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Uploaded by Ale Gomez on Dec 26, 2012
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Lagrangian MechanicsTrigonometric FunctionsSineRotation Around A Fixed AxisTorque
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6
You are on page 6of 6
Figure 2: Sketch of problem 24. A wheel rolls down a ?at inclined

surface.Therefore, the Lagrangian using (9) and (10) is given by:
L
=
m
?
x
2
2+
mr
2
?
?
2
2
--
mgx
sin
a
(11)The Lagrange�s equations and the method of unde?ned multipliers use the
relation:
ddt
?
?L?
?
q
?
-
?L?q
=
?
q
?f ?q
(12)Applying (12) in the Lagrangian (11):
m
�
x
-
mg
sin
a
=
?
x
?f ?x
(13)
mr
2
�
?
=
?
?
?f ??
(14)where the constrain equation is
r?
=
x
and therefore
f
=
r?
-
x
= 0. Replacing this in (13) and(14), we found:
m
�
x
-
mg
sin
a
=
-
?
(15)
mr
2
�
?
=
r?mr
�
?
=
?
(16)But, from the constrain we can found:
r
�
?
= �
x
. Then, (16) is nothing but
m
�
x
=
?
and the relationsbecome:
?
=
mg
sin
a
2�
x
=
mg
sin
a
2(17)�
?
=
mg
sin
a
2
r
(18)The general solution for the equation of motion (17) and (18) are:
x
(
t
) =14
gt
2
sin
a
+
At
+
B?
(
t
) =14
rgt
2
sin
a
+
Ct
+
D
where
A,B,C,D
are constants.4
Goldstein, Ch.5, 26
For the axially symmetric body precessing uniformly in the absence of torques, ?nd
analytical solutions for the Euler angles as a function of time.
From Goldstein (5.47), we have the Euler�s equations for an axially symmetric body,
with symmetryaxis
L
z
:
I
1
?
?
1
= (
I
1
-
I
3
)
?
3
?
2
I
2
?
?
2
= (
I
3
-
I
1
)
?
3
?
1
I
3
?
?
3
= 0where
?
1
=
A
cos?
t
,
?
2
=
A
sin?
t
and ? =
I
3
-
I
1
I
1
?
3
. But, since this angular velocities can bewritten using Euler angles in the body ?
xed frame:
?
1
= sin
?
sin
?
?
f
+ cos
?
?
??
2
= sin
?
cos
?
?
f
-
sin
?
?
??
3
= cos
?
?
f
+?
?
we found the relations:sin
?
sin
?
?
f
+ cos
?
?
?
=
A
cos(?
t
+
a
) (19)sin
?
cos
?
?
f
-
sin
?
?
?
=
A
sin(?
t
+
a
) (20)cos
?
?
f
+?
?
=
B
(21)where
A,B
are constants. Multiplying (19) by cos
?
and (20) by sin
?
and subtracting them:sin
?
sin
?
cos
?
?
f
+ cos
2
?
?
?
-
sin
?
cos
?
sin
?
?
f
+ sin
2
?
?
?
=
A
cos(?
t
+
a
)cos
?
-
A
sin(?
t
+
a
)sin
?
?
?
=
A
cos(?
t
+
a
+
?
)The condition for uniform precession recalls?
?
= 0, therefore:cos(?
t
+
a
+
?
) = 0
?
?
t
+
a
+
?
=
np
2
?
?
=
?
0
-
?
t
?
?
?
=
-
? (22)where
n
= 0
,
1
,
2
,..
and
?
0
=
a
+
np
2
is the initial angle of
?
. Next, multiply (19) by sin
?
and (20)by cos
?
and add them:sin
?
sin
2
?
?
f
+ cos
?
sin
?
?
?
+ sin
?
cos
2
?
?
f
-
sin
?
cos
?
?
?
=
A
cos(?
t
+
a
)sin
?
+
A
sin(?
t
+
a
)cos
?
sin
?
?
f
=
A
sin(?
t
+
a
+
?
)?
f
=
A
sin
?
sin(?
t
+
a
+
?
)Replacing this, and (22), in (21):
?
3
=
A
cos
?
sin
?
sin(?
t
+
a
+
?
)
-
? =
A
cot
?
-
?
A
= (
?
3
+ ?)tan
?
??
?
t
+
a
+
?
=
np
2Plugging the de?nition for ?:
A
=
?
?
3
+
I
3
-
I
1
I
1
?
3
?
tan
?
=
I
3
I
1
tan
?
(23)5
Finally, replacing (23) in the?

?
:?
f
=
I
3
I
1
sin
?
tan
?
sin(?
t
+
a
+
?
) =
I
3
I
1
cos
?
??
?
t
+
a
+
?
=
np
2(24)(25)that has the solution:
f
=
I
3
tI
1
cos
?
+
f
0
6
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Figure 2: Sketch of problem 24. A wheel rolls down a ?at inclined

Finally, replacing (23) in the?

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