Q1 D !M R ! 'P0 sin !t I Q2 D M R ! 'P0 cos !t I Q3 D Q4 D 0 : (1.

115)

They take care for the disc to roll vertically on the xy plane. If the wheel moves
solely straight ahead, ! is zero so that all the constraint forces disappear.

Nolting
1.2.7 –Exercises
Vol. 2 -ejercicios Tema 2

Exercise 1.2.1 Discuss the motion of a bead that glides frictionlessly on a uni-
formly rotating wire. r is its distance from the center of rotation. Given are the
initial conditions

r.t D 0/ D r0 I rP .t D 0/ D !r0 !

1.2 constant
!: angular velocity
The d’Alembert’s Principle of the wire. 49

Exercise 1.2.2 We consider once more, as in Exercise 1.2.1 or in the application

Example (2) of Sect.Principle
1.2 The d’Alembert’s 1.2.2, a bead of mass m which is gliding frictionlessly on a wire49
that rotates with constant angular velocity ! (Fig. 1.17). For the interpretation of
the results1.2.2
Exercise we made
We in Sect. 1.2.2
consider oncethe plausible
more, as in assumption that or
Exercise 1.2.1 theinacting constraint
the application
force Z.t/ is oriented always perpendicular to the rotating wire.
Example (2) of Sect. 1.2.2, a bead of mass m which is gliding frictionlessly on a wire
thatConfirm
1. rotates this
withplausible
constantassumption
angular velocity ! (Fig.derivation
by an explicit 1.17). Forofthe interpretation
Z.t/. of
Use the same
theinitial
resultsconditions
we made in Sect. 1.2.2 the
as in Sect. 1.2.2. plausible assumption that the acting constraint
force Z.t/ is oriented always perpendicular to the rotating wire.
r.t D 0/ Dby
1. Confirm this plausible assumption r0 an rP .t D 0/
I explicit D 0 : of Z.t/. Use the same
derivation
initial conditions as in Sect. 1.2.2.
2. Discuss the energy law:
r.t D 0/ D r0 I rP .t D 0/ D 0 :
d
24 .T C V/ D ‹ 1 Lagrange Mechanics
2. Discuss the energy law: dt
Fig. 1.17 Demonstration of
the difference between real d
and virtual work using the .T C V/ D ‹
dt
example of the gliding pearl
on a rotating1.2.3
Exercise rod Consider again a bead of mass m frictionlessly gliding on a wire
which rotates with constant angular velocity !. Different from Exercise 1.2.1 the
bead shall now additionally move in the earth’s gravitational field (Fig. 1.22).
Exercise 1.2.3 Consider again a bead of mass m frictionlessly gliding on a wire
1. Which
Fig. 1.18 Inconstraint
the earth’s forces are present?
which
2. rotates
Formulate
gravitational with
fieldthe constant angular
Lagrangian
oscillating functionvelocity !. Different from Exercise 1.2.1 the
for the bead!
bead
3. shall
Determine
dumbbell nowone
where additionally
the Lagrange
of its move in the
equation earth’s and
of motion gravitational field (Fig.
find its general 1.22).
solution!
masses
4. Use 1 can
mthe move conditions
initial
1. Which constraint
frictionlessly in x directionforces are present?
2. Formulate the Lagrangian function for the bead!
3. Determine the Lagranger.t equation I rP .tand
D 0/ Dofr0motion D 0/ D its
find 0 :general solution!
4. Use the initial conditions
How large must ! be at the least to force the bead to move outwards for t ! 1?
is
5. toHow
distinguish
would wefrom thetovirtual
have treat work (Fig. 1.17)
r.t Dthe
0/problem
D r I inrP .tNewton’s
0 D 0/ D 0mechanics?
:
ıW D Z ! ır D 0 ; since Z ? ır ;
How large must ! be atZ the least to force the bead to move outwards for t ! 1?
Fig. 1.22 would
5. How Bead onwe
a rotating
have to treat the problem in Newton’s mechanics?
wire in the earth’s
gravitational field
(3) Oscillating Dumbbell
Fig. 1.22 Bead on a rotating
wire in the earth’s
The mass mfield
gravitational 1 of a dumbbell of length l can move frictionlessly along a horizontal
straight line (Fig. 1.18). We ask ourselves which curves will be described by the
masses m1 and m2 under the influence of the gravitational force.
There are on hand four holonomic-scleronomic constraints:

z1 D z2 D 0 I y1 D 0 I .x1 " x2 /2 C y22 " l2 D 0 :

Thus there are left

S D6"4D2

degrees of freedom. Convenient generalized coordinates are then most probably:

1
q 1 D x1 I q2 D '
 50 1 Lagrange Mechanics
50 1 Lagrange Mechanics
Fig. 1.23 Bead on a rotating
parabolic
Fig. 1.23 wire
Beadinonthe earth’s
a rotating
gravitational
parabolic wirefield
in the earth’s
gravitational field

Exercise 1.2.4 A parabolically curved wire rotates with constant angular velocity !
Exercise
around
1.2 1.2.4
The the A parabolically
z axis.
d’Alembert’s On curved
this rotating
Principle wire
wire rotates
a bead ofwith
massconstant
m movesangular velocity !
frictionlessly in
51
around the z axis. On this rotating wire a bead of mass m moves frictionlessly
the earth’s gravitational field .g D !gez /. If the wire is just within the yz plane in
the earth’s
(Fig.
Fig. 1.23)
1.24
gravitational
then itrolling
Cylinder
fieldthe.gposition
holdsonfor D !geof If mass
z /.the the wire is just within the yz plane
(Fig. 1.23) then it holds
the inner surface of the side for the position of the mass
wall of another (‘larger’) z D ˛y2 .˛ > 0/ :
cylinder z D ˛y2 .˛ > 0/ :

1. Find the constraints! How many degrees of freedom are left?

1.2. Find the constraints! How many degrees of freedom theare left?
Fig.Use1.25 cylindrical
Point mass mcoordinates
on .!; '; z/ to represent Lagrangian!
2.
3. Use cylindrical
Calculate for coordinates
the special
the inner surface of a circular case
.!; '; z/ to represent the Lagrangian!
3.
cone Calculate for the special case
in the earth’s p
gravitational field ! Dp 2˛g
! D 2˛g
the Lagrange equations of the second kind and show that
the Lagrange equations of the second ! kind and" show that
2 2 2
! 1 C 4˛ ! " !P
1 C 4˛ 2 !2 !P2
is an integral of motion (conserved quantity)!
is an integral of motion (conserved quantity)!
Exercise 1.2.5 Let the position of a particle be described by cylindrical coordinates
Exercise
.!; '; z/. 1.2.5 Let the position
The potential energy ofofthe
a particle
particlebeisdescribed
given as by cylindrical coordinates
.!; '; z/. The potential energy of the particle is given as
Fig. 1.26 Two connected !
spheres gliding under the D V0 ln !! ;
V.!/ V0 D const ; !0 D const :
V.!/ D V0 ln 0 ;
influence of the gravitational V0 D const ; !0 D const :
force in different wells
!0

1. Write down the Lagrangian!

1.2. Write downthe
Formulate theLagrange
Lagrangian!
equations of motion!
2.3. Formulate the Lagrange equations
Find and interpret at least of motion!laws!
two conservation
3. Find and interpret at least two conservation laws!

Exercise 1.2.6 On the inner surface of a cylinder side wall (radius R) rolls another
cylinder (radius r, mass density ! D const) (Fig. 1.24).
1. What is the Lagrangian of the system?
2. Formulate the Lagrange equations of motion!
1.2 The d’Alembert’s Principle 51
3. Integrate the equation of motion for small ‘deflections’ '.
Exercise
Fig. 1.2.7 Arolling
1.24 Cylinder massonpoint m rolls frictionlessly on the inner surface of a circular
the inner
cone surface
(cone of the
angle ˛)side
in the gravitational field of the earth (Fig. 1.25).
wall of another (‘larger’)
1. Formulate the constraints and choose appropriate generalized coordinates.
cylinder
2. Seek the Lagrangian and write down the equations of motion of the second kind!
3. Which coordinate is cyclic? Specify the corresponding conservation law!
Exercise 1.2.8 Two spheres of equal masses m are connected with each other by a
Fig. 1.25 Point mass m on
(mass-less)
the rodofof
inner surface length l. As indicated in Fig. 1.26 the spheres move frictionlessly
a circular
in two
cone given
in the wells under the influence of the gravitational force.
earth’s
gravitational field 2
Exercise 1.2.6 On the inner surface of a cylinder side wall (radius R) rolls another
cylinder (radius r, mass density ! D const) (Fig. 1.24).
52 1 Lagrange Mechanics

