EP222 L9dasd

EP 222: Classical Mechanics - Lecture 9
Dipan K. Ghosh
Indian Institute of Technology Bombay dipan.ghosh@gmail.com
Dipan K. Ghosh
EP 222: Classical Mechanics - Lecture 9
Review of Lecture 8: dAlemberts Principle
We discussed the concept of a potential for a velocity dependant

force such as the Lorentz force.
It was shown that with this generalisation, one can define a
Lagrangian which satisfies the Euler Lagrange Equation.
We discussed some applications of Euler Lagrange Equation.
Today, we continue with further examples to illustrate the use of
Euler Lagrange Equation in solving problems of dynamics.
Dipan Ghosh (I.I.T. Bombay)
Class. Mech. -9
August 13, 2014
1 / 14
Euler Lagrange Equation - Example Problems

A bead slides down a rotating hoop
1
L = m( 2 R 2 sin2 + R 2 2 ) + mgR cos
2
L
L = m 2 R 2 sin cos mgR sin
= mR 2 ,

2
R = sin R cos g
Class. Mech. -9
August 13, 2014
2 / 14
Euler Lagrange Equation - Bead Sliding down a Rotating

Hoop
Bead sliding down rotating hoop

Equilibrium : = = 0 = sin 2 R cos g = 0
g
R.H.S. is zero for = 0, or for cos = 2 . Since cos 1, the
R
g
last condition possible if 2
R
g
2
If , = 0 is stable; = is unstable.
R
g
g
If >
both = 0, are unstable but = cos1 2 is stable.
R
R
Class. Mech. -9
August 13, 2014
3 / 14
Bead sliding down a rotating hoop
Case 1: Let = 0 + , the equation become

R = sin ( 2 R cos g ) ( 2 R g )
Since 2 R < g , the solution is oscillatory and the equilibrium is
stable.
Case 1: Let = + , the equation becomes
= sin ( 2 R g ) ( 2 R + g )
The right hand side coefficient of is positive and hence unstable.
Class. Mech. -9
August 13, 2014
4 / 14
Case 2: The case of 0, is similar to case1, but since 2 R < g , the

coefficient of on right is positive; hence unstable.
Proof of is same as in case 1, unstable here also.
g
Define 0 = cos1 2 Let = 0 + ,
R
g
sin = sin 0 cos + cos 0 sin sin 0 + 2
R
g
cos = cos cos sin 0 sin 2 sin 0 .
R
Class. Mech. -9
August 13, 2014
5 / 14
Equation for becomes

g
R = sin 0 + 2 g sin 0 2 R g
R
= sin2 0 2 R
(ignored 2 )
coefficient negative; hence stable
Class. Mech. -9
August 13, 2014
6 / 14
A disk rolling down an incline

Generalized coordinates: l = the distance moved along the incline
the angle of rotation of disk. For pure rolling l = R. The problem
is one dimensional.
V = mgl sin = mglR sin
1
1
L = I 2 + ml2 + mgR sin .
2
2
Class. Mech. -9
August 13, 2014
7 / 14
Euler Lagrange Equation - Rolling Disk

A disk rolling down an incline
1
1
3
L = I 2 + ml2 + mgR sin = mR 2 2 + mgR sin
2
2
4
3
L
L
2
= mR ;
= mgR sin
2

3
mR 2 mgR sin = 0
2
Class. Mech. -9
August 13, 2014
8 / 14
Euler Lagrange Equation - Rolling Disk

Motion along a fixed cone surface: Resolve velocity along the motion
r 2
and up the surface v 2 = r 2 2 + 2
sin
2

1
r
mgr
2
2
L= m
+ r
2
tan
sin2
2
is cyclic. L = mr = constant = Conservation of angular

momentum
L2
r = 2 3 sin2 g sin cos
m r
Class. Mech. -9
August 13, 2014
9 / 14
Euler Lagrange Equation - Motion inside a cone

Equilibrium condition r = 0, at r R which gives
r
r
m2 gR 3
g
2
L = mR =
= = =
tan
R tan
Suppose r is disturbed so that r = R +

1
1
1
3
=
3 1
r3
(R + )3
R
R
Equation of motion becomes

3
L2 sin2
1
g sin cos
=
m2 R 3
R
3L2 sin2
3g sin cos
=
=
=0
2
4
m R
R
Class. Mech. -9
August 13, 2014
10 / 14
Euler Lagrange Equation - Motion inside a cone
The minus sign r

suggests that the equilibrium is stable as executes
3g
SHM with =
sin cos .
R
r
g

Note since = =
,
= 3 sin is independent of R
R tan
1
If = , i.e. if sin = , i.e. if 35 , r will return to R after
3
one revolution around the cone.
Class. Mech. -9
August 13, 2014
11 / 14

A spherical pendulum is a mass suspended from a support by a rigid
rod, but can move in three dimensions about the fulcrum.
It has two degrees of freedom , .
1
T = ml 2 (2 + sin2 2 ) and V = mgl cos
2
Class. Mech. -9
August 13, 2014
12 / 14
Euler Lagrange Equation - Spherical Pendulum
1
L = ml 2 (2 + sin2 2 ) + mgl cos
2
L
L
= ml 2 and
= ml 2 sin cos 2 mgl sin

L
= ml 2 sin2 = 0

g
If = constant = + sin = 0 : Simple pendulum
l
If = 0 , = 0 = = constant : Conical pendulum
Class. Mech. -9
August 13, 2014
13 / 14

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EP 222: Classical Mechanics - Lecture 9

EP 222: Classical Mechanics - Lecture 9

Review of Lecture 8: dAlemberts Principle

We discussed the concept of a potential for a velocity dependant

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Euler Lagrange Equation - Example Problems

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Euler Lagrange Equation - Bead Sliding down a Rotating

Bead sliding down rotating hoop

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Bead sliding down a rotating hoop

Case 1: Let = 0 + , the equation become

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Bead sliding down a rotating hoop

Case 2: The case of 0, is similar to case1, but since 2 R < g , the

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Bead sliding down a rotating hoop

Equation for becomes

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Euler Lagrange Equation - Example Problems

A disk rolling down an incline

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Euler Lagrange Equation - Rolling Disk

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Euler Lagrange Equation - Rolling Disk

is cyclic. L = mr = constant = Conservation of angular

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Euler Lagrange Equation - Motion inside a cone

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Euler Lagrange Equation - Motion inside a cone

The minus sign r

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Euler Lagrange Equation - Example Problems

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

Euler Lagrange Equation - Spherical Pendulum

Dipan Ghosh (I.I.T. Bombay)

August 13, 2014

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