PH101

Lecture 7

More examples on Lagrange’s equation;

generalized momentum,
Cyclic coordinates
Conservation of Momentum.
Let’s recall: The recipe of Lagrangian!

I. (a) Recognize, & obtain the constraint relations, (b) determine the
DOF, and (c) choose appropriate generalized coordinates!
II. Write down the total kinetic energy T and potential energy V of the whole
system in terms of the Cartesian coordinates, to begin with!

1

=   (
 +
 +  ) &  = (  ,  ,  ) | i =1, N
2

 =  ( , … . ,  , )
III. Obtain appropriate transformation equations  =  ( , … . ,  , )
(Cartesian -→ generalized coordinates) using constraint relations:  = ( , … . ,  , )

IV. Convert T and V from Cartesian to suitable generalized -coordinates ( !)

and generalized velocities (
! ) to write L as,
 !,
! ,  = $( ! ,
! , ) − V( ! ) & =1, n

V. Now Apply E-L equations:

 
−

=#
'() *+,- j =1, n!
 
!  !
 Lagrange’s equations (constraint-free motion)
Before going further let’s see the Lagrange’s equations
recover Newton’s 2nd Law, if there are NO constraints!
Let a particle of mass, , in 3-D motion under a potential, ( , , )
If No constraints, then its, DOF=3; Generalized coordinates: ( , , )
Now,

/= (
2+


2)
− , , 
3-such!
2+
   
Corresponding E-L equations are, − =#
 0
0

= 
= 1 - the x-component of linear momentum!
0

  23  4
= & = − = 50 -the x-component of force!
 0
 0 0

723
6 =
78 Newton's 2nd Law!
 Lagrange’s equation: Example 3
Y A block of mass  is sliding on a wedge of mass 9. Wedge can slide on the
horizontal table. Find the equation of motion.

<

9
:

Initial conditions!
At time t=0: the wedge is stationary and at a distance ; from the origin,
and the mass  is gently placed at the top point of the Wedge!
 Lagrange’s equation: Example 3
Y Four constrains: P = 0; P = 0; R = 0;
STUV
 = tan : = A?>BD>
3V T3W
P ( R , R )
<
R = P +  cos :;
9
: R = < −  sin :
X
Step-1: Find the degrees of freedom and choose suitable generalized coordinates

One particle = = 2, >?. ?@ A?>BCDE>B F = 4;

So DOF= 3 O 2 − 4 = 2.
The distance of the wedge from origin ( P ) and distance slipped by
the block () can serve as generalized coordinates of the system.
Only translation of the given rigid bodies are considered, thus for the
calculation of degrees of freedom both of them are considered as point
particles.
 Lagrange’s equation: Example 3
Step-2: Find out transformation relations
   

= 
R +
R + 9
P  ;  = ` R
 

Step-3: Write
D>^ _ in Cartesian

R = P +  cos :; R = < −  sin :

R =
P + 
cos :;
R = −
sin :

Step-4: Convert
D>^  E> `e>eCD;Ee^ A??C^E>De

fBE>` CD>B@?CDE?>B
 

= [
P  + 
 + 2
P 
cos :]+ 9
P  ;
 
V= `(< −  sin :)
 Lagrange’s equation: Example 3
Step-5: Write down Lagrangian

/ =
−
1 1
/ = 
P + 
+ 2
P 
cos : + 9
P  − `(< −  sin :)
 
2 2

Step-5: Write down Lagrange’s equation for each generalized coordinates

^ i/ i/ ^ i/ i/
− = 0; − =0
^ i
P i P ^ i
i
From eqn 1
^

P + 
cos : + 9
P = 0 ----(1)
^
( + 9) j P + j cos : = 0 ----(2)
From eqn 2
^

+ 
P cos : − ` sin : = 0
^
 j + j 9 cos : − ` sin : = 0 ----(3)
 An Interesting point: Example 3


= l0
k + l
mno p + k0
k = constant! (from eq (1))
0
k

But what’s this quantity? The total linear momentum, say q0!
So Lagrange’s equation tells us that the total linear momentum
is conserved! We didn’t have to impose it to solve!
From the Initial conditions given: 9 = ; ;
9 = 0; q = 0; 
= 0
Initial Px = 0; So it any other time later!
Tl
mno p Tl j mno p
0
k = => j 9=
(krl) (krl)
This shall be substituted in eq (3): j + 0j k mno p = s otu p
And, Solve the problem completely!
(It’s left to you to verify with the Newtonian Scheme!)
In some cases further time derivative (such as equation (2)) may not be unnecessary!
 Generalized momentum: A few points
7wx
Generalized velocity is the rate of charge of generalized coordinate 
v =
78
Generalized momentum is not the mass multiplied by generalized
velocity.
i/
1v = 
v 1v =
i
v
In specific cases, this
relation may be true but Definition of generalized momentum
it is not the general case.

