CLASSICAL MECHANICS LAGRANGIAN FORMULATION

CONSTRAINTS The conditions which restrict the motion

of the system are called constraints
In holonomic constraints, the conditions of constraint are
expressible as equations connecting the coordinates and time,
having the form 
Distance between two particles in a rigid body is constant:

Bead sliding on a circular wire of radius in the -plane has a

constraint: or
Holonomic constraints are integrable constraints
Non-holonomic constraints cannot be expressed in the form of
equations. They can be either inequalities or non-integrable
differentials
Particle placed on the surface of a solid sphere (radius ) has a
constraint:
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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
CONSTRAINTS
Gas molecules in a spherical container of radius and centre at ,
have constraint:
Scleronomous and rheonomous constraints:
Scleronomous constraints are independent of time
Rheonomous constraints contain time explicitly
A pendulum with length , has scleronomous constraint:

A pendulum with extensible length , has rheonomous constraint:

Non-holonomic constraints cannot be expressed in the form of

equations. They can be either inequalities or non-integrable
differentials
Particle placed on the surface of a solid sphere (radius ) has a
constraint:
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CONSTRAINTS
Gas molecules in a spherical container of radius and centre at ,
have constraint:
Scleronomous and rheonomous constraints
Scleronomous constraints are independent of time
Rheonomous constraints contain time explicitly
A pendulum with length , has scleronomous constraint:

A pendulum with extensible length , has rheonomous constraint:

Difficulties in problems with constraints:

Co-ordinates are not independent, connected by constraint
equations This difficulty is solved by introduction of generalized co-
ordinates. Forces of constraints are unknowns, cannot be
specified explicitly, must be obtained from solution This can be
solved in Lagrangian formulation, in which constraint forces do not appear 3
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GENERALIZED CO-ORDINATES
The number of independent ways in which a mechanical system
can move without violating any constraint is called the number of
degrees of freedom of the system
System of particles independent co-ordinates
constraints
 independent - need not have the
 degrees of freedom dimensions of
Represent the 3𝑁−𝑘 independent co-ordinates by variables
 generalized co-ordinates
Old co-ordinates are functions of new co-ordinates

Transformation
equations from
to
Time derivatives are generalized
DAMP-MAHE-MANIPAL
velocities
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GENERALIZED CO-ORDINATES
-dimensional
Configuration space
has independent generalized
position co-ordinates and
independent
generalized momentum (or
velocity) co-ordinates

Generalized co-ordinates are not necessarily position

co-ordinates, configuration space is not necessarily connected
to the physical 3-dimensional space and the path of motion also
does not necessarily resemble the path in space of actual
particle
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PRINCIPLE OF VIRTUAL WORK
Virtual displacement is an instantaneous displacement
different from actual displacement , in which the work done by
PRINCIPLE OF VIRTUAL WORK
the forces of constraint is zero DEALS ONLY WITH STATICS
Scleronomic system of particles in equilibrium
Force acting on the particle
external force forces of constraint
virtual displacement of particle
The virtual work () done on the particle
System in equilibrium

Total virtual work

PRINCIPLE OF
VIRTUAL WORK
Since 6
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D’ALEMBERT’S PRINCIPLE
INVOLVES GENERAL MOTION OF THE SYSTEM
Motion of -particle system
PRINCIPLE OF VIRTUAL WORK
Force acting on the particle DEALS ONLY WITH STATICS
by Newton’s 2nd law
particle in the system in equilibrium under a force where
actual force, “reversed effective force”

Dynamics reduces to statics

virtual displacement leads to

Since
D’ALEMBERT’S PRINCIPLE

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LAGRANGE’S EQUATIONS D’ALEMBERT’S
PRINCIPLE
are not independent
Lagrange changed this to an equation involving virtual
displacements of independent generalized co-ordinates
-particle system holonomic constraints
generalized co-ordinates:
Transformation equations:
Virtual displacements

virtual displacements of generalized co-ordinates

𝜕 r⃗˙ 𝑖 𝜕 r⃗ 𝑖
=
𝜕 𝑞˙ 𝑗 𝜕 𝑞 𝑗
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LAGRANGE’S EQUATIONS