1. What is the Lagrangian of the system?

Fig.
1.2 1.27 A rod slippingPrinciple
The d’Alembert’s on a 51
2.
Fig.
wall
Formulate
1.26
in the Two
earth’s
the Lagrange equations of motion!
connected
3. Integrate
spheres gliding
gravitational the equation
under
field the of motion for small ‘deflections’ '.
Fig. 1.24ofCylinder
influence rolling on
the gravitational
Exercise
the inner
force 1.2.7wells
surface
in different ofAthe
mass
side point m rolls frictionlessly on the inner surface of a circular
wall of(cone
cone another (‘larger’)
angle ˛) in the gravitational field of the earth (Fig. 1.25).
cylinder
1. Formulate the constraints and choose appropriate generalized coordinates.
1.2 1.28
Fig. The d’Alembert’s Principle
Bead on a rotating 51
2. Seek the
52 Lagrangian and write down the equations of motion 1 of the second
Lagrange kind!
Mechanics
wire-ring under the influence
3.the
of Which coordinate is cyclic? Specify the corresponding conservation law!
gravitational
Fig. 1.24 Cylinderforce
rolling on
Fig.inner
the
Fig. 1.25surface
Exercise
1.27 APoint
1.2.8 mass
ofTwo
rod slipping on
themside
spheres
on a of equal masses m are connected with each other by a
the inner
wall
wall of
in surface
another
the of a circular
(‘larger’)
earth’s
(mass-less)
Exercise rod
1.2.6
cone in the earth’s
of
On length
the l.
inner As indicated
surface of aincylinder
Fig. 1.26 thewall
side spheres move
(radius frictionlessly
R) rolls another
cylinder
gravitational field
in two given
cylinder (radius
gravitational wells
field underdensity
r, mass the influence of the(Fig.
! D const) gravitational
1.24). force.
1. What is the Lagrangian of the system?
2. Formulate the Lagrange equations of motion!
Fig. 1.29 On a table
3.
Fig.Integrate
1.25 Point
frictionlessly themass
equation
rotating m onm of motion for small ‘deflections’ '.
mass
Fig. 1.28 Bead on a rotating
the inner
being surfaceby
connected of aa thread
circular
wire-ring
Exercise under
1.2.7theAinfluence
mass point m rolls frictionlessly on the inner surface of a circular
cone
to in themass
another earth’s
M which
of the (cone
cone gravitational
angle force
˛) in the gravitational field of the earth (Fig. 1.25).
gravitational
experiences field
the gravitational
force
1. Formulate the constraints and choose appropriate generalized coordinates.
2. Seek the Lagrangian and write down the equations of motion of the second kind!
3. Which coordinate is cyclic? Specify the corresponding conservation law!
Fig. 1.26 Two connected
Exercise 1.2.8under
spheres gliding Twothespheres of equal masses m are connected with each other by a
(mass-less)
Fig. 1.29 of
influence rod
Onthe of length l. As indicated in Fig. 1.26 the spheres move frictionlessly
a table
gravitational
in twoingiven
frictionlessly
force wells
rotating
different underm the influence of the gravitational force.
mass
wells
being connected by a thread
1. Introduce suitable generalized coordinates and find the Lagrangian!
to another mass M which
2. Solve the
experiences theLagrange equations of motion!
gravitational
force
Fig. 1.26 Two
Exercise 1.2.9connected
A rod of the length 2L with circular cross-section !R2 is slipping
spheres gliding under the
down a wall (y axis) because of the gravitational force (Fig. 1.27). The rod possesses
influence of the gravitational
aforce
homogeneous mass distribution (mass M, homogeneous density "0 ). ' is the time-
in different wells
dependent
Exercise 1.2.6 On theangle
inclination innerwith respect
surface of a to the ground
cylinder (x axis).
side wall (radiusDiscuss
R) rolls theanother
time-
dependence of '!
cylinder (radius r, mass density ! D const) (Fig. 1.24).
Exercise 1.2.10 A bead of mass m is gliding frictionlessly on a wire-hoop with the
1. What is the Lagrangian of the system?
radius
1. R. The hoop rotates with constant angular
and velocity ! around its diameter in
2. Introduce
Formulatesuitable generalized
the Lagrange coordinates
equations of motion! find the Lagrangian!
the
2. gravitational field g (Fig. 1.28).
3. Solve the Lagrange
Integrate the equation equations
of motion of motion!
for small ‘deflections’ '.
1. Formulate
Exercise and classify the constraints!
Exercise 1.2.9 1.2.7 A A rod
theofinner
the length with circularoncross-section ofis aslipping
2
1.2.6 On mass point m rolls2L
surface of a cylinder
frictionlessly side wall
the (radius
inner !R
R) rolls
surface another
circular
2.
down Find a the
wall Lagrange
(y axis) equation
because of of
themotion!
gravitational force (Fig. 1.27). The rod possesses
cylinder
cone (cone (radius
angler,˛) mass
in thedensity ! D const)
gravitational field(Fig. 1.24).
of the earth (Fig. 1.25).
3. Integrate the equation
a homogeneous of motion
mass distribution for #M,!homogeneous
(mass 1! density "0 ). ' is the time-
1. What
dependent is
Formulate the Lagrangian
the
inclinationconstraints
angle of the
and
with system?
choose
respect appropriate
to the groundgeneralized
(x axis). coordinates.
Discuss the time-
Exercise
52 1.2.11 A mass m rotates frictionlessly on a tabletop. 1 Via a thread
Lagrange of
Mechanicsthe
2. Formulate
Seek
dependence the ofthe
'! Lagrange
Lagrangian and equations
write downof motion!
the equations of motion of the second kind!
length l .l D r C s/ it is connected through a hole in the table with another mass M
3. Integrate the equation
Which coordinate of motion
is cyclic? for small
Specify the corresponding
‘deflections’ '. conservation law!
(Fig.
Exercise1.29).
Fig. 1.27 A How
1.2.10
rod does
A bead
slipping M amove
on of mass under
m isthe influence
gliding of the gravitational
frictionlessly force?
on a wire-hoop with the
Exercise
wall in the 1.2.7
1.2.8
radius R. The hoop rotates with constant angular velocity ! around its of
earth’s ATwomass point
spheres m
of rolls
equal frictionlessly
masses m areon the inner
connected surface
with each a circular
other
diameter byina
cone (cone
(mass-less)
gravitational angle
rod
field of in
length
˛) the
the gravitational field g (Fig. 1.28). l.gravitational
As indicated field
in of
Fig. the
1.26earth
the (Fig.
spheres 1.25).
move frictionlessly
in two given wells under the influence of the gravitational force.
1. Formulate
1. Formulate and the constraints
classify theand choose appropriate generalized coordinates.
constraints!
2. Seek the Lagrangian and
2. Find the Lagrange equation of motion! write down the equations of motion of the second kind!
3. Integrate the equation of motion for #the
3. Which coordinate is cyclic? Specify !corresponding
1! conservation law!
Fig. 1.28 Bead on a rotating
Exerciseunder
Exercise
wire-ring 1.2.8theTwo
1.2.11 spheres
influence
A mass of equal
m rotates masses m are
frictionlessly on connected
a tabletop.with
Via each otherofby
a thread thea
(mass-less)
of the rod
gravitationalof length
force l. As indicated in Fig. 1.26 the spheres move frictionlessly
length l .l D r C s/ it is connected through a hole in the table with another mass M
in two
(Fig. givenHow
1.29). wells under
does the influence
M move under theof influence
the gravitational force.
of the gravitational force?

Fig. 1.29 On a table

frictionlessly rotating mass m
being connected by a thread
to another mass M which
experiences the gravitational
force

3
force
Exercise 1.2.9 A rod of the length 2L with circular cross-section !R2 is slipping
down a wall (y axis) because of the gravitational force (Fig. 1.27). The rod possesses
a homogeneous mass distribution (mass M, homogeneous density "0 ). ' is the time-
dependent inclination angle with respect to the ground (x axis). Discuss the time-
dependence of '!
52 1 Lagrange Mechanics

Exercise 1.2.10 A bead of mass m is gliding frictionlessly on a wire-hoop with the

1.Fig.
radius
1.27 A rod
Introduce The
slippinggeneralized
suitable on a
hoop rotates
R. earth’s coordinates
with constant and find
angular the Lagrangian!
velocity ! around its diameter in
wall in
2.theSolvethethe Lagrange equations of motion!
gravitational field g (Fig. 1.28).
gravitational field
Exercise
1. Formulate1.2.9 andA rod of the
classify thelength 2L with circular cross-section !R2 is slipping
constraints!
down
2. Finda wall
the (y axis) because
Lagrange of the
equation gravitational force (Fig. 1.27). The rod possesses
of motion!
a3.homogeneous mass distribution (mass
Integrate the equation of motion for M, #! homogeneous
1! density "0 ). ' is the time-
dependent inclination angle with respect to the ground (x axis). Discuss the time-
Fig. 1.28 Bead
Exercise on aA
1.2.11 rotating
mass m rotates frictionlessly on a tabletop.
52
dependence ofthe
'! influence 1 Via a thread
Lagrange of the
Mechanics
wire-ring under
length l .l D r C s/
of the gravitational force
it is connected through a hole in the table with another mass M
Exercise
(Fig. 1.2.10
1.29). How Adoes
bead Maofmove
massunder
m is gliding frictionlessly
the influence on a wire-hoop
of the gravitational with the
force?
Fig. 1.27 A rod slipping on
radius R. The
wall in the hoop rotates with constant angular velocity ! around its diameter in
earth’s
the field field g (Fig. 1.28).
gravitational
gravitational

