Analytical Dynamics of Variable-Mass System

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A Presentation on
Analytical Dynamics of Variable-Mass Systems 1
Prosanto Chokroborty
1: Analytical Dynamics of Variable-Mass Systems- John E Hurtardo https://doi.org/10.2514/1.G002917

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Kinematic Partial Derivative:

ሶ
𝜕𝐴
ሶ 𝑘
𝜕𝑞
This operator is known as Kinematic Partial Derivative Operator.
This means the change of 𝐴 due to the motion of the body with
respect to 𝑞𝑘 .
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Let’s define a scalar function ,

1 1
𝑆 = 𝒗 ⋅ 𝑚𝒗 + 𝝎⋅𝑰⋅𝝎
2 2
𝒗 = velocity of the center of mass of the body,

𝑚 = mass of that body at an instant,
𝝎 = rotational velocity about center of mass axis of the body,
𝑰 = inertia matrix of the body
𝑆 can be expressed in terms of generalized coordinates and coefficient matices,

1 1
𝑆 = 𝑚𝑁𝑖𝑘 𝑞𝑖ሶ 𝑞𝑘ሶ + 𝐼𝑎𝑏 𝐽𝑎𝑖 𝐽𝑏𝑘 𝑞𝑖ሶ 𝑞𝑘ሶ
2 2
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Let’s define another scalar function,
1 1
𝜎= σ𝑗 𝒗𝑗 ⋅ 𝑚ሶ𝑗 𝒗𝑗 = 𝑚ሶ𝑗 𝑁𝑖𝑗𝑘 𝑞𝑖ሶ 𝑞𝑘ሶ
2 2
Here we are considering a body with N number of ducts where mass can be absorbed or can be expelled.
𝑚ሶ 𝑗 is the rate of absorbing or expelling mass, 𝒗𝑗 is the velocity of absorbed or expelled mass at the jth duct.
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According to Newton’s 2nd Law and Euler’s principle of Mechanics,
𝑑 𝑚𝒗
=𝒇+𝝌 (1)
𝑑𝑡
𝑑 𝑰⋅𝝎
=𝒍+𝝃 (2)
𝑑𝑡
𝑑 𝑚𝑗 𝒗𝑗
= 𝒇𝑗 + 𝝌𝑗 (3)
𝑑𝑡
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From (1),(2),(3) we can say that ,
𝑑 𝑑 𝑑
(𝑚𝒗) ⋅ 𝛿𝒓 + 𝑑𝑡 (𝑰 ⋅ 𝝎) ⋅ 𝛿𝜽 + σ𝑗 𝑑𝑡 (𝑚𝑗 𝒗𝑗 ) ⋅ 𝛿𝒓𝑗 = 𝒇 ⋅ 𝛿𝒓 + 𝒍 ⋅ 𝛿𝜽 + 𝒇𝑗 ⋅ 𝛿𝒓𝑗 + 𝝌 ⋅ 𝛿𝒓 + 𝝃 ⋅ 𝛿𝜽 + 𝒇𝑗 ⋅ 𝒓𝑗 (4)
𝑑𝑡
We are considering a system where total virtual work by constraint forces is zero and
𝜕𝒓 𝜕𝜽 𝜕𝒓𝑗
𝒇 ⋅ 𝛿𝒓 + 𝒍 ⋅ 𝛿𝜽 + 𝒇𝑗 ⋅ 𝛿𝒓𝑗 = 𝒇⋅ +𝒍⋅ + 𝒇𝑗 ⋅ 𝛿𝑞𝑘
𝜕𝑞k 𝜕𝑞𝑘 𝜕𝑞𝑘
= Q k 𝛿𝑞𝑘 (5)
So (4) can be written as,
𝑑 𝜕𝒓 𝑑 𝜕𝜽 𝑑 𝜕𝒓𝑗
(𝑑𝑡 (𝑚𝒗) ⋅ 𝜕𝑞 + 𝑑𝑡 (𝑰 ⋅ 𝝎) ⋅ 𝜕𝑞𝑘
+ σ𝑗 𝑑𝑡
(𝑚𝑗 𝒗𝑗 ) ⋅ 𝜕𝑞 − 𝑄𝑘 ) 𝛿𝑞_𝑘 = 0 (6)
𝑘 𝑘
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Now,
𝑑 𝑚𝒗 𝜕𝒓 𝑑 𝜕𝒓 𝑑 𝜕𝒓
⋅ = (𝑚𝒗 ⋅ ) − ( ) ⋅ 𝑚𝒗
𝑑𝑡 𝜕𝑞𝑘 𝑑𝑡 𝜕𝑞𝑘 𝑑𝑡 𝜕𝑞𝑘
𝑑 𝜕𝒗 𝜕𝒗
= 𝑚𝒗 ⋅ ሶ − ⋅ 𝑚𝒗
𝑑𝑡 𝜕𝑞𝑘 𝜕𝑞𝑘
ሶ 𝑡𝑟𝑎𝑛𝑠𝑙𝑎𝑡𝑖𝑜𝑛𝑎𝑙
𝑑 𝜕𝑆 ሶ 𝑡𝑟𝑎𝑛𝑠𝑙𝑎𝑡𝑖𝑜𝑛𝑎𝑙
𝜕𝑆
= − (7)
𝑑𝑡 𝜕ሶ 𝑞𝑘ሶ ሶ 𝑘
𝜕𝑞
1
Where, 𝑆𝑡𝑟𝑎𝑛𝑠𝑙𝑎𝑡𝑖𝑜𝑛𝑎𝑙 = 𝒗 ⋅ 𝑚𝒗
2
Similarly,
𝑑 𝜕𝜽 ሶ 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙
𝑑 𝜕𝑆 ሶ 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙
𝜕𝑆
𝑰⋅𝝎 ⋅ = − (8)
𝑑𝑡 𝜕𝑞𝑘 𝑑𝑡 𝜕ሶ 𝑞𝑘ሶ ሶ 𝑘
𝜕𝑞
1
Where, 𝑆𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 = 𝝎 ⋅ 𝑰 ⋅ 𝝎
2
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Now final term can be dealt with in this way,
𝑑 𝜕𝒓𝑗 𝜕𝒓𝑗
σ𝑗 𝑚𝑗 𝒗𝑗 ⋅ 𝜕𝑞 = σ𝑗 𝑚ሶ 𝑗 𝒗𝑗 + 𝑚𝑗 𝒂𝑗 ⋅ 𝜕𝑞
𝑑𝑡 𝑘 𝑘
𝜕𝒓𝑗
= σ𝑗 𝑚ሶ 𝑗 𝒗𝑗 ⋅
𝜕𝑞𝑘
𝜕𝒗𝑗
= σ𝑗 𝑚ሶ 𝑗 𝒗𝑗 ⋅ 𝜕𝑞 ሶ
𝑘
𝜕𝜎ሶ
= 𝜕ሶ 𝑞𝑘ሶ
Here, the second order effect of 𝑚𝑗 𝒂𝑗 was assumed to be negligible.
Now accumulating all the terms we can rewrite (4),
ሶ 𝑡𝑟𝑎𝑛𝑠𝑙𝑎𝑡𝑖𝑜𝑛𝑎𝑙
𝑑 𝜕𝑆 ሶ 𝑡𝑟𝑎𝑛𝑠𝑙𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑑 𝜕𝑆
𝜕𝑆 ሶ 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 ሶ 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙
𝜕𝑆 𝜕𝜎 ሶ
− + − + = 𝑄𝑘
𝜕𝑞 𝑑𝑡 𝜕ሶ 𝑞𝑘ሶ ሶ 𝑘
𝜕𝑞 𝜕ሶ 𝑞𝑘ሶ
𝑑 𝜕𝑆 ሶ 𝜕𝑆ሶ 𝜕𝜎ሶ
− + = 𝑄𝑘 (9)
𝜕𝑞 𝜕ሶ 𝑞𝑘ሶ
These equations of motion are called Lagrange-Cayley equations
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Rocket Equation:
ෝ direction and at any time 𝑡 its position is 𝑥ෝ

