PHYS20401 Example Sheet 4:

Lagrangian Dynamics

Terry Wyatt

1. Hamiltonian Dynamics In this problem we shall revisit using Hamiltonian techniques some systems we have looked at before. For each system use the following steps: (i) Start from the Lagrangian you have written down previously in terms of the coordinates and generalised velocities. (ii) Use pi = L/ q i to re-express the Lagrangian in terms of (qi , pi ). (iii) Find H (qi , pi ) =
i

pi q i L(qi , q i ).

(iv) Apply Hamiltons equations to nd the equations of motion and check them for consistency with those obtained previously using Lagrangian techniques. (v) Note any cases in which a generalised momentum is a constant of the motion. Consider the following systems: (a) Two masses M and m are connected by a massless, inextensible string hanging vertically over a massless, frictionless pulley. [Example Sheet 1, question 1 (a)]. (b) Two masses m1 and m2 are connected by a massless, inextensible string hanging vertically over a pulley of mass P , which rotates without friction about its axis. The string does not slip on the pulley [Discussed in Lecture 4]. (c) A simple pendulum with length l and mass m, analysed in terms of the angular displacement of the pendulum bob from the equilibrium position. [Example Sheet 2, question 2 (a)]. (d) A particle mass m, moving without friction in a plane with potential energy given by V (r) = A/r. [Discussed in Lecture 4]. (e) A particle of mass m is free to slide without friction down the planar surface of a wedge that is inclined at an angle to the horizontal. The wedge has mass M and is itself free to slide without friction on a horizontal planar surface. [Example Sheet 1, question 1 (d)]. 2. A conical pendulum consists of a mass m attached to a massless, inextensible string of length l that is free to swing in two dimensions. Write down the Lagrangian in terms of the angular displacement of the pendulum bob from the equilibrium position and the azimuthal angle of rotations about the vertical. Do not make the approximation that 1. (a) Find the equations of motion using both Lagrangian and Hamiltonian techniques and verify their consistency. (b) Demonstrate that the mass can move in a circle around the vertical with xed = 0 . Calculate the angular velocity for circular motion, , in terms of 0 . (c) The mass is moving in a circle with = 0 and then receives a small radial impulse (such that its angular momentum is unchanged). Show that oscillates (SHO) about 0 and calculate the associated angular velocity, , of the oscillations in .

3. Extra Practice for Lagrangian Dynamics (a) For each of the following systems make an appropriate choice of generalized coordinate(s), write down the Lagrangian, apply Langranges equations and (if appropriate) calculate the frequency of small oscillations about the equilibrium position. Make a note of any conserved quantities of the motion you can identify. Consider limiting cases to check your answers! i. A simple pendulum has the string replaced by a spring of natural length l and spring constant k . In the rst instance, do NOT make the approximation that the amplitude of any displacements from the equilibrium position are small. However, having derived the general equations of motion, now consider the approximation of small oscillations about the equilibrium position and obtain the corresponding simplied equations of motion. Explain carefully the justication for each approximation you make. ii. A particle of mass m is free to move along a horizontal line and is attached to a spring. The other end of the spring is attached to a point A, which is a distance l away from the horizontal line (as shown in the following gure). A force F is required to stretch the spring to a length l.

iii. Re-visit the previous problem assuming that, instead of being stretched, the spring has a natural length of l and spring constant k . Would the oscillations be simple harmonic in this case? iv. A block of mass M is free to slide on a frictionless horizontal table. The block is rigidly connected to a massless circular hoop of radius a. A particle of mass m is conned to move without friction on the circular hoop, which is vertical (as shown in the following gure).

v. A block of mass m is attached to a wedge of mass M by a spring with natural length of l and spring constant k . The inclined frictionless surface of the wedge makes an angle of to the horizontal. The wedge is free to slide on a horizontal frictionless surface (as shown in the following gure).

(b) This is a generalization of the particle in a conical vase system that we discussed in the lectures. Consider a particle of mass m that slides without friction inside a vase. The vase has cylindrical symmetry (about the z axis), but is otherwise of arbitrary shape. Working in cylindrical coordinates (, , z ), let the shape of the vase be given by the function z = f (). (1)

i. First write down the Lagrangian in terms of , and z and their time derivatives. Then use equation (1) to eliminate z and z in favour of and . ii. Derive the equations of motion for and . iii. Use the equation of motion for to simplify the equation of motion for (i.e., by substituting a constant angular momentum J ). iv. Show that the equation of motion for is given by = 2 g f () f ()f () 2 J 2 /(m2 3 ) g f () f ()f () 2 = , 1 + f ()2 1 + f ()2 2f f and f = 2 .

where f =

v. Cross check: show that in the case of a conical vase, this agrees with the result we obtained in the lecture. (You will need to convert from cylindrical coordinate to spherical polar coordinate r using = r sin .) (c) Review your notes for Lecture 4, in which we discussed a system of two masses supported from a single massive pulley. Consider the double pulley system in the gure below. Use Lagrangian methods to calculate the acceleration, x, of mass 1. What is the acceleration of mass 1 in the case m1 = m2 + m3 + P2 ? Explain your result.

Note: If you are still not convinced that Lagrangian methods are simpler than Newtonian methods for complicated systems, try doing the last two problems with Newtonian methods.

Just for fun:

4. A space craft is in an elliptical orbit around the earth. The pilot wishes to leave earth orbit, whilst minimising the amount of fuel used. At which point of the elliptical orbit should the rocket engines be red and in which direction?