1. Formulate and classify the constraints!

2. Find the Lagrange equation of motion!
3. Integrate the equation of motion for # ! 1!
Fig. 1.29 On a table
Fig. 1.28 Bead on a rotating
frictionlessly rotating
Exercise
wire-ring 1.2.11
under the A mass
massmm rotates frictionlessly on a tabletop. Via a thread of the
being
1.2 The connected
d’Alembert’sby influence
a thread
Principle 53
length
of l .l D r C s/ itPrinciple
is connected through a hole in the table with another mass M
to the
1.2 gravitational
The
another d’Alembert’s
mass M which force 53
(Fig. 1.29). How
experiences the gravitational does M move under the influence of the gravitational force?
1. Formulate and classify the constraints!
force
1. Formulate and classify the constraints!
2. Find the Lagrangian and its equations of motion!
2. Find the Lagrangian and its equations of motion!
3. Under what conditions does the mass M slip upwards or downwards?
3. Under what conditions does the mass M slip upwards or downwards?
4. Discuss the special case ! D 0.
4. Discuss the special case ! D 0.
Exercise
Fig. 1.29 On 1.2.12
a tableConsider a planar thread pendulum with the thread-length l in the
Exercise
frictionlessly
1.2.12
rotating
Consider a planar thread pendulum with the thread-length l in the
mass m field (Fig. 1.30). Only small deflections of the pendulum
homogeneous gravitational
homogeneous
being gravitational field (Fig. 1.30). Only small deflections of the pendulum
are toconnected
be discussed. by a thread
are
to to
anotherbe discussed.
mass M which
1. Introduce suitable generalized coordinates and find the Lagrangian!
experiences
1. Solve
Find the theLagrangian
gravitational and the equation of motion! Choose the initial conditions
2.
1.
forceFind the theLagrangian
Lagrange equations of motion!
and the equation of motion! Choose the initial conditions
such that
1.2 The d’Alembert’s at timePrinciple
t D 0 the pendulum swings through its equilibrium position. 53
such
Exercise that
1.2.9 at time t
A frequency D 0 the
rod of the!length pendulum2L with swings
circular through its equilibrium
cross-section !R2 isposition.
slipping
How big is the 0 of the oscillation?
downHow big is(ythe
a wall axis) frequency
because of the
!of0 the oscillation?
gravitational force (Fig. 1.27). The rod possesses
2. Formulate
1. Calculate the thread
andthreadclassify tension!
the constraints!
2. Calculate the tension!
a homogeneous mass distribution (mass M, homogeneous density "0 ). ' is the time-
2. Find the
Exercise Lagrangian
1.2.13 A particle and with
its equations
the massof m motion!
oscillates in (x
theaxis).
xy plane on a mass-less
dependent
Exercise inclination
1.2.13 A particle anglewith withthe respect
massM mtooscillates
the ground in the Discuss
xy plane the time-
on a mass-less
3. Under
thread of what
length conditions
l in the does
earth’s the mass
gravitational slip
field upwards
(Fig. or downwards?
1.31).
dependence
thread of lengthof '! l in the earth’s gravitational field (Fig. 1.31).
4. Discuss the special case ! D 0.
1. Formulate
Exercise 1.2.10 the A constraints!
bead of mass m is gliding frictionlessly on a wire-hoop with the
1.
1. Formulate
Exercise
Introduce 1.2.12 the constraints!
suitable Consider a planar
generalized thread
coordinates pendulum
and find with thebut
thread-length
the Lagrangian! l inrthe
2. Do
radius not Theuse all
hoop the constraints for eliminating variables, choose ' and as
2. Do
homogeneous
2. Solve
R.
notthe use all therotates
gravitational
Lagrange
with
constraints
field
equations
constant
formotion!
(Fig.
of
angular
eliminating
1.30). Only small
velocity
variables, around
!but
deflectionschooseits diameter
and r as
of the'pendulum
in
the generalized
gravitational coordinates.
field g (Fig. Calculate
1.28). the Lagrangian
aregeneralized
to be discussed. coordinates. Calculate the Lagrangian
Exercise 1.2.9 A rod of the length 2L with circular cross-section !R2 is slipping
1. Find
1. Formulatethe (y and classify
Lagrangian thethe
and constraints!
L D L .r;
equation ';
of'; rP ; '/
motion! P Choose theThe
initial
down a wall axis) because of the Lgravitational
D L .r; rP ;force
P (Fig.
'/ 1.27). rodconditions
possesses
2. such
Find the Lagrange
that at time equation of
D 0 the pendulum motion!
a homogeneous masstdistribution (mass M,swingshomogeneous throughdensity
its equilibrium position.
"0 ). ' is the time-
3. How
Integrate thethe
biginclination
is equation
frequency of motion foroscillation?
!0 ofrespect
the # ! 1!
dependent angle with to the ground (x axis). Discuss the time-
2. Calculate
dependence
Exercise ofthe'!thread
1.2.11 A mass tension!
m rotates frictionlessly on a tabletop. Via a thread of the
length l .l
Fig. 1.30 Thread
Exercise D r C
1.2.13pendulum s/ it
A bead is
particle connected
with the through m aoscillates
hole in the tablexywith another mass M
Fig. 1.30 1.2.10
Thread pendulum of mass m ismass
gliding frictionlesslyin the on aplane on a mass-less
wire-hoop with the
(Fig.
of 1.29).
length
thread l in
ofl inThe How
the
length does
earth’s
l in rotatesM move
the earth’s under the influence of the gravitational force?
radius
of lengthR. the hoop withgravitational
constant angular field (Fig. 1.31).
velocity ! around its diameter in
gravitational fieldearth’s
the gravitational
gravitational field field g (Fig. 1.28).
1. Formulate the constraints!
1. Do not useand
2. Formulate all classify
the constraints for eliminating variables, but choose ' and r as
the constraints!
generalized
2. Find coordinates.
the Lagrange Calculate
equation the Lagrangian
of motion!
3. Integrate the equation of motion for # ! 1!
L D L .r; '; rP ; '/
P
Exercise 1.2.11 A mass m rotates frictionlessly on a tabletop. Via a thread of the
length l .l D r C s/ it is connected through a hole in the table with another mass M
Fig. 1.31
(Fig. 1.29).Oscillating
How does mass
Minmove under the influence of the gravitational force?
Fig. 1.31 Oscillating mass in
the earth’s gravitational field
the earth’s gravitational field
Fig. 1.30 Thread pendulum
of length l in the earth’s
gravitational field

Fig. 1.31 Oscillating mass in

the earth’s gravitational field
aresuch
to bethat at time t D 0 the pendulum swings through its equilibrium position.
discussed.
How big is the frequency !0 of the oscillation?
1. Calculate
2. Find the Lagrangian and the equation of motion! Choose the initial conditions
the thread tension!
such that at time t D 0 the pendulum swings through its equilibrium position.
Exercise
How big1.2.13
is theAfrequency
particle with thethe
!0 of mass m oscillates in the xy plane on a mass-less
oscillation?
thread of length l in the earth’s
2. Calculate the thread tension! gravitational field (Fig. 1.31).
1. Formulate
Exercise the constraints!
1.2.13 A particle with the mass m oscillates in the xy plane on a mass-less
2. not
thread of lengthalll in
Do use thethe
constraints for eliminating
earth’s gravitational 1.31).but choose ' and r as
variables,
field (Fig.
generalized coordinates. Calculate the Lagrangian
1. Formulate the constraints!
2. Do not use all the constraints for L Deliminating Pvariables, but choose ' and r as
L .r; '; rP ; '/
generalized coordinates. Calculate the Lagrangian
54 1 Lagrange Mechanics
54 L D L .r; '; rP ; '/
P 1 Lagrange Mechanics

