BPT-502 : Classical Mechanics Assignment 1

Himanshu Sahu ([email protected])

November 14, 2020

Question 1.

Given potential
U (r, v) = V (r) + σ · M (1)
Putting M = r × p, We have

U (r, v) = V (r) + σ · (r × p) = V (r) + p · (σ × r) (2)

Generalized forces are obtained from a function U (qj , q̇j ) by the prescription
 
∂U d ∂U
Qj = − + (3)
∂qj dt ∂ q̇j

Component of the force on the particle in Cartesian Co-ordinate :

We will denote co-ordinate as (x1 , x2 , x3 ) and basis as (e1 , e2 , e3 ).
 
∂U d ∂U
Qi = − +
∂xi dt ∂ ẋi
First We will find first term on the right :

∂U ∂
= (V (r) + p · (σ × r))
∂xi ∂xi
 
∂U ∂V (r) ∂r
= +p· σ×
∂xi ∂xi ∂xi

Second term can be found as follows:

∂U ∂p
= · (σ × r)
∂ ẋi ∂ ẋi
   
d ∂U d ∂p ∂p
= · (σ × r) + · (σ × ṙ)
dt ∂ ẋi dt ∂ ẋi ∂ ẋi

Adding these together , We get

   
∂V (r) ∂r d ∂p ∂p
Qi = − −p· σ× + · (σ × r) + · (σ × ṙ)
∂xi ∂xi dt ∂ ẋi ∂ ẋi

Simplifying this equation, We get

∂V (r)
Qi = − + p · (σ × xi ei ) + (σ × p)i
∂xi

where we used the fact that p = mṙ.

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

Component of the force on the particle in Spherical Polar Co-ordinate

First We will find the r component of force, We will use the following term formula through out our calcu-
lations :
v = ṙr̂ + rθ̇θ̂ + r sin θφ̇φ̂
The first term of generalized force :

∂U ∂ ∂V (r) ∂
= (V (r) + p · (σ × r)) = + [p · (σ × r)]
∂r ∂r ∂r ∂r
or
∂U ∂V (r) ∂p
= + · (σ × r) + p · (σ × r̂)
∂r ∂r ∂r
Second term:
∂U
= mr̂ · (σ × r)
∂ ṙ
or  
d ∂U
= mr̂˙ · (σ × r) + mr̂ · (σ × ṙ)
dt ∂ ṙ

Adding terms together

 
∂U d ∂U ∂V (r) ∂p
− + =− − · (σ × r) − p · (σ × r̂) + mr̂˙ · (σ × r) + mr̂ · (σ × ṙ)
∂r dt ∂ ṙ ∂r ∂r

which can further be reduced as follows:

 
∂U d ∂U ∂V (r) ∂p
− + =− − · (σ × r) − p · (σ × r̂) + mr̂˙ · (σ × r) + mr̂ · (σ × ṙ)
∂r dt ∂ ṙ ∂r ∂r

As
∂p
= mr̂˙
∂r
Thus  
∂U d ∂U ∂V (r)
− + =− − p · (σ × r̂) + mr̂ · (σ × ṙ)
∂r dt ∂ ṙ ∂r
or
∂V (r)
Qr = − − 2p · (σ × r̂)
∂r
Let’s find the θ component of force:  
∂U d ∂U
Qθ = − +
∂θ dt ∂ θ̇
The first term given by

∂U ∂p
= · (σ × r)
∂θ ∂θ
The second term given by
∂U ∂p
= · (σ × r)
∂ θ̇ ∂ θ̇

∂p ∂p
Qθ = − · (σ × r) + · (σ × r)
∂θ ∂ θ̇

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

or  
∂p ∂p
Qθ = − + · (σ × r)
∂θ ∂ θ̇
Let’s find the φ component of force:  
∂U d ∂U
Qφ = − +
∂φ dt ∂ φ̇

Similar procedure lead us to  

∂p ∂p
Qφ = − + · (σ × r)
∂φ ∂ φ̇
We can show the relation between the component as follows:
X ∂ri
Qj = Fi · (4)
i
∂qj

Using the relation between the co-ordinate to find the partial derivative, We get

