 )2 .
(b) Solving for x1 and x2 in terms of X and x, we find
1
1
x1 = X + x + ,
2
2

1
1
and x2 = X x .
2
2

(4)

Differentiating these, and substituting into L, we wind

1
L= m
2

"

1
X + x
2

2

1
+ X x
2


2 #

1
1
1
kx2 = mX 2 + mx 2 kx2 .
2
4
2
(5)

The two Lagrange equations are:

d L
L

=
0 = 2mX
X
dt X

(6)

1
d L
L
=
kx = m
x.
x
dt x
2

(7)

(c) The X equation implies that X(t)

is a constant (call it V0 ), and hence
that X(t) = V0 t + X0 . That is, the CM moves like a free particle, which
is to be expected since there are no external forces. The x equation has
the generalqsolution x(t) = A cos(t ) (simple harmonic motion),
with = 2k/m. This tells us that the spring is compressed (or
stretched) by twice the amount that either separate mass moves. Thus,
the force on either mass is as if the spring had force constant 2k.

#3 (5 points) JRT Prob. 7.18

A mass m is suspended from a massless string, the other end of which
is wrapped several times around a horizontal cylinder of radius R and moment of inertia I, which is free to rotate about a fixed horizontal axle. Using
2

a suitable coordinate, set up the Lagrangian and the Lagrange equation of

motion, and find the acceleration of the mass m.
Solution
We will choose as our generalized coordinate the height x of m, below the
axis of the cylinder. The angular velocity of the cylinder is = x/R,

so the
total KE is


1
1
I
1
(8)
m + 2 x 2 ,
T = mx 2 + I 2 =
2
2
2
R
while the PE is U = mgx. Therefore,
L=T U =

1
I
m + 2 x 2 + mgx,
2
R


(9)

and the Lagrange equation is

I
mg = m + 2 x,
R


which implies that

x =

mg
.
m + RI2

(10)

(11)

#4 (10 points) JRT Prob. 7.20

A smooth wire is bent into the shape of a helix, with cylindrical polar coordinates = R and z = , where R and are constants and the
z axis is vertically up. Using z as your single generalized coordinate, write
down the Lagrangian for a bead of mass m threaded on the wire. Find the
Lagrange equation and hence the beads vertical acceleration z. In the limit
that R 0, what is z? Does this make sense?
Solution
The helix is determined by the equations = R and z = . This helps us
express the beads velocity in cylindrical coordinates, in terms of the single
parameter z and the constants R and :
z)
z)
v = (,
,
= (0, R,
= z(0,
R/, 1).
The KE of the bead is thus
3

(12)

1
R2
1
T = mv 2 = mz 2 1 + 2 ,
2
2

(13)

and the PE is simply U = mgz. The Lagrangian is

R2
1
L = T U = mz 2 1 + 2
2

mgz.

(14)

(15)

The Lagrange equation is

L
d L
R2
=
= mg = m
z 1+ 2 ,
z
dt z

which rearranges to
z = 

1+

R2
2

.

(16)

When R 0, this answer reduces to z = g, which is correct because in

this limit, the helix reduces to a vertical frictionless wire, on which the acceleration is just g, vertically downward.

#5 (10 points) JRT Prob. 7.32

Consider the cube balanced on a cylinder as described in Example 4.7. Assuming that b < r, use the Lagrangian approach to find the angular frequency
of small oscillations about the top. The simplest procedure is to make the
small-angle approximations to L before you differentiate to get Lagranges
equation. As usual, be careful in writing down the kinetic energy; this is
1
(mv 2 + I 2 ), where v is the speed of the CM and I is the moment of inertia
2
about the CM (equal to 2mb2 /3 in this geometry - you dont have to prove
this). The safe way to find v is to write down the coordinates of the CM and
then differentiate.
Solution
The position of the CM of the block - see Fig. 4.14 - is
r = (x, y) = ([r + b] sin + r cos , [r + b] cos + r sin ),

(17)

and so its velocity is

v = (x,
y)
= (b cos + r sin , b sin + r cos ).
4

(18)

Thus,

v 2 = v v = (b2 + r2 2 )2 ,

(19)

and the Lagrangian is

1 2 1 2
mv + I mgy
(20)
2 
2

1
1
= m (b2 + r2 2 ) + b2 2 mg ([r + b] cos + r sin ) . (21)
2
3

L =

Using the small-angle approximation as suggested (sin , cos 1), this

simplifies to
1
5
(22)
L mb2 2 mg(r b)2 + const.
6
2
With this approximation, the Lagrange equation in reads
5 2
mb = mg(r b).
3

(23)