3. Introduce
Fig. 1.30 Threada pendulum
proper Lagrange multiplier and derive for ' and r the Lagrange
3. Introduce
l in theaof
equations
of length proper
the first
earth’s Lagrange
kind. Usemultiplier
the equation andofderive
motion forfor'r and
for ther the Lagrange
determination
equations
gravitational of
field the first
of the ‘thread tension’ Qr . kind. Use the equation of motion for r for the determination
4. ofSolve
Fig. the ‘thread
1.30 the equation
Thread tension’
pendulum Qr .
of motion for ' with the initial conditions
4. Solvel the
of length in theequation
earth’s of motion for ' with the initial conditions
gravitational field r
r g
'.0/ D 0 P
'.0/ D g '0 .'0 ! 1/
'.0/ D 0 P
'.0/ D l'0 .'0 ! 1/
l
under the presumption of only small pendulum deflections .' ! 1/!
under the presumption of only small pendulum deflections .'
54 1.31 Oscillating 1 ! 1/! Mechanics
Lagrange
Fig.
Exercise 1.2.14 Amass blockin of mass M is gliding frictionlessly under the influence of
the earth’s gravitational
Exercise 1.2.14 Aforce field of mass M is gliding frictionlessly under the influence of
block
the gravitational on an inclined plane with the inclination angle ˛. A mass m
the
3. gravitational
Introduce
is attached toa theforce
proper on
center an
of inclined
Lagrange plane
multiplier
gravity of the withandthe
block byinclination
derive for ' and
a mass-less angle theA
r ˛.
thread mass
ofLagrange
lengthml
Fig.
is 1.31 Oscillating
attached
equations to the
of the mass
first
center inkind.
of gravity
Use theof the
equationblockof by a
motion mass-less
for r forthread
the of length
determination l
(Fig.
the 1.32).
earth’s
(Fig. the gravitational
of1.32). ‘thread tension’ field
Qr .
1. Solve
4. What the is the Lagrangian
equation L.'; s;
of motion P 'sP/?
for'; with the initial conditions
1.2. What
Showisthat the aLagrangian
solution '.t/ L.';Ds;'';P sP/?
0 D const does exist!
2.3. Show r
Find athat a solution
closed '.t/ D
differential '0 D const
equation for '.doesSolveexist!
gthis equation for M " m and for
3. Findsmalla closed differential
angle deflections'.0/ D('equation
0 # ˛)! for'.0/ P '. Solve
D this '0 equation
.'0 !for 1/ M " m and for
small angle deflections (' # ˛)! l
Exercise 1.2.15 Two masses m1 and m2 are moving frictionlessly on a wedge under
Exercise
theunder 1.2.15
the presumption
influence of Two masses of only
the gravitationalm1 andsmallm2 are
force pendulum
moving
(Fig. 1.33). deflections
frictionlessly
They are .' on
! a1/!
connected wedge
with under
each
the influence
other by a1.2.14 of
masslessthe gravitational
threadofofmass force
length (Fig. 1.33).
. They are connected with each
Exercise A block M lisDgliding
l1 C l2frictionlessly under the influence of
other by a massless thread of length l D l1 C l2 .
the gravitational
1. Formulate theforce on an inclined
constraints! Of which planetype withare
the these?
inclination
Howangle A mass m
many˛. degrees of
1.is Formulate
attached to the
the center of
constraints!
freedom S does the system have? gravity
Of of
which the block
type are by a mass-less
these? How thread
many of length
degrees ofl
(Fig. 1.32). Ssuitable
2. freedom
Choose does thegeneralized
system have? coordinates and write down the transformation
2. Choose
formulas! suitable generalized coordinates and write down the transformation
1. What is the Lagrangian L.'; s; '; P sP/?
3. formulas!
2. Find the
Show thatLagrangian!
a solution '.t/ D '0 D const does exist!
3. Find the Lagrangian!
3. Find a closed differential equation for '. Solve this equation for M " m and for
small angle deflections (' # ˛)!
Fig. 1.32 Thread pendulum
Fig. 1.32 toThread
coupled
Exercise a masspendulum
1.2.15 onTwo
an masses m1 and m2 are moving frictionlessly on a wedge under
coupled
inclinedtoplane
a mass on an
the influence
inclined plane of the gravitational force (Fig. 1.33). They are connected with each
other by a massless thread of length l D l1 C l2 .
1. Formulate the constraints! Of which type are these? How many degrees of
freedom S does the system have?
2. Choose suitable generalized coordinates and write down the transformation
formulas!
Fig.Find
3. 1.33 the
Two masses
Lagrangian!
Fig. 1.33 Two masses
connected with each other by
connected with
a thread on each other
a wedge in theby
aearth’s
thread gravitational
on a wedge infield
the
Fig. 1.32
earth’s Thread pendulum
gravitational field
coupled to a mass on an
inclined plane

Fig. 1.33 Two masses

connected with each other by
a thread on a wedge in the
earth’s gravitational field

5
is attached
(Fig. 1.32). to the center of gravity of the block by a mass-less thread of length l
(Fig. 1.32).
1. What is the Lagrangian L.'; s; '; P sP/?
1.
2. What
ShowisthattheaLagrangian L.';
solution '.t/ D s;
'0';PDsP/?
const does exist!
2.
3. Show
Find athat a solution
closed differential
'.t/ D '0 D const
equation for '.does
Solve exist!
this equation for M " m and for
3. Find
smalla angle
closeddeflections
differential('equation
# ˛)! for '. Solve this equation for M " m and for
small angle deflections (' # ˛)!
Exercise 1.2.15 Two masses m1 and m2 are moving frictionlessly on a wedge under
Exercise 1.2.15
the influence of the masses m1 and
Twogravitational m2 are
force moving
(Fig. 1.33). frictionlessly on a wedge
They are connected withunder
each
the
otherinfluence of the thread
by a massless gravitational force
of length l D (Fig.
l1 C 1.33).
l2 . They are connected with each
other by a massless thread of length l D l1 C l2 .
1. Formulate the constraints! Of which type are these? How many degrees of
1. Formulate
freedom S doesthe constraints! Of which type are these? How many degrees of
the system have?
2. freedom does thegeneralized
Choose Ssuitable system have? coordinates and write down the transformation
2. Choose
formulas! suitable generalized coordinates and write down the transformation
1.2 The d’Alembert’s Principle 55
3. formulas!
Find the Lagrangian!
3. Find the Lagrangian!
4. Write down the Lagrange equations of motion and solve them! Determine r1 .t/
Fig.with
1.32the initial
Thread conditions:
pendulum
coupled
Fig. 1.32toThread
a mass pendulum
on an
inclinedto
coupled plane
a mass on an r1 .t D 0/ D r0 I rP1 .t D 0/ D 0 :
inclined plane
Find the equilibrium conditions!
5. Do not use the (holonomic) constraint ‘constant thread length’ to eliminate
variables. Apply instead a Lagrange multiplier ! to find the ‘thread tension’!
How large is this in equilibrium?
Fig. 1.33 1.2.16
Exercise Two masses
Two homogeneous cylinders with masses M1 , M2 and radiuses
connected
Fig. with masses
1.33areTwo each other by
R , R
a1thread
wrapped
2 on a wedge in theby a thread and therewith connected with each other. The first
connected with each other by
cylinder
aearth’s
is firmly
threadgravitational
on a wedge in
horizontally
field
the
pivoted but can be rotated frictionlessly. The second
cylinder drops down
earth’s gravitational fieldin x direction due to the earth’s gravitational field while on both
the cylinders the thread is unwinding (Fig. 1.34).
1. Use the angular-momentum law to find the equation of motion and in particular to
determine the thread tensions F1 and F2 ! (This problem has already been treated
as Exercise 4.5.4 in Vol. 1)
2. Formulate the Lagrangian! To this use '1 and '2 (see Fig. 1.34) as generalized
coordinates.
3. Determine x2 .t/ with the initial conditions:

x2 .0/ D 0 I xP 2 .0/ D 0 :

4. Verify the result for the thread tension from part 1.!

Fig. 1.34 Two rotatable

cylinders coupled by a thread

6
 r1 .t D 0/ D r0 I rP1 .t D 0/ D 0 :

Find the equilibrium conditions!

5. Do not use the (holonomic) constraint ‘constant thread length’ to eliminate
variables. Apply instead a Lagrange multiplier ! to find the ‘thread tension’!
How large is this in equilibrium?
Exercise 1.2.16 Two homogeneous cylinders with masses M1 , M2 and radiuses
R1 , R2 are wrapped by a thread and therewith connected with each other. The first
cylinder is firmly horizontally pivoted but can be rotated frictionlessly. The second
cylinder drops down in x direction due to the earth’s gravitational field while on both
the cylinders the thread is unwinding (Fig. 1.34).
1. Use the angular-momentum law to find the equation of motion and in particular to
determine the thread tensions F1 and F2 ! (This problem has already been treated
as Exercise 4.5.4 in Vol. 1)
2. Formulate the Lagrangian! To this use '1 and '2 (see Fig. 1.34) as generalized
coordinates.
3. Determine x2 .t/ with the initial conditions:

x2 .0/ D 0 I xP 2 .0/ D 0 :