∂x1 ∂x2 ∂x3

= sin θ cos φ = sin θ sin φ = cos θ
∂r ∂r ∂r
∂x1 ∂x2 ∂x3
= r cos θ cos φ = r cos θ sin φ = −r sin θ
∂θ ∂θ ∂θ
∂x1 ∂x2 ∂x3
= −r sin θ sin φ = r sin θ cos φ =0
∂φ ∂φ ∂φ

Thus
X ∂xi
Qr = Fi ·
i
∂r
Putting Fi
∂V (r)
Fi = − + p · (σ × xi ei ) + (σ × p)i
∂xi

We get

∂V (r)
Qr = − − 2p · (σ × r̂) = Fr
∂r
Similarly for other component :

X ∂xi
Qθ = Fi ·
i
∂θ

and
X ∂xi
Qφ = Fi ·
i
∂φ

Question 2.

Given Lagrangian

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

m k
L= (aẋ2 + 2bẋẏ + cẏ 2 ) − (ax2 + 2bxy + cy 2 ) (5)
2 2
Writing the Euler-Lagrange equation for x is

∂L d ∂L
=
∂x dt ∂ ẋ

∂L
= −kax − kby
∂x
and
∂L
= maẋ + mbẏ
∂ ẋ
putting in Lagrange’s equation
m(aẍ + bÿ) = −k(ax + by)

Similarly for y we obtain

∂L d ∂L
=
∂y dt ∂ ẏ

∂L
= −kcy − kbx
∂y
and
∂L
= mcẏ + mbẋ
∂ ẋ
putting in Lagrange’s equation
m(bÿ + cÿ) = −k(bx + cy)

These are the equations of motion for a particle of mass m undergoing simple harmonic motion in two
dimensions, as if bound by two spring constant k. Normally we would express the Lagrangian in unravelled
form, by transforming to new coordinates u1 and u2 with

u1 = ax + by
u2 = bx + cy

The condition b2 − ac 6= 0 is the condition that the coordinate transformation not be degenerate, i.e. that
there are actually two distinct dimensions in which the particle experiences a restoring force. If b2 = ac then
we have just a one-dimensional problem.

Question 3.

Given
m2 ẋ4
L= + mẋ2 V (x) − V 2 (x)
12
Writing the Euler-Lagrange equation for x is

∂L d ∂L
=
∂x dt ∂ ẋ

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

We have

∂L dV dV
= mẋ2 − 2V (x)
∂x dx dx
∂L m2 ẋ3
= + 2mẋV (x)
∂ ẋ 3
d ∂L dV
= m2 (ẋ)2 ẍ + 2mẍV (x) + 2mẋ
dt ∂ ẋ dx
Now we can used
d dV
V (x) = ẋ .
dt dx
Then the Euler-Lagrange equation become
dV dV dV
m2 (ẋ)2 ẍ + 2mẍV (x) + 2mẋ − mẋ2 + 2V (x) =0
dx dx dx

dV dV
m2 (ẋ)2 ẍ + 2mẍV (x) + mẋ2 + 2V (x) =0
dx dx
or  
dV
mẍ + (mẋ2 + 2V (x)) = 0
dx
If we identify F = −dV /dx and T = mẋ2 /2, we may write this as
(F − mẍ)(T + V ) = 0
so, this is saying that, at all times, either the difference between F and ma is zero, or the sum of kinetic and
potential energy is zero.

Question 4.

The electromagnetic field is invariant under a gauge transformation of the scalar and vector potential given
by
A → A + ∇Ψ(r, t), (6)
1 ∂Ψ
Φ→Φ− (7)
c ∂t
where Ψ is arbitrary.
The Lagrangian for a particle in an electromagnetic field is
q
L = T − qΦ(x(t)) + A(x(t)) · v(t)
c
If we make the suggested gauge transformation, this becomes

"  #
1 ∂Ψ  q
→T −q Φ− + [A · v(t) + v · ∇Ψ]
c ∂t x=x(t)
 c
 
q q ∂Ψ
= T − qΦ + A · v(t) + + v · ∇Ψ
c c ∂t
q q d
= T − qΦ + A · v(t) + Ψ
c c dt
q d
=L+ Ψ(x(t)).
c dt

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

So the transformed Lagrangian equals the original Lagrangian plus a total time derivative. But we know that
adding the total time derivative of any function to the Lagrangian does not affect the equations of motion,
so the motion of the particle is unaffected by the gauge transformation.

