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4/11/2007
Lecture 16
Lagrangian Dynamics: Examples
Figure 1: Falling stick. The surface on which the stick rests is frictionless, so
the stick slips. Figure by MIT OCW.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Falling Stick (Continued) 2
xc , : Generalized Coordinates
Figure 2: The falling stick is subject to a normal force, N at the point of contact.
No tangential forces at P.
N does no work.
Kinematics
L
r c = xc + yc j = xc + sin j
2
L
v c = xc + cos j
2
Energy
1 1
T = m|v c |2 + I||2 (1)
2 2
1 2 L2 2 1
= m(xc + cos2 ) + Ic 2 (2)
2 4 2
(3)
L
V = mg sin
2
Generalized Forces
xc = 0, = 0. (Professor Sarma uses Q for generalized forces.) Professor
Williams uses .
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Falling Stick (Continued) 3
Lagrangian (L)
T V =L
2
1 L 2 1 L
L= m(x2c + cos2 ) + Ic 2 mg sin
2 4 2 2
Equations of Motion
We can derive 1 equation per generalized coordinate
For xc :
d L L
= xc
dt xc xc
L L
xc = mxc , xc = 0, xc = 0.
d
(mxc ) = mxc mxc = 0
dt
For :
d L L
= (4)
dt
2
L L 2 m
= cos + Ic (5)
2 2
L2
L 1 L
= m 2 cos sin mg (6)
2 2 2
= 0 (7)
Substitute (5), (6), and (7) in (4) to obtain (8):
mL2 mL2 2
d 2 L
cos + Ic + cos sin + mg cos = 0 (8)
dt 4 4 2
Dierentiating the rst term results in (10). Substituting in (8) and com
bining terms yields the equation of motion for .
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Falling Stick (Continued) 4
mL2
d L d
= cos2 + Ic (9)
dt dt 4
2
mL2
mL 2
= cos + Ic + cos sin (10)
4 2
mL2 mL2
mgL
Ic + cos2 (cos sin )2 + cos = 0
4 4 2
This equation is nonlinear.
Forces
Figure 3: Free body diagram of falling stick. Two forces act on the stick, a
normal force, N and a gravitational force, mg. Figure by MIT OCW.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Falling Stick (Continued) 5
d
F ext = P
dt
Here P = mxc + m L2 cos j.
dP L L
= mxc + m( cos 2 sin )j
dt 2 2
There are no forces in the x-direction, therefore
xc = 0
In the y-direction:
L L
N mg = m cos 2 sin (12)
2 2
We need to eliminate N , so use the angular momentum principle.
d d
cext = Hc = (Ic )
dt dt
L
cos = Ic
N (13)
2
After combining equations (12) and (13) and algebra:
mL2 mL2 2 L
(Ic + cos2 ) sin cos + mg cos = 0
4 4 2
Thus, we have derived the same equations of motion. Some comparisons are
given in the Table 1.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Simple Pendulum 6
Kinematics
is the generalized coordinate.
work).
Energy
1
T = m(l)2
2
V = mgl cos
Lagrangian
1
L =T V = m(l)2 + mgl cos
2
Generalized Forces
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Simple Pendulum 7
Equations of Motion
d L L
=
dt
L
= ml2 , L
d
= mgL sin , = 0, dt L
= ml2
Alternative View
What if we did not realize that gravity is a conservative force?
Lagrangian
1
m(l)2
T =
2
V =0
1
L = T V = m(l)2
2
No potential forces, because gravity is not conservative for the argument.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Cart with Pendulum and Spring 8
wN C = mgl sin
= mgl sin
Equations of Motion
L L
d L L
=
dt
It does not matter if you recognize a force as being conservative, just do not
account for the same force in both V and .
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Cart with Pendulum and Spring 9
Kinematics
Three generalized coordinates x, , s
Cart:
xm = x
ym = 0
Pendulum:
xm = x + s sin
xm = x + s sin + s cos
ym = s cos
ym = s cos + s sin
Energy
Kinetic Energy (T):
1 1
M x2 + [(x + s sin + s cos )2 + (s sin s cos )2 ]
2 2
Potential Energy (V):
2 conservative forces - Spring and Gravity
1
V = mgs cos + k(s l)2
2
x = = s = 0
Lagrangian
1 1 1
L = T V = (M +m)x2 + m(s2 +s2 2 +2x(s sin +s cos ))+mgs cos k(sl)2
2 2 2
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Cart with Pendulum and Spring 10
Equations of Motion
For Generalized Coordinate x
x:
d L L
= x
dt x x
L
= (M + m)x + m(s sin + s cos )
x
L
x = 0, x = 0
d
[(M + m)x + m(s sin + s cos )] = 0
dt
x(t), s(t), s(t), (t) are all functions of time.
s + 2s + x cos + g sin = 0
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].