4. Verify the result for the thread tension from part 1.!

Fig. 1.34 Two rotatable

cylinders coupled by a thread

7
Exercise 1.2.17 A homogeneous hollow cylinder (mass M, radius R) is pivoted
around a horizontal axis through the center of mass P in the gravitational field g D
!gez . Within this hollow cylinder a homogeneous solid cylinder (mass m, radius r)
can roll without any gliding. The two cylinder axes are parallel (Fig. 1.35).
56 Figure 1.35 is to be read as follows: O and P are points fixed1in Lagrange Mechanics
space while A, B,
C, and S are body fixed, i.e. connected to the rolling cylinder. Thus in equilibrium C
coincides
Exercise with 1.2.17 O, B A with O, and S is hollow
homogeneous on the line OP. (mass
cylinder describes the deflection
M, radius of the
R) is pivoted
hollow
around a horizontal axis through the center of mass P in the gravitational field g of
cylinder from the equilibrium position. ! is a measure of the displacement D
the
!gesolid cylinder
z . Within this from
hollow itscylinder
equilibrium position, while
a homogeneous solid gives the(mass
' cylinder angular position
m, radius r)
of
cantheroll
center
without of gravity
any gliding.of the Thesolidtwo
cylinder.
cylinder axes are parallel (Fig. 1.35).
Figure
1. List the1.35 is to beand
constraints readfix asgeneralized
follows: O and P are points fixed in space while A, B,
coordinates!
C, and S are body
2. Determine the Lagrangian! fixed, i.e. connected to the rolling cylinder. Thus in equilibrium C
coincides with O, B
3. Find the equations of motion! with O, and S is on the line OP. describes the deflection of the
4. Calculate the eigen-frequencies in case of small deflections!of the displacement of
hollow cylinder from the equilibrium position. ! is a measure
the solid cylinder from its equilibrium position, while ' gives the angular position
Exercise
of the center
56 1.2.18 Two point
of gravity of themasses m1 D m2 D m are connected
solid cylinder. by a mass-less
1 Lagrange Mechanics
rod of length l to build a dumbbell (Fig. 1.36). They are moving in the xy plane
1. Listthereby
being the constraints
subject toand fix generalized
a friction force coordinates!
which is proportional
Exercise
2. Determine 1.2.17 the ALagrangian!
homogeneous hollow cylinder (mass M,toradius
the velocities of the
R) is pivoted
masses.
around (F i D !˛ r
P ; i D 1; 2)
iaxis through the center of mass P in the gravitational field g D
3. Findathe horizontal
equations of motion!
!ge z . Within the
4. Calculate thiseigen-frequencies
hollow cylinder a in homogeneous
case of smallsolid cylinder (mass m, radius r)
deflections!
can
56 roll without any gliding. The two cylinder axes are parallel1(Fig. 1.35). Mechanics
Lagrange
Exercise
Figure 1.351.2.18 is to Twobe readpointasmasses
follows: m1OD andmP D m
2 are are connected
points fixed in spaceby awhile
mass-less
A, B,
rodand
C, of Slength
are body l tofixed,
buildi.e. a dumbbell
connected(Fig.to the1.36).
rollingThey are moving
cylinder. Thus ininequilibrium
the xy planeC
Exercise
being 1.2.17 A homogeneous
thereby hollow cylinder (mass M,toradius R) is pivoted
coincides with subject
O, B with to O,
a friction
and S isforce
on thewhich
line is
OP.proportional
describes the thedeflection
velocities ofthe
of the
around a(F
masses. horizontal rP i axis through center of mass P in the gravitational field g D
1; 2) the position.
i Dequilibrium
hollow i D !˛
cylinder from ;the ! is a measure of the displacement of
!gez . Within this hollow cylinder a homogeneous solid cylinder (mass m, radius r)
the solid cylinder from its equilibrium position, while ' gives the angular position
can roll without any gliding. The two cylinder axes are parallel (Fig. 1.35).
of the center of gravity of the solid cylinder.
Figure 1.35 is to be read as follows: O and P are points fixed in space while A, B,
1.C,List
and theS are body fixed,
constraints and i.e.fixconnected
generalized to the rolling cylinder. Thus in equilibrium C
coordinates!
2.coincides
Determine withthe O,Lagrangian!
B with O, and S is on the line OP. describes the deflection of the
3.hollow
Find cylinder
the equations from the equilibrium position. ! is a measure of the displacement of
of motion!
4.theCalculate
solid cylinder the eigen-frequencies
from its equilibrium in case of small
position, deflections!
while ' gives the angular position
of the center of gravity of the solid cylinder.
Exercise
1.2 1.35
Fig. 1.2.18
The d’Alembert’s
A TwoPrinciple
solid cylinder point masses
that rolls on them inner m2 Dof m
1 Dsurface are connected
a hollow by abymass-less
cylinder driven 57
the earth’s
gravitational
rod
1. List the field
of length l to buildand
constraints a dumbbell (Fig. 1.36).
fix generalized They are moving in the xy plane
coordinates!
being thereby
2. Determine
Fig. 1.37 Masssubject onto
the Lagrangian!
point ana friction force which is proportional to the velocities of the
masses.
inclined
3. Findplane(F
thei D in !˛ rP i ; i of
the earth’s
equations D motion!
1; 2)
gravitational
4. Calculate field
the eigen-frequencies in case of small deflections!
Exercise 1.2.18 Two point masses m1 D m2 D m are connected by a mass-less
Fig. 1.35 A solid cylinder that rolls on the inner surface of a hollow cylinder driven by the earth’s
rod of length l to build a dumbbell (Fig. 1.36). They are moving in the xy plane
gravitational field
being thereby subject to a friction force which is proportional to the velocities of the
masses. (Fi D !˛ rP i ; i D 1; 2)
1. Formulate
Fig. the
1.36 Motion of constraints and choose
a dumbbell under suitable
the influence generalized
of a friction force coordinates!
2. Friction forces are not conservative. Derive the corresponding generalized forces
Qj !
3. Which equations of motion are to be solved?
4. Solve these equations by use of the initial conditions:

Fig. 1.36 center

Motionof
of gravity:
a dumbbell underx.0/ D y.0/ D
the influence I xP .0/
of a0friction D vx I
force yP .0/ D vy
angle:
Fig. 1.35 A solid cylinder that rolls on'.0/ D 0surface
the inner I '.0/
P of a D ! cylinder driven by the earth’s
hollow
gravitational field
Exercise 1.2.19 A mass point slips without friction down an inclined plane expe-
riencing the earth’s gravitational field (Fig. 1.37). The plane moves with constant
inclination ˛ in x direction where the intersection point with the x axis exhibits the
time-dependence
Fig. 1.35 A solid cylinder that rolls on the inner surface of a hollow cylinder driven by the earth’s
gravitational field 1
a.t/ D ct2 .c > 0/
2

Fig. 1.36 Motion of a dumbbell under the influence of a friction force

1. Write down the constraints and the Lagrangian L. Thereby, do not exploit the
constraint for the motion of the inclined plane for a reduction of the number of
coordinates.
2. Determine the Lagrange equations of the first kind and use these to fix the
generalized constraint forces Qx , Qy .
Fig. 1.36 Motion of a dumbbell under the influence of a friction force
3. Solve the equations of motion with the initial conditions
8
xP .0/ D 0 I x.0/ D x0 :

Exercise 1.2.20 A mass point m is on a spherical surface of radius R and experi-

3. Which equations of motion are to be solved?
4. Solve these equations by use of the initial conditions:

center of gravity: x.0/ D y.0/ D 0 I xP .0/ D vx I yP .0/ D vy

1. Formulate the constraints
angle: and'.0/choose
D 0suitableP generalized
I '.0/ D! coordinates!
2. Friction forces are not conservative. Derive the corresponding generalized forces
Qj ! 1.2.19 A mass point slips without friction down an inclined plane expe-
Exercise
3. Which equations
riencing the of motion arefield
earth’s gravitational to be(Fig.
solved?
1.37). The plane moves with constant
4. Solve these equations by use of the initial conditions:
inclination ˛ in x direction where the intersection point with the x axis exhibits the
time-dependence
center of gravity: x.0/ D y.0/ D 0 I xP .0/ D vx I yP .0/ D vy
angle: 1
D Dct02 I .c'.0/
'.0/
a.t/ P > 0/D !
2
Exercise 1.2.19 A mass point slips without friction down an inclined plane expe-
riencing the earth’s gravitational field (Fig. 1.37). The plane moves with constant
1. Write down
inclination ˛ in the constraints
x direction andthe
where theintersection
Lagrangianpoint
L. Thereby,
with thedo not exhibits
x axis exploit the
the
constraint for
time-dependence the motion of the inclined plane for a reduction of the number of
coordinates.
2. Determine the Lagrange equations1 of2 the first kind and use these to fix the
generalized constraint forcesa.t/ , Q2y .ct .c > 0/
Qx D
3. Solve the equations of motion with the initial conditions
1.2 The d’Alembert’s Principle 57
1. Write down the constraintsxPand .0/ D I x.0/ D xL.
the0 Lagrangian 0 :Thereby, do not exploit the