Question 5.

Path of bead

x = a(θ − sin θ)
y = a(1 − cos θ) = 2a sin2 θ/2

differentiating these with respect to θ, We get

dx θ
= a(1 − cos θ) = 2a sin2
dθ 2
dy
= a sin θ
dθ

dx 2a sin2 θ/2
=
dy a sin θ
or r
0 dx y
x = = tan θ/2 =
dy 2a − y
or
y
x02 = → x02 (2a − y) = y
2a − y
x0 1
√ √ 02
=√
y 1+x 2a
We know that x0 = 1/y 0 , putting this

y0 1
√ p = √ =c
y 1 + y 02 2a
p
∂ 1 + y 02
√ =c
∂y 0 y
or p !
d ∂ 1 + y 02
√ =0
dt ∂y 0 y

We recognize that p
∂ 1 + y 02
L= √
∂y 0 y
and equation of motion given by p !
d ∂ 1 + y 02
√ =0
dt ∂y 0 y

Question 6.

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

Given Lagrangian
mq̇ 2 kq 2
 
γt
L=e −
2 2

Equation of motion can be found with the help of Lagrange’s equation

 
d ∂L ∂L
=
dt ∂ q̇ ∂q

∂L
= eγt (−kq)
∂q
and
L
= eγt (mq̇)
∂ q̇
putting into Lagrange’s equation
d γt
(e (mq̇)) = eγt (−kq)
dt
→ γmq̇ + mq̈ = −kq
or
mq̈ = −kq − γmq̇
The second term on the term is proportional to generalize velocity (opposite to it in direction) and recognized
as friction. Hence Proved!

Question 7.

There are 4 degrees of freedom in the problem and 3 constraint that leave only 1 degrees of freedom. We will
choose them as coordinate of center of mass and the angle between ladder and ground. So the Lagrangian
given by :
1 1
L = m(ẋ2 + ẏ 2 ) + I θ̇2 − mgy
2 2
The constraint equation given by
l
x= cos θ
2
l
y = sin θ
2

taking the time derivative

l
ẋ = − sin θθ̇
2
l
ẏ = cos θθ̇
2
substitute in Lagrangian :
 2
1 l 1 mgl
L=
m θ̇ + I θ̇2 − sin θ
2 2 2 2
or  2 
1 l mgl 1 mgl
L= m + I θ̇2 − sin θ = (I0 + I) θ̇2 − sin θ
2 4 2 2 2

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

Using the Lagrange’s equation  

d ∂L ∂L
=
dt ∂ θ̇ ∂θ

d mgl
[(I0 + I)θ̇] = − cosθ
dt 2
mgl
(I + I0 )θ̈ = − cos θ
2
or
mgl
θ̈ = − cos θ = −ω 2 cos θ
2(I0 + I)

where I0 = ml2 /4.

Question 8.

Particle is moving in plane with constraint given by

x2 + y 2 = a2

Lagrangian for the system is

1
L= m(ẋ2 + ẏ 2 )
2
Since there is one equation of constraint, only one Lagrange multiplier λ is needed. Lagrange equation for
constraint system given by Equation of motion can be found with the help of Lagrange’s equation
 
d ∂L ∂L ∂f
− − λ(t) =0
dt ∂ q̇ ∂q ∂q

d
(mẋ) − λ(2x) = 0
dt
or
mẍ = 2λx
and
mÿ = 2λy
differentiating constraint equation with respect to time

xẋ + y ẏ = 0

ẋ2 + ẏ 2 + xẍ + y ÿ = 0
   
2λ 2λ
⇒x x +y y + ẋ2 + ẏ 2 = 0
m m
 
2λ
⇒ a2 + ẋ2 + ẏ 2 = 0
m

ẋ2 + ẏ 2 mv 2 Fcf
λ = −m 2
=− 2 =− ∝ Fcf
2a 2a 2a
Hence proved.

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

Question 9.

