ARMple 4.l.12.
Aparticle is constrained to move on the plane curve Ty =c under
oravity. Obtain Lagrange's equation.
1
Solution. Here the kinetic and the potential energies are T = m(t + i), V= mgy.
C
But, yy=
=, ie., yy = 2 " í. Hence the Lagrangian is given by
mgc 1 c2
L=T-V=;m+ mgc
Now, the Lagrange's equation is
d raL L
=0
dt
4c2.
Or,
or,
m(i+)}-{n(-)+
m(a +ca)i 2rmi?- mgcz = 0.
Example 4.1.13. (Atwood's Machine): Derive Lagrange's equation of motion of
Atwood machine (masses mË and m2 are suspended by a rope of length l which passes
over afzed snooth pulley) and hence find the acceleration of the mass n1.
Solution. Atwood's machine is a simple, holonomic, conservative, mechanical system
with one degree of frecdom if the pulley is frictionless, constraints and scleronomous.
It consists of two masses mË and m2 tied together by means of light inextensible string
218 LAGRANGIAN MEcHANICA
ExAmple 4.1.21, Aufe is bent in the form of a parabolaof zun=ezternal
ar, and a bead slb
on it smoothly (ig.4. 16). The wi is roluted by Lcnns
agency 1rith a
P(r, 0,2)
Figure 4.16: Bead slides on a parabola z= ar
coTstant angular acceleration a. Find the eguation of motion. of the bead.
Solution. Let P(r, 0,z) be the position of the bead at any time t. Angle of rota
tion at any instant t, is given by = w ’ 8= wt + a. The cylindrical co-ordinates
transformation: z=rcos0,y =r sin &, z= ar". Using this, we get
i=icos - r sin =i cos - wr sin
ç=isin + r cos = ösin + wr cos
| = 2ari.
The kinetic energy of the bead is given by
1
T = Sm( ++)=;m|(i cos - wr sin ) + ( sin @+ wr cos 0)2 + (2ar
1
and the potential energy is given by V=mgz = mgar". Thus the Lagrangian is given
by
L=T- V= sm(1 +4ay) +ru- mgar²
in whic only r is the generalisel co-ordinato. The Lagrange's equatiou of motion for
ATEXTBOOK OF MMECHANICS 219
thegeneralised co-ordinate r is
d
ar -mi(1 +4a°+)]--8a'r +2ur|+2mgar =0
mY(l+ 4ar) +4ma»rj +r(2ga - w)=0.
Axample 4.5.2. Abead slides without friction on a wire which is rotating with anqular
velocity w in the force free space (Fig.4.28). Write down the equation of motion and
fnd the radial velocity and acceleration.
Solution. We know the relation z = rcos0, y=r sin . As 0 = wlgiven), so = wt.
Now the kinetic and potential energies of the particle are given by
Wire
Beat P(r,0)
Figure 4.28: Bead slides on a wire
1
T=m(i
2
+6); V= mgy = mgr sin 0.
hence the Lagrangian L is given b y w
.
1
L=TV= m(i+r0)-mgrsin .
266 LAGRANGIÁN MeCIHANIC3
Here r nnd are the genernliscd co-ordinntes, T'he Lagrange's ecquation of notion for
the generaliscd co-ordinnte r is
0
)
d
(mi) -nr"0' + ng sin =
Or dt
F= ro- gsin 0.
The Lagrange's cquation for the generalised co-ordínate t is
d
() =0(mri)
dt
=0.
Also, mr =constant. Hence
1 hese equations are the desired equations of motion.
the angular momentum is a constant of motion.
1
so that
In the force free space, kinetic energy T =m(i+rw) is conserved
2T
2 21_2j(u2 constant)1/2.
Also using the equation, Y= r - gsin we get Y= rw-g sin wt.
Values in eq. (37).
Kinctic Energy in Generalized Coordingtes':The
transform T from cartesian coordinates to generalized franefomation equations (15) and (16) are used to
coordinates. Therefore
+
...(38)
k
where Mom; MEim Otor r
and or,
Thus we see from (38) that in the expression for kinetic enérgy, first tern is independent of generalized
velocities, while second and third terms are linear and quadratic in generalized velocities respectively.
For scleronomic systems, the transformation equations do notcontain time explicitly. So that
Therefore, k. ..(39)
In such a case the expression for Tis ahomogeneous quadratic form in generalized velocities.
Ex. 1.Newton's equation ef motionfrom Lagrange's equations : Consider the motion of aparticle of
mass m. Using cartesian coordinates as generalized coordinates, deduce Newton's eguation of motion
from Lagrange's equations.
Solution :The general form of the Lagrange's equations is
=G ...(i)
