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Lagrangian Mechanics
Solutions
1. Particle in a central potential.
A particle of mass m moves in R3 under a central force
F (r) =
dV
,
dr
in spherical coordinates, so
(x, y, z) = (r cos() sin(), r sin() sin(), r cos()).
Find the Lagrangian from first principles, in terms of (r, , ) and their
time derivatives.
Hence
(a) show that h, defined by h = mr2 sin2 () is a constant of the
motion.
(b) derive the other two equations of motion.
Solution:The kinetic energy is T =
m
(x 2
2
+ y 2 + z 2 ). We substitute
x = r sin() cos(),
y = r sin() sin(),
z = r cos().
Differentiating these, substituting into T , and simplifying, we find
T =
m 2
(r + r2 2 + r2 sin2 () 2 ).
2
m 2
(r + r2 2 + r2 sin2 () 2 ) V (r).
2
1
dt
Hence h = L
= mr2 sin2 () is a constant of motion. The radial
equation is:
d
(mr)
= mr(2 + sin2 () 2 ) V 0 (r),
dt
and the equation is:
d
= mr2 sin() cos() 2 .
(mr2 )
dt
ml2 2
( + sin2 () 2 ) + mgl cos().
2
As before, is ignorable, so
h=
L
= ml2 sin2 ()
2
m 2
(r + r2 2 + z 2 ) + mgz (r + z l).
2
m 2
(2r + r2 2 ) + mg(l r).
2
We see
h=
L
= mr2
m 2
(2r + r2 2 ) + mg(r l).
2
Z l 2
y dx,
2 0 t
Z l q
= F
( 1 + yx2 1)dx.
Here subscripts denote partial derivatives. You may neglect the effect
of gravity. If the displacement y is small, so that |yx | << 1, show that
the Lagrangian can be approximated by an expression quadratic in y,
and find the Euler-Lagrange equation for the approximate Lagrangian.
Solution:The change in length of the displaced string is:
l =
Z l q
0
( 1 + yx2 1)dx,
Z l
q
2
yt F ( 1 + yx2 1)dx.
0 2
Now let yx be small; the leading approximation to L is then:
L=
(2)
Z l
0
2 F 2
y yx dx,
2 t
2
If the particles are no longer subjected to the constraint, but instead there is a force between them due to a potential V (|x1 x2 |),
write down the Lagrangian.
State which of the symmetries and conservation laws survive in each of
these cases.
Solution:
(a) Let the particles have Cartesian coordinates (x1 , y1 ), (x2 , y2 ). The
extended Lagrangian is:
L=
m2 2
m1 2
(x 1 + y 12 ) +
(x + y 22 ) (|x1 x2 | l).
2
2 2
where we have substituted in the constraint. If we dot each equation with (x1 x2 ), divide by the masses, and subtract, we find
2 ) (x1 x2 ) = l(1/m1 + 1/m2 ).
(
x1 x
Now the second derivative of the constraint gives:
2 ) (x1 x2 ) + (x 1 x 2 ) (x 1 x 2 ) = 0.
(
x1 x
Thus
=
m1 m2
|x 1 x 2 |2 .
l(m1 + m2 )
we get
r = (x1 x2 ),
x1 = X +
6
m2
r,
m1 + m2
m1
r.
m1 + m2
Substituting these expressions and their derivatives into L we get,
after some cancellation:
x2 = X
L=
m1 m2
m1 + m2 2
X +
r 2 (|r| l).
2
2(m1 + m2 )
The centre of mass motion and the relative motion are now decoupled.
The system has several symmetries L is independent of t, so the energy
E=
m1 + m2 2
m1 m 2
r 2
X +
2
2(m1 + m2 )
is conserved.
L is independent of X, so both components of the total momentum
P=
= (m1 + m2 )X,
are conserved.
L is unchanged under rotations of the vectors X or of r, separately.
Thus the two quantities:
J = (m1 + m2 )X X,
and
K=
m 1 m2
r r ,
m1 + m2
for any constant vector V. L is not unchanged under this transformation; rather
V
L L + (m1 + m2 )X
7
d
(m1 + m2 )X V.
dt
Hence the Noether integral is here
=L+
I V = (m1 + m2 )X V P Vt,
so the centre of mass moves at constant speed.
Note that the unconstrained system has 4 degrees of freedom, so it consists of 4 second order equations. With these 7 conserved quantities, the
motion is reduced to a single first order system. In fact, including the
constraint means the equation for the time dependence of |r| is trivial
- the motion is determined completely.
P
2
X
m2 2
m1 2
mi xi .jg.
(x 1 + y 12 ) +
(x 2 + y 22 ) (|x1 x2 | l)
2
2
i=1
P2
i=1
mi 2 |xi |2 ,
2
X
m1 2
m2 2
mi 2 |xi |2 .
(x 1 + y 12 ) +
(x 2 + y 22 ) (|x1 x2 | l)
2
2
i=1
m1 2
m2 2
(x 1 + y 12 ) +
(x + y 22 ) V (|x1 x2 |).
2
2 2