Fig. constraint
1.37 Mass forpointthe
on motion
an of the inclined plane for a reduction of the number of
Exercise 1.2.20
in the A
coordinates.
inclined plane mass point m is on a spherical surface of radius R and experi-
earth’s
ences the earth’s
2. Determine
gravitational field thehomogeneous gravitational
Lagrange equations field.
of the first kind and use these to fix the
generalized constraint forces Q , Q .
1. Specify the constraints and formulate the Lagrangian!
x y
3. Set
2. Solve
up the
the equations
Lagrange of motionofwith
equation the the initial
second conditions
kind and find an integral of motion!
3. What is the height z0 at which the mass point hops from the sphere if it was
xP .0/ D 0state
initially in an unstable equilibrium I x.0/ x0 :
at theDhighest point of the sphere and
then gets an infinitesimal initial velocity?
1. Formulate
Exercise the constraints
1.2.20 A mass pointandmchoose
is on asuitable generalized
spherical surface ofcoordinates!
radius R and experi-
2. Friction forces are not conservative. Derive
ences the earth’s homogeneous gravitational field. the corresponding generalized forces
Qj !
1. Specify the constraints and formulate the Lagrangian!
3. Which equations of motion are to be solved?
2. Set up the Lagrange equation of the second kind and find an integral of motion!
4. Solve these equations by use of the initial conditions:
3. What is the height z0 at which the mass point hops from the sphere if it was
initially in an unstable equilibrium state at the highest point of the sphere and
center of gravity: x.0/ D y.0/ D 0 I xP .0/ D vx I yP .0/ D vy
then gets an infinitesimal initial velocity?
58 1 Lagrange Mechanics
angle: '.0/ D 0 I '.0/ P D!
Exercise 1.2.19
Exercise 1.2.21 A A mass
particle of mass
point m moves
slips without in a plane
friction downunder the influence
an inclined of a
plane expe-
force that acts in the direction to a force center. For the magnitude F of
riencing the earth’s gravitational field (Fig. 1.37). The plane moves with constant the non-
conservative˛ force
inclination it holds ifwhere
in x direction r is the
thedistance frompoint
intersection the center of force:
with the x axis exhibits the
time-dependence ! "
˛ rP ! 2rRr
2
F D 2 1! .˛: constant of appropriate dimension/ :
r c2 1
a.t/ D ct2 .c > 0/
Determine the generalized potential 2

U D U .r; rP /
1. Write down the constraints and the Lagrangian L. Thereby, do not exploit the
constraint for the motion of the inclined plane for a reduction of the number of
and therewith the Lagrangian for planar motion!
coordinates.
Exercise
2. 1.2.22
Determine theALagrange
homogeneous circular
equations discfirst
of the (radius mass
kindR,and useM) withtoa fix
these point-
the
shaped mass fixed
generalized on its edge,
constraint forces Qx , Qy .
3. Solve the equations of motion with the initial conditions
1
mD M
xP .0/ D 0 I 2 x.0/ D x0 :
moves without gliding frictionlessly on a horizontal straight line under the influence
Exercise 1.2.20 A mass point m is on a spherical surface of radius R and experi-
of the gravitational force (Fig. 1.38).
ences the earth’s homogeneous gravitational field.
1. Calculate the coordinates x , yM of the center of the disc as functions of the roll
1. Specify the constraints andMformulate the Lagrangian!
angle '. Fix them so that ' D 0 for xM D 0.
2. Set up the Lagrange equation of the second kind and find an integral of motion!
2. Calculate as functions of ' the coordinates xm , ym of the mass point as well as
3. What is the height z0 at which the mass point hops from the sphere if it was
the coordinates xS , yS of the common center of gravity of the disc and the mass
initially in an unstable equilibrium state at the highest point of the sphere and
point! Of which type are the trajectories?
then gets an infinitesimal initial velocity?
3. Calculate the kinetic energy T.'; '/ P and the potential energy V.'/ of the total
system! 9
4. Find the Lagrangian L.'; '/ P and the corresponding equation of motion for '.
What is the value of the frequency for small oscillations around the equilibrium
position ' D 0?
Determine the generalized potential
58 1 Lagrange Mechanics

U D U .r; rP /
Exercise 1.2.21 A particle of mass m moves in a plane under the influence of a
force that acts in the direction to a force center. For the magnitude F of the non-
and therewith the Lagrangian for planar motion!
conservative force it holds if r is the distance from the center of force:
Exercise 1.2.22! A homogeneous " circular disc (radius R, mass M) with a point-
shapedFmass ˛fixed onrP 2its!edge,
2rRr
D 2 1! .˛: constant of appropriate dimension/ :
r c2
1
Determine the generalized potential m D 2 M

moves without gliding frictionlesslyUonDaUhorizontal

.r; rP / straight line under the influence
of the gravitational force (Fig. 1.38).
and therewiththe
1. Calculate thecoordinates
Lagrangianxfor, yplanar motion!
of the center of the disc as functions of the roll
M M
angle '.
Exercise Fix them
1.2.22 so that ' D 0circular
A homogeneous for xM Ddisc
0. (radius R, mass M) with a point-
2. Calculate
shaped as functions
mass fixed of ' the coordinates xm , ym of the mass point as well as
on its edge,
the coordinates xS , yS of the common center of gravity of the disc and the mass
point! Of which type are the trajectories? 1
mD M
3. Calculate the kinetic energy T.'; '/ P and 2 the potential energy V.'/ of the total
system!
moves
4. Findwithout gliding frictionlessly
the Lagrangian P andon
L.'; '/ thea horizontal straight
corresponding line under
equation the influence
of motion for '.
of the gravitational force (Fig. 1.38).
What is the value of the frequency for small oscillations around the equilibrium
position 'the
1. Calculate D 0?coordinates xM , yM of the center of the disc as functions of the roll
5. angle
1.2 Determine
'. Fixthe constraint
The d’Alembert’s
themPrinciple ' D Z.';
so thatforce RDthat
xPM'/
0 for '; 0. is exerted by the horizontal straight
59
line onto the disc!
2. Calculate as functions of ' the coordinates xm , ym of the mass point as well as
the coordinates
6. For S , yS initial
sufficiently xhigh of the velocity
commonvcenter D xP Mof, gravity
referredoftothe
thedisc and the
support mass
point at
Fig.'point! Of
thewhich
disc istype
D 0,Homogeneous
1.38 ableareto the
taketrajectories?
off from the horizontal straight line because of the
3. Calculate
additional
circular the
disc with kinetic
mass m. How
a mass energy
largeT.';
must P vand
'/ theorder
be in potential energy V.'/
to guarantee of theoff’
the ‘take total
at
point Don
m
'system! its edge
2!=3?
4. Finally
7. Find thedemonstrate
Lagrangianthe P and theofcorresponding
equivalence
L.'; '/ equation mechanics!
Newton and Lagrange of motion for Gen-'.
What is
erally wethedescribe
value ofthe themovement
frequency of forasmall
solid oscillations
body by ˛/around the equilibrium
the translation of the
position
center of 'gravity
D 0? and ˇ/ the rotation around the center of gravity. Derive with the
5. constraint
Determineforce Z.'; ';
the constraint P '/ Z.';
from
Rforce part';
P 5.'/
R the equation
that of by
is exerted motion for ˇ/. Itstraight
the horizontal should
be
lineidentical
onto thetodisc!
that of part 4).
Exercise 1.2.23 A mass point P is kept by a thread on a circular path with the initial
radius (no gravitational field!). The thread is then shortened, e.g. by putting the
R0 Homogeneous
Fig. 1.38
circular through
thread disc with aa mass
pipe constructed just in the midpoint of the circle and vertical to
pointplane
the m on its
of edge
the circle and then pulling on the thread (Fig. 1.39). At first the thread
shortening takes place so slowly that the respective radial kinetic energy can be
neglected.
1. Determine an integral of motion!
2. Which work W is executed on the system when the path radius changes from R0
to R < R0 ?
3. Now let the thread be shortened with finite velocity,

rP .t/ D !b t ; .b > 0/ ;

starting with the thread length R0 at t D 0. Is the integral of motion from 1. still
valid?
4. How does the constraint force Z, which produces the constraint rP .t/ D !b t, look
like?
5. How large is now the work to be done by the system in order to shorten the thread
length from R0 to R < R0 ?