A particle is constrained to move in surface of a cylinder of Radius.

r cos θ = R

ṙ cos θ + sin θθ̇r

The particle is subjected to attractive central force (proportional to distance from origin) thus the potential
energy is U (r) = kr2 /2 where k is positive constant.
Thus the Lagrangian given by
1
L= m(ṙ2 + (rθ̇)2 + (r sin θφ̇)2 ) − U (r)
2
or
1 1
L= m(ṙ2 + (ṙ tan θ)2 + (Rφ̇)2 ) − U (r) = m(ṙ2 sec2 θ + (Rφ̇)2 ) − U (r)
2 2
or
r2 kr2
 
1  2 2 2
 1 2 2
L = m ṙ + (ṙ tan θ) + (Rφ̇) − U (r) = m ṙ 2 + (R φ̇) −
2 2 r − R2 2

From Lagrange’s equation We have

 
d ∂L ∂L
=
dt ∂ ṙ ∂r
∂L
= mṙ
∂ ṙ
∂L mRrṙ2
=− 2 − kr
∂r (r − R2 )2
Putting these into Lagrange’s equation leads to Equation of motion:

mRrṙ2
mr̈ = − − kr
(r2 − R2 )2

Similarly for other coordinate:  

d ∂L ∂L
=
dt ∂ φ̇ ∂φ
d
(mR2 φ̇) = 0
dt
or
mR2 φ̇ = COM

Question 10.

Lagrangian of the particle under the influence of gravity given by

1
L=T −U = m(ẋ2 + ẏ 2 ) − mgy
2

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

Using the Lagrange’s equation

 
d ∂L ∂L
=
dt ∂ ẋ ∂x

d
(mẋ) = 0
dt
or
mẋ = COM = px

Similarly for the y coordinate :

 
d ∂L ∂L
=
dt ∂ ẏ ∂y

∂L
= mẏ
∂ ẏ
∂L
= −mg
∂y
which leads to
mÿ = −mg → ÿ = −g
Solution to this equation (from method of undetermined coefficient )
1 2
y= gt + vy t + y0
2
x = v x t + x0
Using the initial condition : (x0 , y0 ) = (0, 0) and (vx , vy ) = (ẋ(0), ẏ(0)) = (v cos α, v sin α). We get

x = v cos αt

and
1 2
y= gt + v sin αt.
2
Which is indeed representing parabola.

Question 11.

Consider a compound pendulum. Its mass is M , and

its center of mass is at distance l from the pivot. The
moment of inertia around the pivot, Ia , is no longer
M l2 but a quantity that depends on the particular
shape. ⊗ denote the center of mass.
Then the Lagrangian given by
1
L= Ia φ̇2 + mgl cos φ
2

where we have used point a to be zero potential energy.

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

Using Lagrange’s equation  

d ∂L ∂L
=
dt ∂ φ̇ ∂φ

We get
d   ∂L
Ia φ̇ = = −mgl sin φ
dt ∂φ
Ia φ̈ = −mgl sin φ ≈ −mglφ

where we used small angle approximation. In this case period given by

r s
M gl Ia
ω= ⇒ T = 2π
Ia M gl

The moment of inertia about point A can be written in term of center of mass and radius of gyration as
follows
Ia = Icm + M l2 = M (k 2 + l2 )
where k is radius of gyration. Thus time period given by
s
k 2 + l2
T = 2π
gl

Question 12.

Part 1 : moves uniformly on a vertical circle with constant frequency ω.

Consider the co-ordinate axis at the center of origin
as fig. Then the coordinate of mass given by

x = a cos ωt + l sin φ
y = −a sin ωt + l cos φ

Then the velocities given by

ẋ = −aω sin ωt + l cos φφ̇

ẏ = −aω cos ωt − l sin φφ̇

Figure 2:

squaring both

ẋ2 = (aω sin ωt)2 + (l cos φφ̇)2 − 2aω sin ωtl cos φφ̇
ẏ 2 = (aω cos ωt)2 + (lφ̇ sin φ)2 + 2l sin φφ̇aω cos ωt

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

adding both equation

ẋ2 + ẏ 2 = (aω)2 + (lφ̇)2 + 2alω φ̇ sin(φ − ωt)

Potential energy given by

V = −mgl cos φ
where we have taken origin to be zero potential point. Lagrangian for the system given by

1
L= m(ẋ2 + ẏ 2 ) + mgl cos φ
2
or
1 h i
L= m (aω)2 + (lφ̇)2 + 2alω φ̇ sin(φ − ωt) + mgl cos φ
2
We can omit terms which are total derivative of time. Thus

1 2 2
L= m φ̇ + mlaω 2 sin(φ − ωt) + mgl cos φ.
2

Case 2: Oscillates horizontally in the plane of motion of the pendulum according to the law
x = a cos ωt.

