PH101: PHYSICS1
Lecture 5
Constrains, Degree’s of freedom and generalized coordinates
Constrains
Motion of particle not always remains free but often is subjected to given
conditions.
A particle is bound to move along the
circumference of an ellipse in XZ plane.
X
At all position of the particle, it is bound
௫మ ௭మ
to obey the condition మ + మ =1
Constrains: Condition or restrictions imposed on motion of
particle/particles
Classification of constrains
Holonomic Constrains: Expressible in terms of equation involving
coordinates and time (may or may not present),
I,e. ࢌ , … . , ࢚ = ; where ݍ are the instantaneous coordinates
Non-holonomic constrains : Constrains which are not holonomic
Two types of constrains are there in this category
(i) Equations involving velocities: ࢌ , … , ሶ , … . , ሶ , ࢚ = ,
(& those cannot be reduced to the holonomic form!).
(ii) Constraints as in-equalities,
An example, ࢌ , … . , , ࢚ <
In both type of constrains (holonomic/non-holonomic) time may or may not be
present explicitly.
Pendulum
X ݊݅ݐܽݑݍ݁ ݊݅ܽݎݐݏ݊ܥs
ݔଶ + ݕଶ = ݈ଶ
݈ = ݔଶ − ݕଶ
One can not change ݔindependently,
any change in ݔwill automatically
(ݔ, )ݕ change ݕ.
Y
࢞, ࢟ ࢇ࢘ࢋ ࢚ independent due to presence of constrains
Independent coordinates: If you fix all but one coordinate and still have
a continuous range of movement in the free coordinate.
If you fix ݕଵ , leaving ݔଵ free, then there is no continuous range of ݔଵ
possible. In fact in this case there will not be any motion if you fix ݕଵ
Degree of Freedom &Generalized coordinate
X
If you choose ߠ as the only coordinate, it
can represent entire motion of the bob in
XY plane
In this problem, only one coordinate ߠ is
ߠ sufficient which is sole independent
coordinate.
Y
Degree of Freedom (DOF): no of independent coordinate required
to represent the entire motion = 3 × ݊ ݏ݈݁ܿ݅ݐݎܽ ݂ −
݊. = ݏ݊݅ܽݎݐݏ݊ܿ ݂3-2=1
In this case no. of particle=1
No. of constrains =2 [ ݔଶ + ݕଶ = ݈ଶ and = ݖ0]
DOF =1; Generalized Coordinate= ߠ
Degree’s of freedom
Degree’s of freedom (DOF): No. of independent coordinates
required to completely specify the dynamics of particles/system
of particles is known as degree’s of freedom.
Degree’s of freedom =
3 × ݊. ݏ݈݁ܿ݅ݐݎܽ ݂− ܰ. ݏ݊݅ܽݎݐݏ݊ܿ ݈݄ܿ݅݉݊ ݂
= 3ܰ − ݇
Where
ܰ= No. of particles
݇ =No. of constrains.
Holonomic constrains
Y
ܽ
ݖଵ
X
ߠ
ݖଶ
݉ଵ
Particle moving ݉ଶ
A particle is moving along a
along a line
straight wire, making an angle
(say X-axis) Atwood’s machine
With x-axis.
࢙࢚࢘ࢇ ࢋ࢛ࢇ࢚࢙ Constrain equations
࢟ = ; ࢠ = ࢙࢚࢘ࢇ ࢋ࢛ࢇ࢚s ࢠ + ࢠ + ࣊ࢇ =
࢟ = ࢞ ࢚ࢇ(ߠ); ࢞ = ; ࢟ =
DOF =1; ࢠ= ࢞ = ; ࢟ =
GC= x DOF =1; GC = x or y DOF =1;
General form of these constrain equations, ࢌ , … , = GC = z1 or z2
Pendulum of varying length!
X The length of the string is changing with time
݈( )ݐand is known.
݈ ݐ ݈ ݐ+ ݀ݐ
General form of these constrain
equations ࢌ , … , , ࢚ =
Y
Pendulum with stretchable string, the
bob is constrain to move in a plane
݊݅ݐܽݑݍ݁ ݊݅ܽݎݐݏ݊ܥs
ݔଶ + ݕଶ = ݈ ଶ ()ݐ
DOF =1; GC = ߠ
=ݖ0
Non-holonomic constraint
Gas molecules confined within
a spherical container of radius ܴ
Constrain condition ࢘ ࡾ
Inequality!
