Lecture_9

Generalised coordinates

Generalized coordinates for n-particles system = 𝒒𝟏 , 𝒒𝟐 , 𝒒𝟑 , 𝒒𝟒 , 𝒒𝟓 , 𝒒𝟔 , … … … … … . 𝒒𝑵

Generalized coordinates for n-particles system = 𝒒𝒊 , Where: 𝑖 = 1, 2, 3, … . 𝑁
‘N’ is dim. of space

• Generalized velocities
𝑑 𝑑𝑞𝑖
𝑞 = = 𝑞ሶ𝑖 Where: 𝑖 = 1, 2, 3, … . 𝑁
𝑑𝑡 𝑖 𝑑𝑡

• A particle moving on a circle: 𝑞1 = 𝜃 (generalised coordinate)

• A particle moving on a sphere: 𝑞1 = 𝜃 & 𝑞2 = 𝜙 (generalised coordinates)

Number of G.C.* for n-particles system with constraints’ k’ are = 3𝑛 − 𝑘

*Not necessarily these coordinates should be Rectangular, Spherical or cylindrical
 Generalized coordinates: Conclusion
Any coordinate system variables such as

𝑥, 𝑦, 𝑧, 𝑟, 𝜃, 𝜙, 𝜌, 𝜙, 𝑧

are denoted by a general symbol

𝑞𝑖
where 𝑖 = 1,2,3, … . . 𝑁

Let’s understand with some examples with constraints…

 Degree of Freedom: Generalized coordinates
• An important characteristic of any mechanical system is the number of
degrees of freedom.
• The number of degrees of freedom is the number of coordinates needed
to specify the location of the objects.

• Therefore, if there are n-free objects, there are 3n degrees of freedom.

• But if there are constraints on the objects, then each constraint removes
one degree of freedom.
• The total number of degrees of freedom for a system of n-objects and k
constraints is 3n − k.
This means; 𝑞 = 𝑞1
 Generalized coordinates: How to write Transformation Eqs.!

How do we represent “Generalized coordinate’?

𝑥, 𝑦 𝑟, 𝜃 ⟹ (𝒒𝟏 , 𝒒𝟐 )
Example – Particle on a circle (2D)

Y 𝑥 = 𝒒𝟏 cos 𝒒𝟐
⟹ y = 𝒒 sin 𝒒
𝟏 𝟐

𝑟 𝜃
X 𝑥 = 𝑥(𝒒𝟏 , 𝒒𝟐 )
y = 𝑦(𝒒𝟏 , 𝒒𝟐 )
“Transformation Equations”
How do we read “Generalized coordinate”?
𝑥 is function of 𝒒𝟏 𝒂𝒏𝒅 𝒒𝟐
𝑦 is function of 𝒒𝟏 𝒂𝒏𝒅 𝒒𝟐
 Generalized coordinates: How to write Transformation Eqs.!

How do we write “Transformation Equations” for 1-particle in 3D sphere (𝒓, 𝜽, 𝝓)?

𝑥 = 𝑟 sin 𝜃 cos 𝜙 𝑥 = 𝑥(𝒒𝟏 , 𝒒𝟐 , 𝒒𝟑 ) Transformation equations given by Spherical
coordinates (Once you identify the generalized
y = r sin 𝜃 sin 𝜙 y = 𝑦(𝒒𝟏 , 𝒒𝟐 , 𝒒𝟑 ) coordinates, use them throughout the transformation
z = r cos 𝜃 𝑧 = 𝑧(𝒒𝟏 , 𝒒𝟐 , 𝒒𝟑 ) equations. )

How do we write “Transformation Equations” for 2-particles in 3D sphere (𝒓, 𝜽, 𝝓)?

𝑥 = 𝑥(𝒒𝟏 , 𝒒𝟐 , 𝒒𝟑 , 𝒒𝟒 , 𝒒𝟓 ,𝒒𝟔 )
y = 𝑦(𝒒𝟏 , 𝒒𝟐 , 𝒒𝟑 , 𝒒𝟒 , 𝒒𝟓 ,𝒒𝟔 )
𝑧 = 𝑧(𝒒𝟏 , 𝒒𝟐 , 𝒒𝟑 , 𝒒𝟒 , 𝒒𝟓 ,𝒒𝟔 )
 Generalized coordinates: Mathematical Space!

