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Classicalmechanics Study Material NEP 2

The document discusses notations for generalized variables used in classical mechanics including generalized displacement, generalized velocity, and generalized force. Generalized displacement is defined as the virtual displacement of a system without change in time. Generalized velocity is defined as the time derivative of the generalized coordinate. Generalized force is defined as the ratio of work done to the displacement during a virtual displacement of only one generalized coordinate.

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21 views

Classicalmechanics Study Material NEP 2

The document discusses notations for generalized variables used in classical mechanics including generalized displacement, generalized velocity, and generalized force. Generalized displacement is defined as the virtual displacement of a system without change in time. Generalized velocity is defined as the time derivative of the generalized coordinate. Generalized force is defined as the ratio of work done to the displacement during a virtual displacement of only one generalized coordinate.

Uploaded by

Shree S
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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SKE Society’s

Govindram Seksaria Science College, Belagavi

V SEMESTER STUDY MATERIAL


CLASSICAL MECHANICS - 2

28-Dec-20
Dr. Lata S Laxmeshwar
V Semester Study material
CLASSICAL MECHANICS

Notations for generalized variables:

1. Generalized Displacement:
Let us consider the motion of a system of N particles with k constraints. Let the position
vectors in Cartesian co-ordinate system at time t be 𝑟𝑖 (𝑖 = 1,2,3, … 𝑁). Let the
generalized co-ordinates be 𝑞𝑗 (𝑗 = 1,2,3, … .3𝑁 − 𝑘). Then, from transformation
equations,
𝑟𝑖 = 𝑟𝑖 ( 𝑞𝑗 , 𝑡)……………………(1)
Using Euler’s theorem (given below for your understanding), a small increment in 𝑟𝑖 ,
denoted by 𝛿𝑟𝑖 will be given by:

3𝑁−𝑘
𝜕𝑟𝑖 𝜕𝑟𝑖
𝛿𝑟𝑖 = ∑ 𝛿𝑞𝑗 + 𝛿𝑡 ⋯ ⋯ ∙ ⋯ ⋯ ⋯ (2)
𝜕𝑞𝑗 𝜕𝑡
𝑗=1
Equation (2) expresses the real displacement of ith particle.
Let us consider an arbitrary small displacement of the system without change in time
(𝛿𝑡 = 0). Then, 𝛿𝑟𝑖 is called the virtual displacement and is given by:

3𝑁−𝑘
𝜕𝑟𝑖
𝛿𝑟𝑖 = ∑ 𝛿𝑞𝑗 ⋯ ⋯ ∙ ⋯ ⋯ ⋯ (3)
𝜕𝑞𝑗
𝑗=1

In equation (3) 𝜹𝒒𝒋 𝒂𝒓𝒆 𝒄𝒂𝒍𝒍𝒆𝒅 𝒈𝒆𝒏𝒆𝒓𝒂𝒍𝒊𝒛𝒆𝒅 𝒅𝒊𝒔𝒑𝒍𝒂𝒄𝒆𝒎𝒆𝒏𝒕. If 𝒒𝒋 represent angle


co-ordinate, 𝜹𝒒𝒋 is an angular displacement.

*Euler’s theorem: if 𝑿 = 𝑿(𝒙𝟏 , 𝒙𝟐 , 𝒙𝟑 ), then


𝝏𝑿 𝝏𝑿 𝝏𝑿
𝜹𝑿 = 𝜹𝒙𝟏 + 𝜹𝒙𝟐 + 𝜹𝒙
𝝏𝒙𝟏 𝝏𝒙𝟐 𝝏𝒙𝟑 𝟑
or,
𝟑
𝝏𝑿
𝜹𝑿 = ∑ 𝜹𝒙𝒊
𝝏𝒙𝒊
𝒊=𝟏
2. Generalized velocity:

It is defined as the time derivative of generalized co-ordinate qj . Let us consider the


motion of a system of N particles with k constraints. Let the position vectors in Cartesian
co-ordinate system at time t be 𝑟𝑖 (𝑖 = 1,2,3, … 𝑁). Let the generalized co-ordinates be 𝑞𝑗
(𝑗 = 1,2,3, … .3𝑁 − 𝑘). Then, from transformation equations,
𝑟𝑖 = 𝑟𝑖 ( 𝑞𝑗 , 𝑡)……………………(1)
The displacement in terms of generalized displacement is given by:
3𝑁−𝑘
𝜕𝑟𝑖 𝜕𝑟𝑖
𝛿𝑟𝑖 = ∑ 𝛿𝑞𝑗 + 𝛿𝑡 ⋯ ⋯ ∙ ⋯ ⋯ ⋯ (2)
𝜕𝑞𝑗 𝜕𝑡
𝑗=1
th
Velocity of i particle is given by:
𝛿𝑟𝑖
𝑣𝑖 = ∙ ∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙ (3)
𝛿𝑡
Substituting eq (2) in eq(3),

𝜕𝑟𝑖 𝜕𝑟
∑3𝑁−𝑘
𝑗=1 𝛿𝑞𝑗 + 𝑖 𝛿𝑡
𝜕𝑞𝑗 𝜕𝑡
𝑣𝑖 =
𝛿𝑡
or,
3𝑁−𝑘
𝜕𝑟𝑖 𝛿𝑞𝑗 𝜕𝑟𝑖 𝛿𝑡
𝑣𝑖 = ∑ +
𝜕𝑞𝑗 𝛿𝑡 𝜕𝑡 𝛿𝑡
𝑗=1

or,
3𝑁−𝑘
𝜕𝑟𝑖 𝜕𝑟𝑖
𝑣𝑖 = ∑ 𝑞̇ 𝑗 + ∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙ (4)
𝜕𝑞𝑗 𝜕𝑡
𝑗=1

In equation (4), 𝒒̇ 𝒋 is called generalized velocity. If 𝑞𝑗 represent angle co-ordinate, 𝛿𝑞𝑗 is


an angular displacement and 𝑞̇ 𝑗 represents angular velocity. If 𝑞𝑗 represents momentum,
𝑞̇ 𝑗 represents force.
3. Generalized Force:

Let us consider the motion of a system of N particles with k constraints. Let the
position vectors in Cartesian co-ordinate system at time t be 𝑟𝑖 (𝑖 = 1,2,3, … 𝑁). Let the
generalized co-ordinates be 𝑞𝑗 (𝑗 = 1,2,3, … .3𝑁 − 𝑘). Let 𝐹𝑖 be force on 𝑖 𝑡ℎ particle and
let 𝛿𝑟𝑖 be an arbitrary virtual displacement of the particle. Then work done on 𝑖 𝑡ℎ particle
will be 𝐹𝑖 ∙ 𝛿𝑟𝑖 . Total work done on the system will be given by;

3𝑁

𝛿𝑤 = ∑ 𝐹𝑖 ∙ 𝛿𝑟𝑖 ∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙ (1)


𝑖=1
We know that virtual displacement 𝛿𝑟𝑖 is given by:

3𝑁−𝑘
𝜕𝑟𝑖
𝛿𝑟𝑖 = ∑ 𝛿𝑞𝑗
𝜕𝑞𝑗
𝑗=1
Substituting 𝛿𝑟𝑖 in eq (1),

3𝑁 3𝑁−𝑘
𝜕𝑟𝑖
𝛿𝑤 = ∑ 𝐹𝑖 ∙ ∑ 𝛿𝑞𝑗
𝜕𝑞𝑗
𝑖=1 𝑗=1
or,

3𝑁−𝑘 3𝑁
𝜕𝑟𝑖
𝛿𝑤 = ∑ [∑ 𝐹𝑖 ∙ ] 𝛿𝑞𝑗
𝜕𝑞𝑗
𝑗=1 𝑖=1
or,
3𝑁−𝑘

𝛿𝑤 = ∑ 𝑄𝑗 𝛿𝑞𝑗
𝑗=1
Where,
3𝑁
𝜕𝑟𝑖 𝛿𝑤
𝑄𝑗 = ∑ 𝐹𝑖 ∙ = ∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙ (2)
𝜕𝑞𝑗 𝛿𝑞𝑗
𝑖=1

𝑄𝑗 is called the generalized force on the jth generalized co-ordinate. Eq (2) shows that the
generalized force is the ratio of work done to the displacement when the virtual
displacement of only jth generalized co-ordinate takes place.

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