Classical Mechanics (HONS): Tut 1 (14 Feb, 2011)

1. If L(q 1 , . . . , q n , q 1 , . . . , q n , t) is a Lagrangian for a system of n degrees of freedom, show by direct subsitution that the Lagrangian given by L (q 1 , . . . , q n , q 1 , . . . , q n , t) = L(q 1 , . . . , q n , q 1 , . . . , q n , t) + generates the same set of dynamical equations. 2. Change of variables in the Lagrangian: Let G : q Q be a one-to-one dierentiable mapping with dierentiable inverse (a dieomorphism ) G1 : Q q . Let us write g = G1 . In components we have Qi = Gi (q 1 , . . . , q n , t) or q k = g k (Q1 , . . . , Qn , t), Then knows, by invertibility, that det g j Qk = 0. i, k = 1, . . . , n. d F (q 1 , . . . , q n , t) dt

Prove that if Lagranges equations hold when written in terms of the q j , then they hold also for the Qj , i.e., L d L = 0, j dt Q Qj where
n n k=1

, t) = L g1 (Q, t), . . . , gn (Q, t), (Q, Q L

k=1

g 1 k g 1 ,..., Q + Qk t

g n k g n ,t , Q + Qk t

, t) (Q, Q i.e., Q(t) is a solution of the Lagrange equations for the transformed Lagrangian L , t). Hint: (above) if and only if the q (t) are solutions of the Lagrange equations for L(q , q compare the calculation you are asked to do here with the derivation of Lagranges equations from dAlemberts principle we did in class. In particular look at the equations of transformation used there. 3. The diagram below shows the planar double pendulum. The rods connecting the masses are rigid and massless, and the whole system is frictionless. Determine the Lagrangian and the equations of motion for the system.
11 00 11 00

T2 = S 1 x S 1

1 l1
00 11 00 11 00 11

m1 2 l2
111 000 111 000 m 111 000 111 2 000

4. The Lagrangian for a charged particle in an electromagnetic eld can be written as 2 + qr A q. L= 1 2 mr Show that in cylindrical coordinates (, , z ) this becomes
1 L= 2 m( 2 + 2 2 + z 2 ) + q (A + A + zA z ) q,

+ A e + Az e z . You may use the following without proof (although you where A = A e are not required to prove this for this problem, you should work these transformations out for yourself) x = cos e sin e e y = sin e + cos e e z = e z e
1 B, Az = 0 and = 0. Determine Lagranges equations. Let A = 0, A = 2

5. A particle of mass m is constrained to move on the surface of the cylinder x2 + y 2 = a2 . It is attracted to the origin with a central force given by F = k r . Neglecting gravitational attraction by the earth, show that the Lagrangian is given by
1 1 L= 2 m(a2 2 + z 2) 2 m 2 (a2 + z 2 ),

where = k/m and , , z are cylindrical coordinates. Without doing any calculations write down at least one conserved quantity. Determine the equations of motion and solve them. 6. The gure below shows a pendulum whose point of support rotates uniformly in a vertical circle, with angular frequency . Show that a suitable Lagrangian for this system is
2 2 2 L= 1 2 ml + mgl cos + ma l sin( t).

'$ @ a @s

Hence write down the equation of motion for this pendulum.

e l &% e e ee

e}

7. The Lagrangian for two particles of masses m1 and m2 , and Cartesian coordinates r 1 and r 2 , respectively, interacting via a potential V ( r 1 r 2 ), is
1 1, r 2) = 2 1 L(r 1 , r 2 , r m1 r 2

2 +1 2 m2 r

V ( r 1 r 2 ).

(i) Rewrite the Lagrangian in terms of the centre of mass coordinates R= and relative coordinates r = r1 r2 , ) (compare with Problem 2). You should also introduce the (r , R, r ,R i.e., express L as L total mass M and reduced mass through m1 m2 M = m1 + m2 , = m1 + m2 (ii) Use Lagranges equations to show that the centre of mass and relative motions separate, the centre of mass moving with constant velocity, and the relative motion being like that of a single particle of reduced mass moving in a potential V ( r ). Remark: This result is of considerable importance in the study of the two-body problem. It allows you to replace a two body problem with that of the motion of a single body of mass in a xed central potential V ( r ). 8. Figure 1 shows a planar pendulum whose point of support, at mass m1 , is free to move in the x-direction. A rigid massless rod of length l separates masses m1 and m2 , and the system is free to swing in the x-y -plane. Using the coordinates given in the gure show that the Lagrangian is given by
2 2 cos ) + m2 gl cos . 2 + 1 L= 1 2 (m1 + m2 )x 2 m2 (l + 2lx

m1 r 1 + m2 r 2 m1 + m2

Determine the equations of motion.

y x O
1 0 11 00 11111 00000 1 0 00 11 11111 00000 1 0 11111 00000 1 0 11111 00000 1 0 11111 00000 1 0 11111 00000 1 0 11111 00000 1 0 11111 00000 1 0 11111 00000 l 1 0 11111 00000 1 0 11111 00000 1 0 11111 00000 1 0 11111 00000 1 0 11111 00000 11111 00000 00 11 11111 00000 00 11 11111 00000 00 m2 11

m1

Figure 1: Planar pendulum whose point of support is free to move in one dimension. 9. Figure 2 shows a ball in an o-centre rotating hoop of radius l. Let d be the (minimum) distance from the centre of the hoop to the axis of spin. Let be dened relative to the central vertical axis of the hoop, as in the usual pendulum. Determine the Lagrangian for the system and use Lagranges equations to write down the equation of motion. Check that your Lagrangian and equations of motion reduce, in the limit as d 0, to those for the bead on a rotating circular wire, derived in class (see notes p. 26). (Hint: see also a Mathematica notebook on your course website.) 3

Figure 2: Ball in an o-centre rotating hoop. 10. Figure 3 shows a whirling pendulum. It is a planar pendulum whose point of suspension is being whirled in a circle with angular velocity by means of a vertical shaft, as shown. The plane of the pendulum is orthogonal to the radial arm of length R. Ignore frictional eects. Using the notation in the gure, determine the Lagrangian for the system. Write down the equations of motion.

Figure 3: Whirling pendulum.