Advanced Classical Physics, Autumn 2016 Problem Sheet 5 – Solutions

1. The moment of inertia of a filled cylinder is I = M R2 /2. Let us choose the distance r the
cylinder has rolled as our generalised coordinate. The z coordinate is then z = −r sin θ, and
the angle φ by which the cylinder has rolled is φ = r/R. The Lagrangian is
 
1 1 1 I
L = T − V = M ṙ2 + I φ̇2 − M gz = M + 2 ṙ2 + M gr sin θ
2 2 2 R
3
= M ṙ2 + M gr sin θ.
4
The Euler-Lagrange equation is
 
d ∂L ∂L d 3
− = M ṙ − M g sin θ = 0,
dt ∂ ṙ ∂r dt 2
which leads to
2
r̈ = g sin θ.
3
Therefore the solution is (assuming that r is measured from a point at which the cylinder is at
rest at time t = 0),
1
r(t) = gt2 sin θ.
3
2. (a) Denote the vertical coordinates of the masses as z1 , z3 and z4 for the masses m, 3m and
4m, respectively. In terms of them, the Lagrangian is
1 3
L = mż12 + mż32 + 2mż42 − mg(z1 + 3z3 + 4z4 ).
2 2
If we further denote the vertical coordinate of the second pulley by z2 , the strings impose
the constraints

z4 + z2 = const, (z2 − z1 ) + (z2 − z3 ) = const.

From these we find

z1 = const − z3 − 2z4 ,
leaving z3 and z4 free generalised coordinates. In terms of them, the Lagrangian is

L = 2mż32 + 4mż42 + 2mż3 ż4 − 2mg(z3 + z4 ).

The Euler-Lagrange equations are

d ∂L ∂L d
− = (4mż3 + 2mż4 ) + 2mg = 4mz̈4 + 2mz̈4 + 2mg = 0,
dt ∂ ż3 ∂z3 dt
and
d ∂L ∂L d
− = (8mż4 + 2mż3 ) + 2mg = 8mz̈4 + 2mz̈3 + 2mg = 0.
dt ∂ ż4 ∂z4 dt
Solving this pair of linear equations for z̈3 and z̈4 , we find
3 1
z̈3 = − g, z̈4 = − g,
7 7

1
Advanced Classical Physics, Autumn 2016 Problem Sheet 5 – Solutions

and further
5
z̈1 = g.
7
So, the downward accelerations of the masses m, 3m and 4m are, respectively,
5 3 1
− g, g, g.
7 7 7
(b) The tensions could be obtained by Lagrange multipliers, but also by calculating the forces
acting on the masses. If we denote the tensions of the two strings by F1 and F2 , Newton’s
second law for mass 4m is 4mz̈4 = F1 − 4mg, so
24
F1 = 4mz̈4 + 4mg = mg.
7
For mass 3m, Newton’s second law is 3mz̈3 = F2 − 3mg, so
12
F2 = 3mz̈3 + 3mg = mg.
7
The centres of masses on both sides balance, but because of the pulley arrangement on the
right allows the centre of mass to move down. The centres of mass move down on both
sides but remain in balance.
3. (a) Use X = ` sin θ and Y = ` cos θ as the Cartesian coordinates of the pendulum relative to
the trolley.
 2 
L = 12 M ẋ2 + 21 m Ẋ + ẋ + Ẏ 2 + mgY
 2 
1 2 1 2 2 2
= 2 M ẋ + 2 m `θ̇ cos θ + ẋ + ` θ̇ sin θ + mg` cos θ

= 1
2 (M + m) ẋ2 + m`ẋθ̇ cos θ + 21 m`2 θ̇2 + mg` cos θ
[4 marks]
(b) The Euler-Lagrange equation with respect to x is
d ∂L ∂L d h i
− = (M + m) ẋ + m`θ̇ cos θ
dt ∂ ẋ ∂x dt
= (M + m) ẍ + m`θ̈ cos θ − m`θ̇2 sin θ = 0, (3.1)
and with respect to θ,
d ∂L ∂L d h i
− = mẋ` cos θ + m`2 θ̇ + m`ẋθ̇ sin θ + mg` sin θ
dt ∂ θ̇ ∂θ dt
= mẍ` cos θ − m`ẋθ̇ sin θ + `2 θ̈ + mẋθ̇` sin θ + mg` sin θ
= mẍ` cos θ + m`2 θ̈ + mg` sin θ = 0. (3.2)
Multiply (??) by (M + m)/m` and use (??) to eliminate ẍ from (??)
 
m` sin θθ̇2 − cos θθ̈ cos θ + (M + m) `θ̈ + (M + m) g sin θ = 0,
(M + m) − m cos2 θ `θ̈ + m` sin θ cos θθ̇ + (M + m) g sin θ = 0,
 

M + m sin2 θ `θ̈ + m`θ̇2 cos θ sin θ + (M + m) g sin θ = 0.

[7 marks]

2
Advanced Classical Physics, Autumn 2016 Problem Sheet 5 – Solutions

(c) From (??) we see that

px ≡ (M + m) ẋ + m`θ̇ cos θ (3.3)

is conserved. This is the momentum of the centre of mass of the whole system. [2 marks]
(d) For small oscillations the equation of motion reduces to

M `θ̈ + (M + m) gθ = 0.

Comparing this to θ̈ = −ω 2 θ gives

 1/2
(M + m) g
ω=
M`

. [2 marks]
(e) The total energy is

E= 1
2 (M + m) ẋ2 + m`ẋθ̇ cos θ + 12 m`2 θ̇2 − mg` cos θ.

If the system is at rest with θ = 30◦ this reduces to

√
3
E0 = −mg` .
2
At the start the centre-of-mass momentum px is zero and therefore stays that way. We can
use this to eliminate ẋ from the energy
 2
m`θ̇ cos θ m`θ̇ cos θ
E = 12 − m` θ̇ cos θ + 12 m`2 θ̇2 − mg` cos θ
M +m M +m
 2  2
m`θ̇ m`θ̇
= 12 − + 12 m`2 θ̇2 − mg`
M +m M +m
  √
1 2 2 m 3
= 2 m` θ̇ 1 − − mg` = E0 = −mg` .
M +m 2
Solving this for θ̇2 gives
M +m √ g
θ̇2 = (2 − 3) ,
M `
so s
3 kg √ 9.81 m s−2
θ̇ ≈ × (2 − 3) × ≈ 1.4 s−1 .
2 kg 2m
[5 marks]
[TOTAL 20 marks]