Provided that b < r, this has the form = 2 - indicating simple harmonic
motion with angular velocity
=

3g(r b)
.
5b2

(24)

#6 (10 points) JRT Prob. 7.34

Consider the well-known problem of a cart of mass m moving along
the x axis attached to a spring (force constant k), whose other end is held
fixed. If we ignore the mass of the spring (as we almost always do) then we
knowqthat the cart executes simple harmonic motion with angular frequency
= k/m. Using the Lagrangian approach, you can find the effect of the
springs mass M , as follows:
(a) Assuming that the spring is uniform and stretches uniformly, show that
its kinetic energy is 16 M x 2 (as usual, x is the extension of the spring
from its equilibrium length). Write down the Lagrangian for the system
of cart plus spring.

(b) Write down the Lagrange equation and show

q that the cart still executes
SHM but with angular frequency = k/(m + M/3); that is, the
effect of the springs mass M is just to add M/3 to the mass of the
cart.
Solution
(a) Let the unstretched length of the spring be and consider a short
segment of spring a distance from the fixed end and of length d.
Since the spring is uniform, the mass of this segment is M d/, and
since the spring stretches uniformly its velocity (when the cart has
velocity x)
is x/.

Therefore, the KE of this segment is 12 M x 2 2 d/3 ,

and the total KE of the spring is
Tspr

1 M x 2 Z 2
1
=
d = M x 2 .
3
2
6
0

(25)

Therefore, the Lagrangian for the system of spring and cart is

L=

1
1
(m + M/3) x 2 kx2 .
2
2

(26)

x, which is the same as

(b) The Lagrange equation is kx = (m + M/3)
for the usual massless spring except that m, the mass of the cart, has
been replaced by m + M/3.

#7 (10 points)
Refer to the figure below. A mass M is attached to a massless hoop
of radius R that lies in a vertical plane. The hoop is free to rotate about its
fixed center. M is tied to a string which winds part way around the hoop,
then rises vertically up and over a massless pulley. A mass m hangs on the
other end of the string. Find the equation of motion for the angle of rotation
of the hoop (). What is the frequency of small oscillations? Assume that m
moves only vertically, and that M > m.
Solution
As always, we need to find T , U , and then L. We will simplify matters a bit
by using different origins for the two masses, but this wont affect the final
6

Fig. 1: Geometry of Problem #7

answer since constant potential offsets are irrelevant when taking derivatives.
For mass M , let the origin be at the center of the hoop, with = 0 when the
mass is at the bottom of the hoop, as shown in the figure. Then, the position
of M is R(sin , cos ). As for m, its vertical position is determined by
as well; an increase in will unwrap an arc length of R from the string,
lowering m by the same amount. Therefore, the height of m, relative to its
while
height when = 0, is y = R. As for the velocities, vm = R,
vM = R (the latter is a purely tangential velocity...hopefully its clear that
both masses must have the same speed, since theyre attached by a string).
Thus, we can write
1
1
1
1 2
1
2
T = TM + Tm = M vM
+ mvm
= M R2 2 + mR2 2 = (M + m)R2 2
2
2
2
2
2
(27)

and
U = UM + Um = M gR(1 cos ) mgR = M gR cos mgR + const.,
(28)
where we will ignore the constant. Then,
1
L = (M + m)R2 2 + M gR cos + mgR.
2

(29)

The equation of motion is then

d L
L
(M + m)R = g(m M sin ).
=

dt

(30)

This simply represents F = ma along the direction of the string (since

M g sin is the tangential component of the gravitational force on M ).
For small oscillations, we first need to find the equilibrium point, 0 . This
occurs when dU/d = 0, giving us 0 = sin1 (m/M ). Now, let = 0 + ,
and expand the equation of motion to first order in . This gives
(M + m)R = g [m M sin(0 + )]
= g [m M (sin 0 cos + sin cos 0 )]



m
= g mM
cos + sin cos 0
M
= g(m m cos M sin cos 0 )
g(m m M cos 0 )
= M g cos 0 ,

(31)
(32)
(33)
(34)
(35)
(36)

and therefore, the equation of motion for small oscillations reads

+

"

M g cos 0
= 0.
(M + m)R

(37)

The frequency of small oscillations is therefore

s

M cos 0
M +m

M (1 (m/M ))1/2
M +m

g
=
R

M (1 sin2 0 )1/2
M +m
r

g
R

g
R

(38)
(39)

v
u
u [(M + m)(M m)]1/2 r g
t

=
=

(M 2 m2 )1/2
M +m

g
R

M +m

(40)

v
u
u [(M + m)(M m)]1/2 r g
t

[(M + m)(M + m)]1/2

M m
M +m

1/4 r

g
.
R

(41)
(42)
(43)