Consider a rocket is going 𝒏 𝒏.
We are assuming that there is no rotation. So,
1 1
𝑆 = 2 𝒗 ⋅ 𝑚𝒗 = 2 𝑚𝑥ሶ 2 (i)
A rocket has only one duct to expel mass. If the relative speed of expelled mass
is 𝑢 ,
𝒗1 = 𝑥ሶ − 𝑢 𝒏 ෝ (ii)
So, the Meshcherskii function,
1
𝜎 = 2 𝒗1 ⋅ 𝑚ሶ 1 𝒗1
1 2
= 2 𝑚ሶ 1 𝑥ሶ − 𝑢 (iii)
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If there is an external force 𝒇 = 𝑓ෝ

𝒏, the generalized force,
𝑄 = 𝒇 ⋅ 𝜕𝒓/𝜕𝑥
=𝑓𝒏 ෝ⋅𝒏ෝ
=𝑓
Accroding to Lagrange-Cayley Equation,

𝑑 𝜕𝑆 ሶ 𝜕𝑆 ሶ ሶ
𝜕𝜎
− + =𝑄
𝑑𝑡 𝜕ሶ 𝑥ሶ ሶ
𝜕𝑥 𝜕ሶ 𝑥ሶ
𝑚𝑥ሷ + 𝑚ሶ 𝑥ሶ + 𝑚ሶ 1 𝑥ሶ − 𝑢 = 𝑓
𝑚𝑥ሷ + 𝑚ሶ 𝑥ሶ − 𝑚ሶ 𝑥ሶ + 𝑚𝑢
ሶ =𝑓
𝑚𝑥ሷ = 𝑓 − 𝑚𝑢 ሶ (iv)
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Analytical Dynamics of Variable-Mass Systems 1

1: Analytical Dynamics of Variable-Mass Systems- John E Hurtardo https://doi.org/10.2514/1.G002917

Kinematic Partial Derivative:

Let’s define a scalar function ,

𝒗 = velocity of the center of mass of the body,

𝑆 can be expressed in terms of generalized coordinates and coefficient matices,

Let’s define another scalar function,

According to Newton’s 2nd Law and Euler’s principle of Mechanics,

From (1),(2),(3) we can say that ,

So (4) can be written as,

These equations of motion are called Lagrange-Cayley equations

ෝ direction and at any time 𝑡 its position is 𝑥ෝ

If there is an external force 𝒇 = 𝑓ෝ

Accroding to Lagrange-Cayley Equation,

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