TH
component of the generalized force 
need not have dimensions of force
but has dimensions of work
Inertial force term

𝜕 r⃗˙ 𝑖 𝜕 r⃗ 𝑖
=
KE of the system 𝜕 𝑞˙ 𝑗 𝜕 𝑞 𝑗
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LAGRANGE’S EQUATIONS

KE of the system 10
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LAGRANGE’S EQUATIONS
If are conservative

since
for forces that are not
conservative

If is a function of position only

include this term here 

Define
Lagrangian function
Lagrange’s equation 
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KE IN GENERALIZED COORDINATES 𝜕⃗r 𝑖 𝜕 r⃗ 𝑖
𝑁 𝑁 r⃗˙ 𝑖 =∑ 𝑞˙ 𝑗 +
1 2 1 𝑗 𝜕𝑞 𝑗 𝜕𝑡
𝑇 = ∑ 𝑚𝑖 ⃗r¿𝑖 ∑ 𝑚 𝑖 ( r˙⃗ 𝑖 ∙ ⃗r˙ 𝑖 )
˙
2 𝑖=1 2 𝑖 =1

( )( )
𝑁 𝑛 𝑛
1 𝜕 r⃗ 𝑖 𝜕⃗r 𝑖 𝜕 r⃗ 𝑖 𝜕⃗r 𝑖
𝑇 = ∑ 𝑚𝑖 ∑ 𝑞˙ 𝑗 + ∙ ∑ 𝑞˙ 𝑘 +
2 𝑖=1 𝑗=1 𝜕𝑞 𝑗 𝜕𝑡 𝑘=1 𝜕𝑞 𝑘 𝜕𝑡

Quadratic term Linear term

˙ )=∑ ∑ 𝑎 𝑗𝑘 𝑞˙ 𝑗 𝑞˙ 𝑘 +∑ 𝑏 𝑗 𝑞˙ 𝑗 +𝑐
𝑇 ( 𝑞 , 𝑞,𝑡
𝑗 𝑘 𝑗

( )
2
1 𝜕 r⃗ 𝑖 𝜕⃗r 𝑖 𝜕 r⃗ 𝑖 𝜕 r⃗ 𝑖 1 𝜕 r⃗ 𝑖
𝑎 𝑗𝑘= ∑ 𝑚𝑖 ∙ 𝑏 𝑗=∑ 𝑚𝑖 ∙ 𝑐= ∑ 𝑚𝑖
2 𝑖 𝜕 𝑞 𝑗 𝜕 𝑞𝑘
DAMP-MAHE-MANIPAL 𝑖 𝜕𝑞 𝑗 𝜕𝑡 2 𝑖 𝜕𝑡
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KE IN GENERALIZED COORDINATES
𝑁 𝑁
1 2 1
𝑇 = ∑ 𝑚𝑖 ⃗r¿𝑖 ∑ 𝑚 𝑖 ( r˙⃗ 𝑖 ∙ ⃗r˙¿𝑖 )
2 𝑖=1
˙
2 𝑖=1
∑ ∑ 𝑎 𝑗𝑘 𝑞˙ 𝑗 𝑞˙ 𝑘+∑ 𝑏 𝑗 𝑞˙ 𝑗 +𝑐
𝑗 𝑘 𝑗
In orthogonal system for

Special case:  
1 𝜕 ⃗r 𝑖 𝜕 r⃗ 𝑖
𝑇 = ∑ ∑ ∑ 𝑚𝑖 ∙ 𝑞˙ 𝑗 𝑞˙ 𝑘 function
 homogeneous quadratic
2 𝑖 𝑗 𝑘 𝜕𝑞 𝑗 𝜕𝑞 𝑘 of generalized velocities
𝜕𝑇 1
= ∑ 𝑚𝑖
𝜕 𝑞˙ 𝑙 2 𝑖 [ (
𝜕 r⃗ 𝑖
∙∑
𝜕𝑞𝑙 𝑘 𝜕𝑞 𝑘
𝜕 r⃗ 𝑖
𝑞˙ 𝑘 + ∑
)( 𝜕 r⃗ 𝑖
𝑗 𝜕𝑞 𝑗
)
𝑞˙ 𝑗 ∙
𝜕𝑞 𝑙]
𝜕⃗r 𝑖