Rolling Constraint
Rolling of a disc without slipping
Z R
࢜ ࢜ = ࡾߠሶ
dx= R݀ߠ
dߠ
x0 X
x - Rߠ= x0 (constraint relation)
DOF =1; GC = ߠ
Other ࢙࢚࢘ࢇ࢙:
࢟ = ; ࢠ = ࡾ; M = ; \ = ;
More complicated constraint
Speed,
ܴ߮ = ݒሶ
ݔሶ = ݒsin ߠ = ܴ߮ሶ sin ߠ
ݕሶ = − ݒcos ߠ = −ܴ߮ሶ cos ߠ
Velocity dependence that can’t be integrated out!
Non-holonomic!
Double pendulum
X
To describe the motion double pendulum in XY
plane, one needs four coordinates (ݔଵ , ݕଵ , ݔଶ , ݕଶ )
݈ଵ in Cartesian coordinate system.
ߠ1 (ݔଵ , ݕଵ ) The Cartesian coordinates are
not independent, they are
݈ଶ
related by constrain equations
ߠ2
(ݔଶ , ݕଶ )
ݔଵ ଶ + ݕଵ ଶ = ݈ଵ ଶ
Y (ݔଶ − ݔଵ )ଶ +(ݕଶ − ݕଵ )ଶ = ݈ଶ ଶ
If you fix ݕଵ , ݔଶ , ݕଶ leaving ݔଵ free, then there is no continuous range of ݔଵ
possible. In fact in this case there will not be any motion by fixing three
coordinates leaving one as free.
Generalizer coordinates
X If you choose ߠଵ and ߠଶ as the coordinates, then
they can adequately describe the motion of double
pendulum at any instant. (they are complete)
ߠଵ
No. of constrains = 4
ݖଵ = 0; ݖଶ = 0;
ߠଶ ݔଵ ଶ + ݕଵ ଶ = ݈ଵ ଶ ;
(ݔଶ − ݔଵ )ଶ +(ݕଶ − ݕଵ )ଶ = ݈ଶ ଶ
Y DOF: No. of independent coordinates required to
completely specify the motion
=3 × ݊. ݏ݈݁ܿ݅ݐݎܽ ݂− ܰ. ݏ݊݅ܽݎݐݏ݊ܿ ݂
=3×2−4=2
Generalizer coordinates:ࣂ and ࣂ
Generalized coordinate?
Generalized coordinate
non necessarily a distance
Not necessarily an angle.
Not necessarily belong to a particular coordinate system!
(Cartesian, Cylindrical, Polar or Spherical polar)
Let’s check an example to clarify the above mentioned points
(ݔ, ߠ) are the independent
ݔ
generalized coordinates.
(Check the independence)
Generalized coordinates
A pendulum is attached ߠ → ݔdistance
with an linearly oscillating ߠ →Angle
particle Not belong to any specific
coordinates system (mixed up)
Generalized coordinates properties
→To be generalized coordinates
They must be
Must be independent
Must be complete
System must be holonomic
Meaning of Complete: Capable to describe the
system configuration at times. In other word, capable
of locating all parts at all times.
Generalized coordinates
Not necessarily Cartesian
Not necessarily any specific coordinate system
Generalized coordinates of rigid body
Rigid body has six degrees of freedom
Thus six generalized coordinates are necessary to specify the
dynamics of rigid body
3 translational DOF for the center of Mass + 3 rotational degree
of freedom about the center of mass = 6 generalized coordinates
Translational
Three rotational
degree of
degree of
freedom of CM :
freedom about
(ݔ, ݕ, )ݖ
CM: (߮, ߠ, \)
In case of only translation (motion of CM), a rigid body
can be accounted as point particle during estimating the
number degree of freedom
Summery
Constrain
Holonomic
ࢌ , ࢚ = Non-Holonomic
ࢌ , ሶ , ࢚ =
Or, as inequalities
ࢌ t
Degree’s of freedom =No. of independent coordinates required to completely specify
particles configuration at all times (generalized coordinates) =3ܰ − ݇
Where N→ no. of particles
݇ → no. of holonomic, constrains
Choice of generalized coordinates is not unique but no. must be equal to degree’s of
freedom.
Question please