For 2-particles in 2D → (𝑟1 , 𝜃1 , 𝑟2 , 𝜃2 ) 4 Dimensional mathematical Space

For 1-particle in 3D → (𝑟 , 𝜃 , 𝜙 ) 3-Dimensional mathematical Space

For 2-particles in 3D → (𝑟1 , 𝜃1 , 𝜙1 , 𝑟2 , 𝜃2 , 𝜙2 ) 6-Dimensional mathematical Space

For n-particles in 3D → (𝑟1 , 𝜃1 , 𝜙1 , … . . … 𝑟𝑁 , 𝜃𝑁 , 𝜙𝑁 ) N-Dimensional mathematical Space

 Generalised coordinates: Mathematical Space!
For 2-particles in 2D → (𝑞1 , 𝑞2 , 𝑞3 , 𝑞4 ) 4 Dimensional mathematical Space

For 1-particle in 3D → (𝑞1 , 𝑞2 , 𝑞3 ) 3-Dimensional mathematical Space

For 2-particles in 3D → (𝑞1 , 𝑞2 , 𝑞3 , 𝑞4 , 𝑞5 , 𝑞6 ) 6-Dimensional mathematical Space

For n-particles in 3D → (𝑞1 , 𝑞2 , 𝑞3 , … . . … … 𝑞𝑁 ) N-Dimensional mathematical Space

Higher dimensional Mathematical Space*:- Minkowski Space

No need to
Visualize or Plot !!
 Generalized coordinates: Configuration space vs. Phase space!

For 1-particle system in 3D:

𝑥, 𝑦, 𝑧 ≡ 𝑟, 𝜃, 𝜙 ≡ (𝜌, 𝜙, 𝑧)
Z
𝐂𝐨𝐧𝐟𝐢𝐠𝐮𝐫𝐚𝐭𝐢𝐨𝐧 𝐨𝐟 𝐬𝐲𝐬𝐭𝐞𝐦: 𝑞𝑖 ,
where 𝑖 = 1,2,3

X
(Euclidean Space)

Frame of Reference
(Laboratory Frame of Reference)
 Generalized coordinates: Configuration space vs. Phase space!
Instantaneous location of a
Configuration Space is the space where a particle’s Z particle at different “time
3
location can be shown on a graph by a set of numbers 2 intervals”
1

𝐂𝐨𝐧𝐟𝐢𝐠𝐮𝐫𝐚𝐭𝐢𝐨𝐧 𝐨𝐟 𝐬𝐲𝐬𝐭𝐞𝐦: 𝑞𝑖 (t), 4

6
where 𝑖 = 1,2,3
5

Points to notice: X
(Euclidean Space)
(Physical Space)
1. In configuration space, time ‘t’ information is missing!
Y
2. Speed of dynamical system is missing!

Frame of Reference
Configuration space (N-dim. Real space) (Laboratory Frame of Reference)
 Generalized coordinates: Configuration space vs. Phase space!

Points to notice:
Configuration space (N-dim. Real space) 1. In configuration space, time ‘t’ information is missing!
2. Speed of dynamical system is missing!
(Position)

Points to notice:
Phase space (2N-dim. Real space) 1. In Phase space, time ‘t’ information is present!
2. Speed of dynamical system is present!
(Position & Velocity)

Even Dimensional Space or State Space

 Generalized coordinates: Configuration space vs. Phase space!

Configuration space (N-dim. Real space) Phase space (2N-dim. Real space)

(Position) (Position & Velocity)

→ (𝑞1 , 𝑞2 , 𝑞3 , … . . … … 𝑞𝑁 ) → (𝑞1 , 𝑞1ሶ , 𝑞2 , 𝑞2ሶ , , … . . … … 𝑞𝑁 , 𝑞𝑁ሶ )
→ (𝑞1 , … . . … … 𝑞𝑁 , 𝑞1ሶ , … . . … … 𝑞𝑁ሶ )
This is a snapshot of a This is set of generalized coordinates
dynamical system at some time together with corresponding
n = no. of particles in space generalized velocities
N = Dimensionality of the configuration space
(in mathematical space) = = DoF of n-
particles system
NOTE: Phase space sometimes referred as “State
space”