𝜕𝑇
=∑ 𝑚𝑖
𝜕 𝑞˙ 𝑙 𝑖 ( )(
𝜕 ⃗r 𝑖
𝜕 𝑞𝑙
∙ ∑
𝑘 𝜕 𝑞𝑘
𝜕 r⃗ 𝑖
𝑞˙ 𝑘
)
( )
2
1 𝜕 r⃗ 𝑖 𝜕⃗r 𝑖 𝜕 r⃗ 𝑖 𝜕 r⃗ 𝑖 1 𝜕 r⃗ 𝑖
𝑎 𝑗𝑘= ∑ 𝑚𝑖 ∙ 𝑏 𝑗=∑ 𝑚𝑖 ∙ 𝑐= ∑ 𝑚𝑖
2 𝑖
DAMP-MAHE-MANIPAL𝜕 𝑞 𝑗 𝜕 𝑞𝑘 𝑖 𝜕𝑞 𝑗 𝜕𝑡
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KE IN GENERALIZED COORDINATES
𝑁 𝑁
1 2 1
𝑇 = ∑ 𝑚𝑖 ⃗r¿𝑖 ∑ 𝑚 𝑖 ( r˙⃗ 𝑖 ∙ ⃗r˙¿𝑖 )
2 𝑖=1
˙
2 𝑖=1
∑ ∑ 𝑎 𝑗𝑘 𝑞˙ 𝑗 𝑞˙ 𝑘+∑ 𝑏 𝑗 𝑞˙ 𝑗 +𝑐
Special case:   𝑗 𝑘 𝑗

Multiply both sides by and sum over

( )( )
𝑛
𝜕𝑇 𝜕 r⃗ 𝑖 𝜕 ⃗r 𝑖
∑ 𝑞˙ 𝑙 𝜕 𝑞˙ =∑ 𝑚𝑖 ∑ 𝜕𝑞 𝑞˙ 𝑙 ∙ ∑ 𝜕𝑞 𝑞˙ 𝑘 =2 𝑇
𝑙=1 𝑙 𝑖 𝑙 𝑙 𝑘 𝑘
This is special case of Euler’s theorem: If is an th degree
homogeneous function of , then
𝜕𝑇
is a homogeneous quadratic function of ∑ 𝑞˙ 𝑘 𝜕 𝑞˙ =2𝑇
𝑘 𝑘

DAMP-MAHE-MANIPAL
𝜕𝑇
𝜕 𝑞˙ 𝑙 𝑖
BSc-PHY2302-CM-2023-24
( )(
=∑ 𝑚𝑖
𝜕 ⃗r 𝑖
𝜕 𝑞𝑙
∙
𝑘
𝜕 r⃗ 𝑖
∑ 𝜕 𝑞 𝑞˙ 14𝑘
𝑘
)
CLASSICAL MECHANICS LAGRANGIAN FORMULATION
GENERALIZED MOMENTUM Particle of mass
1
𝑇=
2
˙ 2
𝑚 𝑥 𝐿=𝑇 − 𝑉
𝜕𝑇 𝜕𝑇 𝜕 𝐿
=𝑚 𝑥=𝑝
˙ If is not a function of 𝑝= =
𝜕 𝑥˙ 𝜕 𝑞˙ 𝜕 𝑞˙
Lagrange’s eqn
Generalized co-ordinates:
𝜕𝐿
Generalized momentum: 𝑝 𝑖 = 𝜕 𝑞
˙𝑖
Conjugate momentum
Canonically conjugate to
Product of generalized is linear in
coordinate and conjugate is quadratic in
momentum has the dimension For conservative
of angular momentum system

Lagrangian function 15
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LAGRANGE’S EQUATIONS
Example 3.1 Consider a system of particles with masses ,
located at cartesian co-ordinates , ,..., , acted upon by forces
derivable from a potential function
(, ,..., ). Show that Lagrange’s equations of motion reduce
directly to Newton’s second law.

