PHYS20401

Lagrangian Dynamics

Terry Wyatt

Example Sheet 8: Revision Problems

1. Lagrangian dynamics of systems with one degree of freedom
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. By considering simple limiting cases, units, or other methods, try to cross check your
answers!
(a) A circular wheel of mass m and radius r is free to roll without slipping on a
plane inclined at an angle to the horizontal. A spring of spring constant k
connects the centre of the wheel to a fixed point (as shown in the figure).

(b) A particle of mass m is free to move along a circle that lies in the horizontal
plane and is of radius r. The particle is attached to a spring. The other end
of the spring is attached to a point A, which lies in the same horizontal plane
as the circle is a distance l away from the circle (as shown in the following
figure). A force F is required to stretch the spring to a length l.
A

(c) A uniform spherical ball of mass m and radius R rolls without slipping down
a wedge of mass m and angle , which itself can slide without friction on a
horizontal table. The system moves in the plane shown in the diagram. Here
g deontes the gravitational acceleration. For the special case M = m and
= /4 find
i. the acceleration of the wedge,
ii. the acceleration of the ball relative to the wedge.
The moment of intertia of a uniform sphere of mass m and radius R is given
by: I = 25 mR2 .

(d) A pendulum of length l and mass m is mounted on a block of mass M . The

block can move freely without friction on a horizontal surface (as shown in
the following figure). Have you seen a problem on a previous Example Sheet
that is essentially the same as this one?

(e) A block of mass M can move freely without friction in one dimension on a
horizontal surface. A mass m is connected by two springs of spring constant
k to the block (as shown in the following figure). Assume the mass m moves
only in the same horizontal direction in which the block moves. [Hint: with a
bit of thought about problems you have already solved you might to be able
to write down the angular frequency!]

(f) A pendulum is constructed of a mass m connected to a massless rigid rod of

length l. As shown in the diagram, the other end of the rod is suspended from
a point on a ring of radius R. The pendulmn is free to swing in a vertical
plane that is also the plane of the ring. The ring rotates with constant angular
velocity about the horizontal axis that passes through its centre.

i. Derive the lagrangian for the system in terms of , the angle of the rod
with the vertical.
ii. In the lectures and in Example Sheet 5, question 3 (b), we showed that if
f (q, t) is an arbitrary function of the generalised coordinate q and time,
the modified Lagrangian, L0 , given by
L0 = L +

df
dt

also obeys Lagranges equations. Use this freedom of choice to simplify

the Lagrangian you obtained in part (a) to give
L0 =

ml2 2
+ mRl 2 cos ( t) + mgl cos .
2

iii. Hence deduce the equation of motion of the pendulum.

iv. Assuming that both R and the amplitude of the oscillations of the pendulum are small compared to l, make appropriate approximations to derive
an equation of motion that is linear in and its derivatives with time.

2. Lagrangian dynamics of systems with more than one degree of freedom

For each of the following systems make an appropriate choice of generalized coordinates, write down the Lagrangian, apply Langranges equations to obtain the
equations of motion. Find the solutions to the equations of motion. Make a note
of any conserved quantities of the motion you can identify.
Where appropriate express the equations of motion in terms of normal modes and
calculate the frequency of small oscillations about the point of equilibrium for each
of the normal modes. Whenever you can, sketch the motion of the system, showing
3

the maximum displacements of each mass relative to their position at the point
of equilibrium. Rewrite the Lagrangian in terms of the normal mode coordinates
and velocities. Thus demonstrate that only terms quadratic in the normal mode
coordinates and velocities appear in the rewritten Lagrangian.
(a) A particle of mass m moves in two dimensions with potential energy given
by:


1
V = m02 x2 + y 2 + mxy.
2
3
(b) A particle of mass m moves on a frictionless
horizontal table. A light string is
PC240 January
1999
continued.passes
..
attached
to the
particle,
through a hole in the table, hangs vertically
and is fastened to a second mass m.

(c) A mass m1 is suspended by means of a spring of spring constant k and is

free
to move
vertical
A pendulum
consisting
of ofa the
mass, m2 ,
2. One
particle,inof amass
m, restsdirection.
on a frictionless
horizontal table,
and another
same mass to
hangs
belowrigid
the table,
is connected
to the
first the
by a mass
string m
of 1length
connected
a light
rod and
of length
r hangs
from
. Thel motion
which passes without friction through a small hole in the table. Initially, the second mass
ofisthe
entire system is constrained to the plane shown in the diagram below.
at rest and the first has angular velocity with respect to the hole.
Why is it much easier to consider the coordinate y to be the displacement
Show that the Lagrangian of the system can be written
of mass m1 from the equilibrium position, rather than the extension of the
1
spring from its natural length?
With
mgr, as the displacement from the
mr2y 2defined
L = mr 2 +
2
equilibrium position, why does a potential energy term m1 gy not appear in
where
r is the distance
of the
hole, and isExample
its angular Sheet
velocity.7, Question
the
Lagrangian?
N.B.
If first
youmass
havefrom
nottheattempted
[10 marks]
1, then you really should do so!
Find the equations of motion, and hence show that if the initial distance of the first mass
from the hole, r0 , is given by r0 = g/ 2 the second mass remains stationary.
[15 marks]
The second mass is now pulled downwards suddenly, decreasing r by an amount which
is small compared to r0 . Show that it subsequently oscillates vertically with a frequency
f given by
s
3
f=
2 2 .
[5 marks]

(d) A mass m is suspended between two springs of natural length l and spring
PC240
P.T.O.
constant
k. The other ends of the two springs are attached to fixed
supports
that are a distance 2d apart (as shown in the following figure). Ignore the
4

effect of gravity. Consider quantitatively the case d > l; that is, at the equilibrium point the two springs are stretched. Describe qualitatively what is
likely to happen in the case d < l, i.e., the two springs are compressed at the
point of equilibrium.

