Hamiltons principle and Lagrange

equations
For static problems we can use the principle of
minimum potential energy to simplify obtaining
equations of equilibrium
For dynamic problems, strangely enough, it is
the difference between kinetic and potential
energy that provides the same service
This device, originally developed to simplify
derivations for analytical treatments is of great
use for numerical models
6.4 The Extended Hamilton Principle
Starting with DAlembert
We do a bit of algebra on the acceleration term
( )
1
1
0
N
i i i
i
N
i i
i
m
W m

=
=
=
=

F r r
r r

( )
1
2
i i i i i i
i i i i i i i
d
m m m
dt
m m m T


= +

= + = +


r r r r r r
r r r r r r


Derivation completed
2 2
2
1
1 1
t t
t
i i i i i
t
t t
m dt Tdt m =

r r r r
Integrating over time
How can we get rid of
the integrated term?
Summing
Get Hamiltons
extended principle
( )
2 2
2
1
1
1
1
0
t
t
t t
N
i i
i
t t
T W
m dt Tdt
dt


=

+
=
=

r r
Lagrangian (Joseph-Louis)
Can separate work to conservative
and nonconservative parts
For conservative system
L is the Lagrangian and delta refers to
kinematically admissible perturbations
c nc nc
W W W V W = + = +
2
1
0
t
t
Ldt L T V = =

6.5: Lagrange equations

For solving problems, must express Lagrangian in
terms of generalized coordinates
Similarly for perturbations
Some algebra: Euler Lagrange equations
1, , 1, , 1, ,
( , ) ( )
n n n
T T q q q q V V q q = =


1
1 1
,
n
k k
k
k k
n n
k nc k k
k k
k
T T
T q q
q q
V
V q W Q q
q


=
= =


= +

= =

k
k k k
k
k k
d T T V
Q
dt q q q
d L L
Q
dt q q


+ =





=

Problem 6.12
Use the Euler Lagrange equations to
derive the equations of motion of a bead
sliding along a rotation hoop
Why is it difficult to solve
from Newtons 2
nd
law?
Solution
Kinetic and potential energies
Lagranges equation
( )
2 2 2 2 2
1 1
sin ,
2 2
1 cos
T mR mR
V mgR

= +
=

2 2 2
2
sin cos sin 0
cos sin 0
d T T V
dt
mR mR mgR
g
R





+ =



=

+ =

Newtons law
interpretation?
Reading assignment
Sections 7.1,7.2
Source: www.library.veryhelpful.co.uk/ Page11.htm