Fig. 1.39 Mass point on a

circular path

10
 ' D 2!=3?
7. Finally demonstrate the equivalence of Newton and Lagrange mechanics! Gen-
erally we describe the movement of a solid body by ˛/ the translation of the
center of gravity and ˇ/ the rotation around the center of gravity. Derive with the
constraint force Z.'; '; R from part 5. the equation of motion for ˇ/. It should
P '/
be identical to that of part 4).
Exercise 1.2.23 A mass point P is kept by a thread on a circular path with the initial
radius R0 (no gravitational field!). The thread is then shortened, e.g. by putting the
thread through a pipe constructed just in the midpoint of the circle and vertical to
the plane of the circle and then pulling on the thread (Fig. 1.39). At first the thread
shortening takes place so slowly that the respective radial kinetic energy can be
neglected.
1. Determine an integral of motion!
2.60Which work W is executed on the system when the path radius1 changes
Lagrange from
Mechanics
R0
to R < R0 ?
3.Fig.
Now1.40letMass
the thread
point P be
on ashortened with finite velocity,
thread which is attached to a
cylinder jacket rP .t/ D !b t ; .b > 0/ ;

starting with the thread length R0 at t D 0. Is the integral of motion from 1. still
valid?
4. How does the constraint force Z, which produces the constraint rP .t/ D !b t, look
like?
5. How large is now the work to be done by the system in order to shorten the thread
length from R0 to R < R0 ?
Fig. 1.41 Mass m hanging
on a thread attached to a
roller
Fig. which
1.39 is rotatable
Mass point on a
aroundpath
circular a horizontal axis

Exercise 1.2.24 A thread of total length l is fixed on a cylinder which has a

radius R0 and stands vertically to the drawing plane in Fig. 1.40. A revolution of
the mass point P around the firm cylinder means that the thread is wrapped up and
the ‘free’ thread length r D P O0 is correspondingly shortened.
1. Determine an integral of motion and compare it with part 1. of Exercise 1.2.23.
2. Derive the equation of motion for the angle ' and solve it with the initial
conditions

'.t D 0/ D 0 I l '.t
P D 0/ D v0

(' D 0 means the completely unwounded thread). After which time is the thread
completely wrapped up?
603. Demonstrate that the generalized momentum p' belonging to ' Mechanics
1 Lagrange is just the
magnitude of the angular momentum of the mass point with respect to O.
Fig. 1.40 Mass
Exercise point On
1.2.25 P onaa cylindrical roller (radius R, mass M), rotatable around a
thread which is attached to a
horizontal axis, a thread of length l ! R is wrapped up. One end of the thread
cylinder jacket
is fixed on the roller while a mass m is hanging on the other free end (Fig. 1.41).
The mass density of the roller increases linearly with the radius, starting with zero
at the axis. The coordinate z of the mass m starts at the roller axis and is counted
downwards (Fig. 1.41).

Fig. 1.41 Mass m hanging

on a thread attached to a
roller which is rotatable
around a horizontal axis
11
 '.t D 0/ D 0 I l '.t
P D 0/ D v0

(' D 0 means the completely unwounded thread). After which time is the thread
completely wrapped up?
3. Demonstrate that the generalized momentum p' belonging to ' is just the
magnitude of the angular momentum of the mass point with respect to O.
Exercise 1.2.25 On a cylindrical roller (radius R, mass M), rotatable around a
horizontal axis, a thread of length l ! R is wrapped up. One end of the thread
is fixed on the roller while a mass m is hanging on the other free end (Fig. 1.41).
The mass density of the roller increases linearly with the radius, starting with zero
60 1 Lagrange Mechanics
at
1.2theThe
axis. The coordinate
d’Alembert’s Principlez of the mass m starts at the roller axis and is counted
61
downwards (Fig. 1.41).
Fig. 1.40 Mass point P on a
1. Find
thread theisequation
which attached toofa motion of the system for 0 ! z ! l and integrate it with
cylinder jacket condition that the mass m is released at time t D 0 at the height of the
the initial
roller axis.
2. What can be said about the course of motion in the region l ! z ! R C l if
M " m is assumed? How does the motion continue after the minimum point is
reached?
3. How strong is the thread tension in the regions 0 ! z ! l and l ! z ! R C l,
respectively?
Exercise 1.2.26 Consider the planar motion of a dumbbell in the gravitational field
defined
Fig. 1.41 by thempotential
Mass hanging energy
on a thread attached to a
roller which is rotatable m
around a horizontal axis V D #! .! > 0/
r
which belongs to a point mass m at the distance r from the field center P. The
dumbbell consists of two mass points of equal mass m which are connected by a
mass-less rod of length 2a (Fig. 1.42).
1. Introduce besides r two suitable angles as generalized coordinates, set up the
Lagrangian and derive therewith the equations of motion of the dumbbell.
2. Find the conservation law for the total angular momentum of the dumbbell.
Define in a proper way an orbital angular momentum and an intrinsic (eigen)
Exercise 1.2.24 A thread of total length l is fixed on a cylinder which has a
angular momentum.
radius R0 and stands vertically to the drawing plane in Fig. 1.40. A revolution of
3. Expand the Lagrange equations in ascending powers of .a=r/ up to the order
the mass2point P around the firm cylinder means that the thread is wrapped up and
.a=r/ . Show that for .a=r/ $ 1 the orbital motion can approximately be
the ‘free’ thread length r D P O0 is correspondingly shortened.
decoupled from the intrinsic self-rotation!
1.
4. Determine
Investigateantheintegral of motion
two special and compare
motions it with
for which the part 1. of
center of Exercise
gravity S1.2.23.
moves
2. Derive
uniformlytheon
equation
a circle of motion
with radiusfor the angle
R around ' and
P while the solve it with the
dumbbell-rod, initial
in the first
conditions
case, points steadily to the center P and, in the second case, lies always tangential
to this circle. Show that these two cases are possible special solutions of the
Lagrange equations. How '.t Dlarge
0/ Dare l '.t
0 I therebyP the angular
D 0/ D v0 velocities !1 and !2 ,
respectively, of the motions of S ? (Accuracy up to .a=r/2 is sufficient!) Is the
(' 0 means
factDthat !1 andthe!completely
2 are foundunwounded thread).
to be different After whichtotime
a contradiction the isgeneral
the thread
rule
completely wrapped
that the center of massup?of a system moves as if the total mass were concentrated
3. Demonstrate thatallthe
in the center and generalized
external forces momentum
were acting on belonging to ' is just the
p' it?
magnitude of the angular momentum of the mass point with respect to O.
Exercise 1.2.25 On a cylindrical roller (radius R, mass M), rotatable around a
Fig. 1.42 Dumbbell
horizontal axis, a thread of length l ! R is wrapped up. One end of the thread
consisting of two equal
is fixed on the roller while a mass m is hanging on the other free end (Fig. 1.41).
masses with constant distance
The
2a inmass density
the earth’s of the roller increases linearly with the radius, starting with zero
gravitational
at the axis. The coordinate z of the mass m starts at the roller axis and is counted
field
downwards (Fig. 1.41).

12
 roller axis.
2. What can be said about the course of motion in the region l ! z ! R C l if
M " m is assumed? How does the motion continue after the minimum point is
reached?
3. How strong is the thread tension in the regions 0 ! z ! l and l ! z ! R C l,
respectively?
Exercise 1.2.26 Consider the planar motion of a dumbbell in the gravitational field
defined by the potential energy
m
V D #! .! > 0/
r
which belongs to a point mass m at the distance r from the field center P. The
dumbbell consists of two mass points of equal mass m which are connected by a
mass-less rod of length 2a (Fig. 1.42).
1. Introduce besides r two suitable angles as generalized coordinates, set up the
Lagrangian and derive therewith the equations of motion of the dumbbell.
2. Find the conservation law for the total angular momentum of the dumbbell.
Define in a proper way an orbital angular momentum and an intrinsic (eigen)
angular momentum.
3. Expand the Lagrange equations in ascending powers of .a=r/ up to the order
.a=r/2 . Show that for .a=r/ $ 1 the orbital motion can approximately be
decoupled from the intrinsic self-rotation!
4. Investigate the two special motions for which the center of gravity S moves
uniformly on a circle with radius R around P while the dumbbell-rod, in the first
case, points steadily to the center P and, in the second case, lies always tangential
to this circle. Show that these two cases are possible special solutions of the
Lagrange equations. How large are thereby the angular velocities !1 and !2 ,
respectively, of the motions of S ? (Accuracy up to .a=r/2 is sufficient!) Is the
fact that !1 and !2 are found to be different a contradiction to the general rule
that the center of mass of a system moves as if the total mass were concentrated
in the center and all external forces were acting on it?

Fig. 1.42 Dumbbell

consisting of two equal
masses with constant distance
2a in the earth’s gravitational
field

62 1 Lagrange Mechanics

Exercise 1.2.27 Which of the two Lagrangians

m 2
L1 D rP C qE ! r
2
m
L2 D rP 2 " qE ! rP t
2
describes a charged particle (mass m, charge q) in the constant homogeneous electric
field E?