¿⃗
F𝑖
Lagrange’s equations

Newton’s 2nd law

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LAGRANGE’S EQUATIONS
Example 3.2 Consider a particle moving in space. Using the
spherical polar co-ordinates () as the generalized co-ordinates,
express the virtual displacements , and in terms of and .

δ𝑥

δ𝑦

δ𝑧 17
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LAGRANGE’S EQUATIONS
Example 3.3 A light inextensible string with a
mass at one end passes over a pulley at a distance
from a vertically fixed rod. At the other end of the
string is a ring of mass ( > ) which slides
smoothly on the vertical rod.
The ring is released from rest at the same level as
the point from which the pulley hangs. If is the
maximum distance the ring will fall, determine using
the principle of virtual work.
length of the string = constant
Virtual displacement of is
Virtual displacement of is
Constraints over pully and rod do no work
By the principle of virtual work

is arbitrary
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LAGRANGE’S EQUATIONS
Example 3.4 Consider the motion of a particle of mass moving
in space. Selecting the cylindrical co-ordinates (, , ) as the
generalized co-ordinates, calculate the generalized force
components if a force acts on it.

z =z(𝑧)

component of along
𝜕𝑥 𝜕𝑦 𝜕𝑧
𝑄 𝜙=𝐹 𝑥 +𝐹 𝑦 +𝐹 𝑧
𝜕𝜙 𝜕𝜙 𝜕𝜙
𝜕𝑥 𝜕𝑦 𝜕 𝑧 component of along
𝑄 𝑧 =𝐹 𝑥 +𝐹 𝑦 + 𝐹 𝑧 ¿ 𝐹 𝑧component of along
𝜕𝑧
DAMP-MAHE-MANIPAL
𝜕𝑧 𝜕𝑧
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LAGRANGE’S EQUATIONS
Example 3.5 Find Lagrange’s equation of motion of the bob of a
simple pendulum.
be the generalized co-ordinate
is constant
Velocity
1 ˙ 2 1 2 ˙ 2
KE ¿ 𝑚 ( 𝑙 𝜃 ) = 𝑚𝑙 𝜃
2 2
PE ¿ 𝑚𝑔 ( 𝑙− 𝑙 cos 𝜃 ) =𝑚𝑔𝑙 ( 1 −cos 𝜃 )
1 2 ˙ 2
Lagrangian ¿
2
𝑚𝑙 𝜃 − 𝑚𝑔 𝑙 ( 1 − cos 𝜃 )

Lagrange’s equations

Lagrange’s equation
DAMP-MAHE-MANIPAL of the bob
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LAGRANGE’S EQUATIONS
Example 3.6 Obtain the Lagrange’s equations of motion for a
particle of mass in a potential in spherical polar co-ordinates.

are the generalized co-ordinates

Length elements
Velocities
1 2 ˙ 2 ˙ 2)
KE 𝑚 ( 𝑟˙ + 𝑟 𝜃
2 2 2
¿ +𝑟 sin 𝜃 𝜙
2
PE z
1 2 ˙ 2 ˙ 2) −𝑉 (𝑟 , 𝜃 , 𝜙 )
Lagrangian 𝑚 ( 𝑟˙ + 𝑟 𝜃
2 2 2
¿ +𝑟 sin 𝜃 𝜙
2
Lagrange’s equations
θ ⃗
r P(x,y,z)

y
 r sin θ
x

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LAGRANGE’S EQUATIONS Atwood’s Machine
Example 3.7 Masses and are connected by a light inextensible
string which passes over a pulley of mass and radius . Write the
Lagrangian and find the acceleration of the system.
is the generalized co-ordinate
Length of the string = constant Angular velocity
Velocity MI

()
2
1( 2 1 2 𝑥˙
KE ¿ 3 𝑚 ) 𝑥˙ + ( 𝑚 𝑎 )
2 2 𝑎
PE ¿ −𝑚𝑔𝑥 − 2𝑚𝑔(𝑙 − 𝑥 )
Lagrangian ¿ 2 𝑚 ( 𝑥˙ 2 ) − 𝑚𝑔𝑥 +2 𝑚𝑔 𝑙
Lagrange’s equations