The coordinate of mass given by

x = a cos ωt + l sin φ
y = l cos φ

Taking time derivative we get

ẋ = −aω sin ωt + l cos φφ̇

ẏ = −l sin φφ̇

Squaring both and then adding , We get

ẋ2 + ẏ 2 = (aω sin ωt)2 + (l cos φφ̇)2 − 2aωl sin ωt cos φφ̇ + l2 sin2 φφ̇2

= a2 ω 2 sin2 ωt + l2 φ̇2 − 2alω sin ωt cos φφ̇

Potential energy given by

V = −mgl cos φ

Thus the Lagrangian given by

1 h 2 2 2 i
L=T −V = m a ω sin ωt + l2 φ̇2 − 2alω sin ωt cos φφ̇ + mgl cos φ
2

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

We can omit terms which are total derivative of time. Thus

1 2 2
L= m φ̇ + mlaω 2 cos ωt sin φ + mgl cos φ.
2

Case 3: Oscillates vertically according to the law y = a cos ωt

The coordinate of mass given by

x = l sin φ
y = a cos ωt + l cos φ

Taking time derivative of both side :

ẋ = l cos φφ̇
ẏ = −aω sin ωt − l sin φφ̇

squaring and adding both equation we get

ẋ2 + ẏ 2 = (l cos φφ̇)2 + (−aω sin ωt − l sin φφ̇)2

= l2 φ̇2 + a2 ω 2 sin2 ωt + 2aωl sin ωt sin φ

Potential energy given by

V = −mg(a cos ωt + l cos φ)

Thus the Lagrangian given by

1 h2 2 i
L= m l φ̇ + a2 ω 2 sin2 ωt + 2aωl sin ωt sin φ + mg(a cos ωt + l cos φ)
2

We can omit terms which are total derivative of time. Thus

1 2 2
L= m φ̇ + mlaω 2 cos ωt cos φ + mgl cos φ.
2

Question 13.

We will use vertical distances to specify the coordinate of masses and pulley. See fig
The Lagrangian of the system given by
1
L=T −V = (M1 y˙1 2 + M2 y˙2 2 + M3 y˙3 2 + M4 y˙4 2 ) + M1 gy1 + M2 gy2 + M3 gy3 + M4 gy4
2

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BPT-502 : Classical Mechanics Himanshu Sahu ([email protected]) Assignment 1

Using the relations :

y2 + y1 = Constant
(y3 − y1 ) + (y4 − y1 ) = Constant

Thus

y˙2 + y˙1 = 0
y˙3 + y˙4 − 2ẏ1 = 0

Putting every thing into Lagrangian, We get

"  2 #  
1 ẏ3 + ẏ4 2 2 y3 + y4
L= (M1 + M2 ) + M3 ẏ3 + M4 ẏ4 +(M1 −M2 )g +M3 gy3 +M4 gy4
2 2 2

Using Lagrange’s equation  

d ∂L ∂L
=
dt ∂ y˙i ∂yi
For y3  
d 1 g
(M1 + M2 )(ẏ3 + ẏ4 ) + M3 ẏ3 = (M1 − M2 ) + M3 g
dt 4 2

1 g
(M1 + M2 )(ÿ3 + ÿ4 ) + M3 ÿ3 = (M1 − M2 ) + M3 g
4 2
For y4  
d 1 g
(M1 + M2 )(ẏ3 + ẏ4 ) + M4 ẏ4 = (M1 − M2 ) + M4 g
dt 4 2

1 g
(M1 + M2 )(ÿ3 + ÿ4 ) + M4 ÿ4 = (M1 − M2 ) + M4 g
4 2
These two can be solve for ÿ3 and ÿ4 , Which then are related to ÿ1 and ÿ2 by constraint equation
ÿ3 + ÿ4
−ÿ2 = ÿ1 =
2
and

Name : Himanshu Sahu

Exam Roll Number : 18220PHY113
Submitted To : Prof. B.P. Mandal

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