1.3 The Hamilton Principle

In this section we will become familiar with a new fundamental principle of

Classical Mechanics which turns out to be at least equivalent to the up to now
discussed principles (Newton, d’Alembert). The physical laws, rules and theorems
of Classical Mechanics can be derived from two different types of variational
principles. By the
(1) differential principle (d’Alembert)
one compares a present state of the system with small (virtual) deviations from this
state. As result one gets fundamental equations of motion. In contrast, an
(2) integral principle (Hamilton)
13
concerns a finite (!) path element between fixed times t1 and t2 which is related to
small (virtual) displacements of the total path from the real course of the system.
Here, too, the principle leads to equations of motion.
 Goldstein
Exercises
– cap. 1 – ejercicios 31

EXERCISES

11. Check whether the force F! = yz î + zx ĵ + x y k̂ is conservative or not.

12. Compute the orbital period and orbital angular velocity of a satellite revolving around
the Earth at an altitude of 720 km. [Given: radius of Earth R = 6000 km and
g = 9.83 m/s2 .]
13. Rockets are propelled by the momentum reaction of the exhaust gases expelled from
the tail. Since these gases arise from the reaction of the fuels carried in the rocket, the
mass of the rocket is not constant, but decreases as the fuel is expended. Show that the
equation of motion for a rocket projected vertically upward in a uniform gravitational
field, neglecting atmospheric friction, is
dv dm
m = −v # − mg,
dt dt
where m is the mass of the rocket and v # is the velocity of the escaping gases relative to
the rocket. Integrate this equation to obtain v as a function of m, assuming a constant
time rate of loss of mass. Show, for a rocket starting initially from rest, with v # equal
to 2.1 km/s and a mass loss per second equal to 1/60th of the initial mass, that in
order to reach the escape velocity the ratio of the weight of the fuel to the weight of
the empty rocket must be almost 300!
14. Two points of mass m are joined by a rigid weightless rod of length l, the center of
which is constrained to move on a circle of radius a. Express the kinetic energy in
generalized coordinates.
15. A point particle moves in space under the influence of a force derivable from a gener-
alized potential of the form

U (r, v) = V (r ) + s ? L,

where r is the radius vector from a fixed point, L is the angular momentum about that
point, and s is a fixed vector in space.
(a) Find the components of the force on the particle in both Cartesian and spherical
polar coordinates, on the basis of Eq. (1.58).
(b) Show that the components in the two coordinate systems are related to each other
as in Eq. (1.49).
(c) Obtain the equations of motion in spherical polar coordinates.
16. A particle moves in a plane under the influence of a force, acting toward a center of
force, whose magnitude is
! "
1 ṙ 2 − 2r̈r
F = 2 1− ,
r c2

where r is the distance of the particle to the center of force. Find the generalized
potential that will result in such a force, and from that the Lagrangian for the motion
in a plane. (The expression for F represents the force between two charges in Weber’s
electrodynamics.)
17. A nucleus, originally at rest, decays radioactively by emitting an electron of momen-
tum 1.73 MeV/c, and at right angles to the direction of the electron a neutrino with

“M01 Goldstein ISBN C01” — 2011/2/15 — page 31 — #31

14
32 Chapter 1 Survey of the Elementary Principles

momentum 1.00 MeV/c. (The MeV, million electron volt, is a unit of energy used in
modern physics, equal to 1.60 × 10−13 J. Correspondingly, MeV/c is a unit of lin-
ear momentum equal to 5.34 × 10−22 kg ? m/s.) In what direction does the nucleus
recoil? What is its momentum in MeV/c? If the mass of the residual nucleus is
3.90 × 10−25 kg what is its kinetic energy, in electron volts?
18. A Lagrangian for a particular physical system can be written as
m! 2 " K ! 2 "
L# = a ẋ + 2b ẋ ẏ + c ẏ 2 − ax + 2bx y + cy 2 ,
2 2

where a, b, and c are arbitrary constants but subject to the condition that b2 − ac $= 0.
What are the equations of motion? Examine particularly the two cases a = 0 = c
and b = 0, c = −a. What is the physical system described by the above Lagrangian?
Show that the usual Lagrangian for this system as defined by Eq. (1.56) is related to L #
by a point transformation (cf. Derivation 10). What is the significance of the condition
on the value of b2 − ac?
19. Obtain the Lagrange equations of motion for a spherical pendulum, i.e., a mass point
suspended by a rigid weightless rod.
20. A particle of mass m moves in one dimension such that it has the Lagrangian

m 2 ẋ 4
L= + m ẋ 2 V (x) − V 2 (x),
12
where V is some differentiable function of x. Find the equation of motion for x(t) and
describe the physical nature of the system on the basis of this equation.
21. Two mass points of mass m 1 and m 2 are connected by a string passing through a
hole in a smooth table so that m 1 rests on the table surface and m 2 hangs suspended.
Assuming m 2 moves only in a vertical line, what are the generalized coordinates for
the system? Write the Lagrange equations for the system and, if possible, discuss
the physical significance any of them might have. Reduce the problem to a single
second-order differential equation and obtain a first integral of the equation. What is
its physical significance? (Consider the motion only until m 1 reaches the hole.)
22. Obtain the Lagrangian and equations of motion for the double pendulum illustrated in
Fig. 1.4, where the lengths of the pendula are l1 and l2 with corresponding masses m 1
and m 2 .
23. Two masses 2 kg and 3 kg, respectively, are tied to the two ends of a massless,
inextensible string passing over a smooth pulley. When the system is released,
calculate the acceleration of the masses and the tension in the string.
24. A spring of rest length L a (no tension) is connected to a support at one end and has
a mass M attached at the other. Neglect the mass of the spring, the dimension of the
mass M, and assume that the motion is confined to a vertical plane. Also, assume that
the spring only stretches without bending but it can swing in the plane.
(a) Using the angular displacement of the mass from the vertical and the length
that the string has stretched from its rest length (hanging with the mass m), find
Lagrange’s equations.
(b) Solve these equations for small stretching and angular displacements.
Exercises(c) Solve the equations in part (a) to the next order in both stretching and 33
angular
displacement. This part is amenable to hand calculations. Using some reasonable
assumptions about the spring constant, the mass, and the rest length, discuss the
motion. Is a resonance likely under the assumptions stated in the problem?
(d) (For analytic computer programs.) Consider the spring to have a total mass
m ! M. Neglecting the bending of the spring, set up Lagrange’s equations
“M01correctly
Goldstein ISBN
to first orderC01” — the
in m and 2011/2/15
angular and—linear
page 32 — #32
displacements.
(e) (For numerical computer analysis.) Make sets of reasonable assumptions of the
constants in part (a) and make a single plot of the two coordinates as functions of
time.

15
 x !! x0 D x C ˛t

fulfills the preconditions of part 1. and find the corresponding conserved

quantity!

1.5 Self-examination Questions

To Section 1.1
1. What does one understand by constraints, what are constraint forces?
2. Which difficulties arise by the existence of constraints when treating a mechani-
cal problem?
3. What are holonomic, holonomic-scleronomic, holonomic-rheonomic, non-
holonomic constraints?
4. Which conditions are to be fulfilled by generalized coordinates?
5. How is the configuration space defined?
To Section 1.2
1. What is understood by a virtual displacement and by virtual work?
2. Formulate the principle of virtual work!
3. Why are friction forces not counted as constraint forces?
4. What are generalized force components?
5. What does the d’Alembert’s principle state?
6. Under which conditions do the Lagrange equations of the second kind follow
from the d’Alembert’s principle?
7. How do the Lagrange equations behave under point transformations?
8. How is a generalized momentum defined?
9. What is a cyclic coordinate?
10. How does the parameter representation of the cycloid look like?
11. Of which type are the equations of motion which follow from the d’Alembert’s
98 1 Lagrange Mechanics
principle for non-conservative systems with holonomic constraints?
12. Which conditions must be fulfilled by ‘generalized potentials’? Can they
depend even on generalized velocities?
13. Which Lagrangian is found for the charged particle in an electromagnetic field?
What can be said about its generalized momentum?
14. How does the Lagrangian of a charged particle behave when being subject to a
gauge transformation ' ! ' ! .@=@t/! I A ! A C r! ? What does thereby
happen to the equations of motion?
15. What do we understand by a mechanical gauge transformation?
16. How are systems to be described which are influenced by friction forces?
17. Which physical meaning is ascribed to the dissipation function?
18. Explain the method of the Lagrange multipliers!
19. What are Lagrange equations of motion of the first kind?
20. Which physical meaning can be ascribed to the Lagrange multipliers?
To Section 1.3
1. Comment on the difference between differential and integral principles!
2. What do we understand by a configuration path?
3. Formulate Hamilton’s principle! What kind of paths are admitted to the
variational process?
4. What is an action functional?
5. Explain the term variation of the functional Jfy.x/g.
6. Write down Euler’s equations and outline their derivation!
7. What is the brachistochrone problem?
8. How does one derive from the Hamilton’s principle the Lagrange equations
of motion of the first kind for conservative systems with non-holonomic
constraints?
9. How does the Hamilton’s principle read for non-conservative systems? Which
action functional is then to be varied?
10. Of which kind are the equations of motion which follow from the ‘extended’
Hamilton principle?
To Section 1.4
1. What is an integral of motion?
2. Why is it convenient in the Lagrange formulation
16 of a problem in physics to
choose the generalized coordinates such that as many of them as possible are
cyclic?
3. When is a system called temporally homogeneous? What does it then hold for