4 𝑚 𝑥¨ +𝑚𝑔=0
acceleration
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LAGRANGE’S EQUATIONS
Example 3.8 A simple pendulum has a bob of mass with a mass
at the moving support (pendulum with moving support) which
moves on a horizontal line in the vertical plane in which the
pendulum oscillates. Find the Lagrangian and Lagrange’s
equation of motion. Generalized co-ordinates
2 degrees of freedom for this pendulum
PE be zero at point1of support1
KE ˙ + 𝑚(𝑥 ˙1)
2 2 2
¿ 𝑚1 𝑥 ˙ 1+ 𝑦

[ ] [ ]
2 2 2 2
1 2 1 𝑑 1 𝑑
𝑇 = 𝑚1 𝑥˙ + 𝑚 ( 𝑥 +𝑙 sin 𝜃 ) + 𝑚 ( 𝑙 cos 𝜃 )
2 2 𝑑𝑡 2 𝑑𝑡
PE ¿ 𝑚1 𝑔 ( 0 ) − 𝑚𝑔𝑙 cos 𝜃
Lagrangian
1 1 ˙ 2 +𝑚𝑙 𝑥 ˙ cos 𝜃 +𝑚𝑔 𝑙 cos 𝜃
𝐿= ( 𝑚1+ 𝑚 ) ( 𝑥
˙ 2 ) + 𝑚 𝑙2 𝜃 ˙ 𝜃
2 2
Lagrange’s equations

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LAGRANGE’S EQUATIONS
Example 3.8 A simple pendulum has a bob of mass with a mass
at the moving support (pendulum with moving support) which
moves on a horizontal line in the vertical plane in which the
pendulum oscillates. Find the Lagrangian and Lagrange’s
equation of motion.

1 1 ˙ 2 +𝑚𝑙 𝑥 ˙ cos 𝜃 +𝑚𝑔 𝑙 cos 𝜃

𝐿= ( 𝑚1+ 𝑚 ) ( 𝑥
˙ 2 ) + 𝑚 𝑙2 𝜃 ˙ 𝜃
2 2
Lagrange’s equations

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LAGRANGE’S EQUATIONS
Example 3.9 Two equal masses connected by a massless rigid
rod of length forming a dumb-bell is rotated in the -plane. Find
the Lagrangian and obtain Lagrange’s equations of motion.
Generalized co-ordinates
3 degrees of freedom for this dumb-bell
PE be zero on axis

Lagrangian
Lagrange’s equations
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LAGRANGE’S EQUATIONS
Example 3.9 Two equal masses connected by a massless rigid
rod of length forming a dumb-bell is rotated in the -plane. Find
the Lagrangian and obtain Lagrange’s equations of motion.

Lagrange’s equations
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LAGRANGE’S EQUATIONS
Example 3.9 Two equal masses connected by a massless rigid
rod of length forming a dumb-bell is rotated in the -plane. Find
the Lagrangian and obtain Lagrange’s equations of motion.

Lagrange’s equations
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LAGRANGE’S EQUATIONS
Example 3.9 Two equal masses connected by a massless rigid
rod of length forming a dumb-bell is rotated in the -plane. Find
the Lagrangian and obtain Lagrange’s equations of motion.

Lagrange’s equations
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FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
-Particle system degrees of freedom
2nd order differential equations [Lagrange’s equations]
Solution  integration constants
First integrals of motion:
Cyclic co-ordinates (ignorable co-ordinates) do not appear
explicitly in the Lagrangian of a system
If is cyclic