#8 (10 points) JRT Prob. 13.10

Consider a particle of mass m moving in two dimensions, subject to
, where k and K are positive constants. Write down
a force F = kx
x + Ky
the Hamiltonian and Hamiltons equations, using x and y as generalized coordinates. Solve the latter and describe the motion.
Solution
The KE is T = 21 m (x 2 + y 2 ). If we choose the PE to be zero at the origin,
R
then we have U = 0r F dr = 21 kx2 + Ky. The generalized momenta are
given by p = mr and the Hamiltonian is therefore
H=


1  2
1
px + p2y + kx2 + Ky.
2m
2

(44)

The two Hamiltons equations for x are

x =

px
H
=
px
m

and px =

H
= kx,
x

(45)

which combine to give q

x = (k/m)x. Thus, x oscillates in SHM: x =
A cos(t ), with = k/m. Meanwhile, the two y equations are
y =

py
H
=
py
m

and py =

H
= K,
y

(46)

which combine to give y = K/m. Thus, y accelerates in the negative y

direction, y = 12 (K/m)t2 + vy0 t + y0 , with constant acceleration K/m.
9

#9 (5 points) JRT Prob. 13.14

Consider the mass confined to the surface of a cone described in Example 13.4. We saw that there have to be maximum and minimum heights
zmax and zmin , beyond which the mass cannot stray. When z is a maximum
or minimum, in must be that z = 0. Show that this can happen if and only
if the conjugate momentum pz = 0, and use the equation H = E, where H
is the Hamiltonian function, to show that, for a given energy E, this occurs
at exactly two values of z. Describe the motion of the mass.
Solution
According to Eq. (13.32) of the text, z = pz /m(c2 + 1), which means that z
can vanish if and only if pz = 0. According to Eq. (13.33),
p2
1
p2z
+ mgz = E,
+
2m (c2 + 1) c2 z 2
#

"

(47)

which indicates that if pz = 0, then

p2
+ mgz = E.
2mc2 z 2

(48)

All of the terms in this equation are positive, so it is clear that the LHS of the
equation approaches + as z 0 and z . Furthermore, by differentiating the LHS, we see that its derivative vanishes exactly once. Therefore,
the LHS has a single minimum value, which we call Emin . If E < Emin , then
no motion is possible. If E > Emin , the equation must have exactly two solutions, the turning points zmax and zmin .

#10 (10 BONUS points) JRT Prob. 7.38

A particle is confined to move on the surface of a circular cone with its axis
on the vertical z axis, vertex at origin (pointing down), and half-angle .
(a) Write down the Lagrangian L in terms of the spherical polar coordinates r and .
(b) Find the two equations of motion. Interpret the equation in terms
of the angular momentum z , and use it to eliminate from the r
10

equation in favour of the constant z . Does your r equation make sense

in the case that z = 0? Find the value r0 of r at which the particle
can remain in a horizontal circular path.
(c) Suppose that the particle is given a small radial kick, so that r(t) =
r0 + (t), where (t) is small. Use the r equation to decide whether
the circular path is stable. If so, with what frequency does r oscillate
about r0 ?
Solution
(a) In spherical polar coordinates, the angle is fixed at = . Thus, all
time derivatives of are zero, and the KE is
1
T = m(r 2 + r2 sin2 2 ).
2

(49)

Since the PE is just U = mgz = mgr cos , we have

1
L = m(r 2 + r2 sin2 2 ) mgr cos .
2

(50)

(b) Since L does not depend on , the equation simply indicates that
L
= mr2 sin2 is constant. That is, z is conserved. The r equation

is
m
r = mr sin2 2 mg cos , or r =

2z
g cos .
m2 r3 sin2

(51)

Note that - as expected - if z = 0, the particle simply slides in the radial

direction with the well-known acceleration g cos (remember that is
the angle of the incline with respect to the vertical ). The value of r0
that permits the particle to remain in a horizontal circular path is that
which gives r = 0. Thus,
"

2z
r0 =
m2 g sin2 cos

11

#1/3

(52)

(c) If we write r = r0 + , the r equation becomes

2z
3
g cos
1
+
=
r0
m2 r03 sin2


2z

g cos
13
r0
m2 r03 sin2
32z
.
=
m2 r04 sin2


(53)
(54)
(55)

This represents SHO with

3z mg 2
=
= 3
mr02
z

!1/3

sin2 cos

2/3

(56)

Dont worry about seeing a mass dependence in . There is a corresponding mass dependence buried in z - these cancel out. Changing
m will have no effect on .

12