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

Dipan Ghosh (I.I.T. Bombay)

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

Dipan Ghosh (I.I.T. Bombay)

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.

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -9

August 13, 2014

4 / 14

Bead sliding down a rotating hoop

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

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -9

August 13, 2014

5 / 14

Bead sliding down a rotating hoop

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

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -9

August 13, 2014

6 / 14

Euler Lagrange Equation - Example Problems

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

Dipan Ghosh (I.I.T. Bombay)

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

Dipan Ghosh (I.I.T. Bombay)

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

Dipan Ghosh (I.I.T. Bombay)

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

Dipan Ghosh (I.I.T. Bombay)

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.

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -9

August 13, 2014

11 / 14

Euler Lagrange Equation - Example Problems

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

Dipan Ghosh (I.I.T. Bombay)

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

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -9

August 13, 2014

13 / 14