then 𝑑 𝜕𝐿 𝜕𝐿
=0 =𝛼 𝑖 (¿ const )
𝑑𝑡 𝜕𝑞 ˙𝑖 𝜕𝑞
˙𝑖
𝜕𝐿
Generalized momentum: =𝑝 𝑖 =const 𝛼𝑖
𝜕𝑞
˙𝑖
The generalized momentum conjugate to a cyclic co-ordinate is
conserved during the motion
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FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-10: A simple pendulum that is free to swing the entire
solid angle is called a spherical pendulum. Find the differential
equations of motion of a spherical pendulum using Lagrange’s
method. Also show that the angular momentum about a vertical
axis through the point of support is a constant of motion.
is constant 2 degrees of freedom
and be generalized co-ordinates
O be the reference level
Length elements
Velocities
𝜕𝐿
KE =0
𝜕𝜙
𝜕𝐿 2 ˙ 𝜕𝐿
=𝑚 𝑙 𝜃 2 ˙ 2
=𝑚 𝑙 𝜙 sin 𝜃 cos 𝜃 𝜕 𝐿
˙
𝜕𝜃 𝜕𝜃 =𝑚 𝑙 𝜙˙ sin 𝜃
2 2

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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-10: A simple pendulum that is free to swing the entire
solid angle is called a spherical pendulum. Find the differential
equations of motion of a spherical pendulum using Lagrange’s
method. Also show that the angular momentum about a vertical
axis through the point of support is a constant of motion.
L equations for
L equations for

𝜕𝐿
=0
Angular momentum 𝜕𝜙
𝜕𝐿 2 ˙ 𝜕𝐿
=𝑚 𝑙 𝜃 2 ˙ 2
=𝑚 𝑙 𝜙 sin 𝜃 cos 𝜃 𝜕 𝐿
˙
𝜕𝜃 𝜕𝜃 =𝑚 𝑙 𝜙˙ sin 𝜃
2 2

DAMP-MAHE-MANIPAL BSc-PHY2302-CM-2023-24 ˙
𝜕𝜙 31
CLASSICAL MECHANICS LAGRANGIAN FORMULATION
CONSERVATION LAWS AND SYMMETRY PROPERTIES
Homogeneity of Space and Conservation of Linear Momentum
A closed system does not interact with other systems
Mechanical properties of a closed system () remain unchanged
by any parallel displacement of the entire system in space

Since are arbitrary & independent

constant constant
constant
The total linear momentum of a closed system is constant
Homogeneity of space implies that is a constant of motion
If the Lagrangian of a system (not necessarily closed) is invariant
with respect to translation in a certain direction, then the linear
momentum of the system in that direction is constant in time
Lagrange’s equation

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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
CONSERVATION LAWS AND SYMMETRY PROPERTIES
Isotropy of Space and Conservation of Angular Momentum
A closed system does not interact with other systems
Mechanics of a closed system () is unchanged by an infinitesimal
rotation of the system in space
is arbitrary

and
constant

Angular momentum
is conserved
Angular momentum
Lagrange’s equation
Total angular momentum
BSc-PHY2302-CM-2023-24 33
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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
CONSERVATION LAWS AND SYMMETRY PROPERTIES
Homogeneity of Time and Conservation of Energy
Lagrangian of closed system () does not depend explicitly on

Closed system
7 constants of integrals of motion
[ , , , , , ,t ]

Hamiltonian of the system total energy of the system

if is independent of &
is a homogeneous quadratic function of

Lagrange’s equation
(total energy)
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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-11: A bead of mass slides freely on a frictionless
circular wire of radius that rotates in a horizontal plane about a
point on the circular wire with a constant angular velocity . Find
the equation of motion of the bead by Lagrange’s method. Also
show that the bead oscillates as a pendulum of length
One degree of freedom

PE

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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-11: A bead of mass slides freely on a frictionless
circular wire of radius that rotates in a horizontal plane about a
point on the circular wire with a constant angular velocity . Find
the equation of motion of the bead by Lagrange’s method. Also
show that the bead oscillates as a pendulum of length

Equation of motion of the mass .