T.17
(e) Two masses (m1 and m2 ) are connected together by a spring of natural length
l2 and spring constant k2 , with mass m1 also connected to a rigid support by
another spring of natural length l1 and spring constant k1 .

k1

l1

k2 m

l2

(f) A pendulum is constructed of a mass m connected to a massless rigid rod of

length l. The other end of the rod is suspended from a point on a uniform
circular ring of radius R and mass M . The pendulum is free to swing in a
vertical plane that is also the plane of the ring. The ring is free to rotate
about the horizontal axis that passes through its centre, as shown in the
diagram below.

m
k

m
k

k
m

unifor
and th
are un
be k1
frictio
(for h
freque
mass
Fi
of the
[H
placem
secon
Ans:

T.18

constr

(g) A double pendulum consists of a mass m2 suspended by a rod of length l2 from

a mass m1 , which is itself suspended by a rod of length l1 from a fixed pivot.
Hint: Use as generalised coordinates the angles 1 and 2 of the rods with
respect to the vertical. Start off by considering the simplified Lagrangian that
is adequate to describe small displacements from the equilibrium position.
Show that this is given by:
1
1
1
1
L m1 l12 12 + m2 (l1 1 + l2 2 )2 m1 gl1 12 m2 g(l1 12 + l2 22 ).
2
2
2
2
4. A double pendulum is drawn below. Two light rods of lengths l1 and l2 oscilIf youd like a challenge then you might consider the more general Lagrangian
late in the same
plane.
to them are masses
m1case
and the
m2 . motion
How many
valid
for Attached
large displacements.
In this
willdegrees
not beofSHO, of
freedom does the
system have? Write down the Lagrangian describing its dynamics.
course.

l1
m1
l2
2

m2

(h) A thin rod of mass m and length 2l stands on a frictionless floor and leans
against a frictionless wall. Assume the rod remains in contact with both floor
and wall as it slides. Assume also that the point on the wall that is closest
to the place where the rod touches the floor lies vertically below the point
5. The pivot of a simple pendulum is attached to a disc of radius R, which rotates in
where the rod touches the wall. A mass M is free to slide on the rod and is
the plane of the pendulum with angular velocity . (See the diagram below). Write
initially at rest with respect to the rod when the rod is released from rest.
down the Lagrangian and derive the equations of motion for dynamical variable .

3. Hamiltonian dynamics
R

For each of the systems in problem 1 above, find the generalized momentum, p.
In the Lagrangian, eliminate the generalized velocity q in favour of the p. Hence
P
write the Hamiltonian, H =
p q L, as a function of the p and q. Apply
l they reproduce in each case the equation of
Hamiltons equations and show that

motion obtained above by applying Langranges

equation.
m
4. The calculus of variations
(a) Using
a technique
similar
used in
lecture
7, demonstrate
that great
6. The motion
of an
electron of
mass tomthat
andwe
charge
(e)
moving
in a magnetic
circles
of
a
sphere
(i.e.,
circles
that
have
the
same
centre
and
radius
as the
field B = A(r) is described by the Lagrangian
sphere) form the shortest paths (or geodesics) between two points along the
r
er A(r)for a great circle is given by: (6)
L = 21 mrThe
surface of the sphere.
equation
Show that Lagranges equation reproduces
force
law
cotthe
=Lorentz
cot 0 cos(
0on
), the electron.

where 0 and 0 are constants. Hint: consider to be a function, (), of

i) Work in cylindrical
polar coordinates
(r, , z) and consider the vector potential
and demonstrate
that:

and 0 =

d
d

A = (0, f (r)/r,
0)
C2
02 =
sin4 C 2 sin2
2
and C is a constant.

(7)

(b) Consider a particle released at rest and subsequently moving without friction
under gravity. Find the path such that the time taken for the particle to travel
from the point at which it is released to a fixed point (x1 , y1 ) is independent
of where along the path it is released. Hint: follow the method given in
Example Sheet 3, problem 2 (b).
Notes
There is very little material in the Lagrangian Dynamics course to learn. Success in the
course is about understanding the Lagrangian/Hamiltonian approaches and the Calculus
of Variations and being able to apply what you have understood to solving problems.
You should consider working conscientiously1 through all the Example Sheets I have
provided as an absolute bare minimum of practice in problem solving that you need to
prepare yourself for the exam in Lagrangian Dynamics. Large numbers of additional
problems are available in text books, past exam papers, and more generally on the
web. I have provided some useful links to additional material on the course web page:
http://www.hep.man.ac.uk/u/wyatt/lagrangian/lagrangian.html. However, you can also
use your imagination and make up your own problems! Just take any of the systems in
the problems given above and add an extra mass, or an extra spring, etc. For example,
in problems 1c or 1d above, add an extra spring that connects the block or pendulum
to a fixed point. Of course, there is no limit to the complexity of the systems you can
create in this fashion for example, in the double pulley system of Example Sheet 4,
problem 3 (c) you could add springs of spring constants k1 , k2 and k3 to connect the
masses m1 , m2 and m3 , respectively, to the floor. However, the latter system is certainly
going well beyond the level of complexity of any of the systems you will be asked to
analyse in the exam!
Those looking for additional challenges might like to read about the Lagrangian
density. This is used to describe continuous systems (such as a stretched string or
electromagnetic waves) as opposed to the discrete systems we covered in the lectures.
(See, for example, Kibble and Berkshire section 10.6, or Goldstein, Poole and Safko,
chapter 13).
I hope you enjoy working through the above problems and that these form a useful
part of your revision. Good luck in January!

Working conscientiously obviously means trying very hard to solve the problems yourself. Just
looking at my answers without trying hard yourself will bring few benefits.