Unit/dimension of the generalized momentum depends on generalized coordinate

under consideration.

Generalized definition of momentum allows to consider non-mechanical systems, for example

EM field. Example: charged particle in EM field 1y = zy + e{y
 Generalized momentum
Lagrangian of a free particle
1
/ = 
 +
 + 

2
|}
Thus |3
= 
; now 
→ component of linear momentum (13 )
|} |} |}
13 = 
= ; Similarly, 1U = and 1 =
|3
|U
|

Lagrangian of a freely rotating wheel with moment of inertia € is

1
/ = €

2
|}
And
= €
→Angular momentum
|‚
In both the examples, momentum was the derivative of the Lagrangian with respect to
generalized velocity.

Generalized momentum associated with generalized coordinate v by

i/ Also known as conjugate momentum
1v =
i
v
or canonical momentum
 Cyclic coordinates
If a particular coordinate does not appear in the Lagrangian, it is
called ‘Cyclic’ or ‘Ignorable’ coordinate.
Example 1: Lagrangian of a point mass under gravity,
1
/ = 
 +
 + 
 − `
2
Since neither nor appear in the Lagrangian, they are cyclic.
Hence q0 & qƒ will be conserved!

Example 2: Lagrangian for a planet of mass  orbiting around the


sum (mass M):
 „PR C
 

/ =  C
+ C  + 
 …
9

Since  does not appear in the Lagrangian, it is cyclic coordinate.


Hence †T =
= C  
(≡ Ang. Momentum! -will be conserved!)
T!
 Cyclic coordinates and conservation of
conjugate momentum
• If there is no explicit dependence of L on generalized
coordinate v , then
i/
=0
iv
Thus Lagrange’s equation corresponding to cyclic
coordinate become,
7 |} 72v
=0 ⇒ =0
78 |w
v 78

Hence, ˆ! =constant

Generalized momentum conjugate to a cyclic coordinate is a constant

 Lagrange’s equation: Example 4
Š

A bead is free to slide along a frictionless hoop of radius R. The hoop rotates with
constant angular speed ‰ around a vertical diameter. Find the equation of motion for
the position of the bead.
 Lagrange’s equation: Example 4
Z
One holonomic constraint relation
Š  +  +   = ‹
Another holonomic constraint Œ
= ‰, E, e. Œ = ‰
( , , ) U
(Or in Cartesian this constrain is tanT = ‰)
 3

Y
Œ = ‰
Step-1: Find the degrees of freedom and choose
suitable generalized coordinates

X
One particle = = 1, >?. ?@ A?>BCDE>B F = 2
<fB ^e`CeeB ?@ @Cee^? = 3 O 1 − 2 = 1
Hence number of generalized coordinates must be one.

Choice of Generalized coordinate: ‘’ , which the angle of particle

with rotation axis (z-axis) of hoop.
 Lagrange’s equation: Example 4
Step-2: Find out transformation relations
= ‹ sin  cos ‰ ; = ‹ sin  sin ‰ ;  = ‹ cos 

= ‹ cos  cos ‰ 
− ‹ ‰sin  sin ‰

= ‹ cos  sin ‰ 
+ ‹‰ sin  cos ‰

= −‹ sin  

Step-3: Write
D>^  in Cartesian

1

= 
 +
 + 
 ; &  = `
2
Step-4:Convert
D>^  ? `e>eCD;Ee^ A??C^E>De , eE<eC fBE>`,
(a)transformation at Step#2 Or,
(b) in this case employing spherical polar equations.



= [‹ 
 + ‹ ‰ BE> ];

V= `‹ cos 
 Example 4: continue
Step-5: Write down Lagrangian
/ =
−
1
/ =  ‹ 
 + ‹ ‰ BE>  − `‹ cos 
2
Step-5: Lagrange’s equation
^ i/ i/
− =0
^ i
i
|}
‹ 

|}
= & =‹  ‰ sin  cos  + `‹ sin 
|‚
|‚
^
‹ 
− [‹ ‰ sin  cos  + `‹ sin ] = 0
^

‹ j − ‹ ‰ sin  cos  + `‹ sin  = 0

 Example-5

A mass 9 slides down a frictionless plane inclined at angle :. A pendulum,

with length ;, and mass , is attached to 9. Find the equations of motion.


:
Questions?