Compare this with equation of motion of the simple
pendulum. The bead oscillates about the line
like a pendulum of length

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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-12: A particle of mass is constrained to move on the
inner surface of a cone of half angle with its apex on a table.
Obtain its equation of motion in cylindrical co-ordinates (, , ).
Hence, show that the angle is a cyclic co-ordinate.
Equation of constraint
Two generalized co-ordinates
v⃗ = e^ ρ 𝜌˙ + e^ ϕ 𝜌 𝜙˙ + k^ 𝑧˙
2 2 2 ˙ 2 2
v = 𝜌˙ + 𝜌 𝜙 + 𝑧˙
1 1
2
˙ 2+ 𝑧

𝑇= 𝑚 v = 𝑚(𝜌
˙ 2+ 𝜌 2 𝜙 ˙ 2)
2 2
1 ˙ 2+ 𝜌
𝑇= 𝑚(𝜌
˙ 2+ 𝜌 2 𝜙 ˙ 2 cot 2 𝛼 )
2
1 2 ˙ 2
𝑇= 𝑚(𝜌 𝜙 +𝜌 ˙ 2 cosec 2 𝛼 ) 
2

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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-12: A particle of mass is constrained to move on the
inner surface of a cone of half angle with its apex on a table.
Obtain its equation of motion in cylindrical co-ordinates (, , ).
Hence, show that the angle is a cyclic co-ordinate.


is cyclic Corresponding generalized
momentum


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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-13: An inclined plane of mass is sliding on a smooth
horizontal surface, while a particle of mass is sliding on the
smooth inclined plane. Find the equation of motion of the particle
and that of the inclined plane.
Two degrees of freedom
Two generalized co-ordinates

PE
Velocity of with respect to :
2 2 2
˙ ˙ ˙1𝑥
v = 𝑥 1 + 𝑥2 +2 𝑥 ˙ 2 cos 𝜃
KE

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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-13: An inclined plane of mass is sliding on a smooth
horizontal surface, while a particle of mass is sliding on the
smooth inclined plane. Find the equation of motion of the particle
and that of the inclined plane.

L-equation for
L-equation for

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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-14: A rigid body capable of oscillating in a vertical
plane about a fixed horizontal axis is called a compound
pendulum. (i) Set up its Lagrangian;
(ii) Obtain its equations of motion; and
(iii) Find the period of the pendulum.
One degree of freedom
Generalized co-ordinate 

SHM equation

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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-15: A mass is suspended from a spring of mass and
spring constant . Write the Lagrangian of the system and show
that it executes simple harmonic motion in the vertical direction.
Also, obtain an expression for its period of oscillation.
One degree of freedom
Generalized co-ordinate
for the spring element at
for the spring element at
for the spring element at
mass per unit length of the spring
KE of the spring-element
of thickness
KE of whole spring

¿ 𝑇 spring 42
DAMP-MAHE-MANIPAL BSc-PHY2302-CM-2023-24
CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-15: A mass is suspended from a spring of mass and
spring constant . Write the Lagrangian of the system and show
that it executes simple harmonic motion in the vertical direction.
Also, obtain an expression for its period of oscillation.
KE of the spring-
mass system
PE of the spring-mass system
Lagrangian

Lagrange’s equation
SHM
PERIOD

KE of whole spring

¿ 𝑇 spring 43
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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-16: A particle of mass is constrained to move on the
surface of a cylinder of radius . It is subjected to an attractive
force directed towards the origin and is proportional to the
distance of the particle from the origin. Write its Lagrangian in
cylindrical co-ordinates and (i) obtain its equations of motion,
(ii) show that the angular momentum about the -axis is a constant
of motion, and (iii) show that the motion of the
particle in the -direction is simple harmonic.
Co-ordinates: const
Constraint equation:
Generalized co-ordinates 
Force
PE

KE
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CLASSICAL MECHANICS LAGRANGIAN FORMULATION
FIRST INTEGRALS OF MOTION AND CYCLIC CO-ORDINATES
Example 3-16: Lagrangian in () (i) equations of motion,
(ii) ST angular momentum about -axis is a constant of motion, (iii)
ST motion of particle in -direction is SHM.

Lagrange’s equation for :

Lagrange’s equation for :

Angular momentum
SHMabout
with -axis is constant
frequency

PE

KE
DAMP-MAHE-MANIPAL BSc-PHY2302-CM-2023-24 45