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Advanced Lagrangian Mechanics

This document discusses Lagrange equations for mechanical systems with constraints and non-conservative forces. It provides examples of classifying different mechanical systems as scleronomic or rheonomic, holonomic or non-holonomic, and conservative or non-conservative. It also gives examples of deriving Lagrange's equations of motion for double and triple pendulums vibrating in a plane. Exercises are provided to set up Lagrangians and derive equations of motion for additional constrained systems.

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343 views22 pages

Advanced Lagrangian Mechanics

This document discusses Lagrange equations for mechanical systems with constraints and non-conservative forces. It provides examples of classifying different mechanical systems as scleronomic or rheonomic, holonomic or non-holonomic, and conservative or non-conservative. It also gives examples of deriving Lagrange's equations of motion for double and triple pendulums vibrating in a plane. Exercises are provided to set up Lagrangians and derive equations of motion for additional constrained systems.

Uploaded by

edieali
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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In previous lecture we have discussed

Lagrange Equations for Non-Holonomic Systems

Lagrange Equations for Non-Conservative Systems

Lagrange Equations with Impulsive Forces


Some Exercises
Determine the degrees of freedom in each of the following cases.

Problem Degrees of freedom


A particle moving on a plane curve 1

Two particles moving on a space 1


curve and having a constant
distance between them

Three particles moving in space 6


with constant distance between
any two
Classify each of the following according as they are:
scleronomic or rheonomic
holonomic or non-holonomic
conservative or non-conservative

A sphere rolling down from the top of a fixed sphere:


Scleronomic (constraint does not involve time)
Non-holonomic (rolling sphere leaves the fixed sphere at
some point)
Conservative (gravitational force acting is derivable from
a potential)
 Acylinder rolling without slipping down a rough inclined
plane :
Scleronomic (constraint does not involve time)
Holonomic (constraint is equation of a line or a plane)
Conservative (gravitational force acting is derivable from
a potential)

A particle sliding down the inner surface, with


coefficient of friction of a paraboloid of revolution
having its axis vertical and vertex downward:
Scleronomic (constraint does not involve time)
Holonomic (constraint is equation of a paraboloid)
Non-conservative (force of friction cannot be derived
from a potential)
A particle moving on a very long frictionless wire which
rotates with constant angular speed about a horizontal
axis:
Rheonomic (constraint involves time)
Holonomic (constraint is the equation of rotating wire)
Conservative (gravitational force acting is derivable from
a potential)

A horizontal cylinder of radius a rolling inside a perfectly


rough hollow cylinder of radius b>a:
Scleronomic (constraint does not involve time)
Holonomic (constraint is equation of a hollow cylinder)
Conservative (gravitational force acting is derivable from
a potential)
A cylinder rolling (a possibly sliding) down an inclined
plane of angle a:
Scleronomic (constraint does not involve time)
Non-holonomic (cylinder leaves the inclined plane at
some point)
Conservative (gravitational force acting is derivable from
a potential)

A sphere rolling down another sphere which is rolling


with a uniform speed along a horizontal plane:
Rheonomic (constraint involves time)
Non-holonomic (sphere leaves the other sphere at some
point)
Conservative (gravitational force acting is derivable from
a potential)
A particle constrained to move along a line under the
influence of a force which is inversely proportional to
the square of its distance from a fixed point and a
damping force proportional to the square of the
instantaneous speed:
Scleronomic (constraint does not involve time)
Holonomic (constraint is equation of a line)
Non-conservative (acting forces cannot be derived from a
potential)
 Example:
Obtain Lagrange’s equations of motion for a double
pendulum vibrating in a vertical plane.
Solution:
Let and be the rectangular coordinates of masses and
respectively. Then

Kinetic energy of the system is


 Lagrange equations turn out to be

And
 Special Cases:
For
Lagrange equations are

And
 For
Lagrange equations become

And

For small oscillations


Exercises:
Set up a Lagrangian and find the equations of motion for a
triple pendulum vibrating in a vertical plane. Specify the
problem by taking equal masses and equal length of
massless string.
 Exercise:
Use Lagrange equations to set up the equations of motion
for a particle of mass m with position vector defining the
position of the particle with potential . Further the
transformation of the Cartesian coordinates to spherical
coordinates can be expressed as

Solution:
 
Ans:
The End

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