University of Illinois at Chicago

Department of Physics

Classical Mechanics
Qualifying Examination

January 4, 2011
9.00 am 12:00 pm

Full credit can be achieved from completely correct answers to 4

questions. If the student attempts all 5 questions, all of the answers will
be graded, and the top 4 scores will be counted toward the exams total
score.

1
Problem 1.
Two identical rods of mass m and length l are connected to
the ceiling and together vertically by small flexible pieces
of string. The system then forms a physical double
pendulum. Find the frequencies of the normal modes of
this system for small oscillations around the equilibrium
position. Describe the motion of each of the normal modes.

Solution:

Let () be the angle of the top (bottom) rod with vertical.

1 l & 2 1 l 2 1 2 2
T= m( ) + ml & + m(l& + & ) + ml &
2 2

2 2 12 2 12

l 3 1 2 2 2
U = mg (1 cos ) + mg l l cos + cos mgl + +
2 2 2 4 2 4

4 2 & 2 ml 2 & 1 mgl

L = T U = ml + & + ml 2& 2 (3 2 + 2 )
6 2 6 4

The Lagranges equations are then given by

1 8 && 2 1 8 && 2 1
l + l&& + g = 0 l + l&& + g = 0
23 3 23 3 2

1 8 && 2 2 1 && 2 1 2 g
+ && + 0 = 0 + && + 0 = 0 , where 0 =
2

23 3 2 3 2 l

Assuming small oscillations with = A cos t and = B cos t gives

3 2 4 2 2
0 A
2 3 2 = 0 , which yields normal mode frequencies of
2
1 2 1 2 B
0
2 2 3

2 7 1
B = A = 2.10 A
6 2 5.27 0
2
3 3
= 3
2
0 = , and
0.73 0 B = 2 7 1 A = 1.43 A
2
7
3 3

2
Problem 2.
The particle is sliding down from the top of the hemisphere of radius a.
r
Find: a) normal force exerted by the hemisphere on the particle; b)
angle with respect to the vertical at which the particle will leave the a
hemisphere.

a) The equation of constraint is f ( r , ) = r a = 0

T=
2
(
m 2 2 &2
r& + r ) V = mgr cos

L=
2
(
m 2 2 &2
)
r& + r mgr cos
L d L f
+ =0
r dt r& r
L d L f f f
+ =0 =1 =0
dt & r
Thus mr& 2 mg cos mr&& + = 0
mgr sin mr 2&& 2mrr&& = 0
Now r = a , r& = &&
r = 0 so
ma mg cos + = 0
& 2

mga sin ma 2&& = 0

g d&
&& = sin and && = &
a d
g & 2
g g
so &d& = a sin d or 2
= cos +
a a
hence, = mg ( 3cos 2 )

b) and when 0 particle falls off hemisphere at

2
o = cos 1
3

3
Problem 3.
A uniform rectangular plane lamina of mass m and dimensions a
and b (assume b > a) rotates with the constant angular velocity
about a diagonal. Ignoring gravity, find: a) principal axes and 2

moments of inertia; b) angular momentum vector in the body
coordinate system; c) external torque necessary to sustain such 1
rotation. a
3
b

ma 2 mb 2 m( a 2 + b 2 )
a) I1 = I2 = I 3 = I1 + I 2 =
12 12 12 1

2
b a
b) 1 = 1
2 = 1
3 = 0
(a + b )
2 2 2
(a + b )
2 2 2

r ma 2 b mb 2 a
L = I11e1 + I 22e2 + I 33e3 = 1

e1 + 1
e2 + 0e3
12 (a 2 + b 2 ) 2 12 (a 2 + b 2 ) 2
r mab
L= 1
( a , b ,0 )
12(a + b )
2 2 2

r
c) In body coordinate system = const
r
r dL r r r r
= + L = L
dt

i j k
r
= 1 2 0 = (1L2 2 L1 )e3
L1 L2 0

r mab 2
= 1
(b 2 a 2 )e3
12(a + b )
2 2 2

4
 Problem 4.
z
A particle of mass m moves frictionless under the influence of
gravity along the helix z = k, r = const, where k is a constant,
and z is vertical. Find: a) the Lagrangian; b) the Hamiltonian.
Determine: c) equations of motion.

In cylindrical coordinates the kinetic energy and the potential

energy of the spiraling particle are expressed by

& 2
1
T= m r
& 2 + r2& 2 + z
2
(1)

U = m gz

Therefore, if we use the relations,

z = k & = k&
i.e.,z
(2)
r = const.

the Lagrangian becomes

1 r2 2
L= m & +z
k2 z & 2 m gz (3)
2
Then the canonical momentum is
L r2
pz = =m k2 + 1 z
& (4)
z
&
or,
pz
&=
z (5)
r2
m 2 + 1
k
The Hamiltonian is
pz pz2
H = pz z
& L = pz + m gz (6)
r2 r2
m 2 + 1 2m 2 + 1
k k
or,
1 pz2
H = + m gz (7)
2 r2
m 2 + 1
k
Now, Hamiltons equations of motion are

5
 H H
=p
&z; =z
& (8)
z pz

so that
H
= m g = p& z (9)
z
H pz
= =z
& (10)
pz r2
m 2 + 1
k
Taking the time derivative of (10) and substituting (9) into that equation, we find the equation of
motion of the particle:
g
z=
&& (11)
r2

k2 + 1

6
Problem 5.
A particle of mass m is bound by the linear potential U = kr, where k = const. Find:

a) For what energy and angular momentum will the orbit be a circle of radius r about the origin?
b) What is the frequency of this circular motion?
c) If the particle is slightly disturbed from this circular motion, what will be the frequency of
small oscillations?

dU
The force acting on the particle is F = r = kr
dr

k
a) For particle moving on a circular orbit of radius r: m 2 r = k , i.e. 2 =
mr

mv 2 m 2 r 2 3kr
The energy of the particle is then E = kr + = kr + =
2 2 2

k
Its angular momentum about the orbit is L = mr 2 = mr 2 = mkr 3
mr

k
b) The angular frequency of circular motion is = .
mr
L2
c) The effective potential is U eff = kr + .
2mr 2

The radius r0 of the stationary circular motion is given by

1
dU eff L2 L2 3
= k = 0 , i.e. r0 =
dr r =r0 2mr03 mk

4 1
d 2U eff 3L2 3L2 mk 3 mk 3
As = = = 3k 2 , the angular frequency of oscillations about
dr 2 4
m L2 L
r =r0 2mr r =r0
r0, if it is slightly disturbed from the stationary circular motion, is

1

1 d U eff
2
mk 3
3k
r = = 3k 2 = = 30 , where 0 is the angular frequency of the

m dr 2
r =r0 L mr0
stationary circular motion.