Alfredo Hernndez Cavieres

23rd September 2016

Derivations Sheet 1

Derivation 1.1
~ri
~vi
=
qj
qj

(1)

Proof.
n
~ri
~vi
~ri
X
qk +
=
qj
qj k=1 qk
t

n
X
k=1

2~ri
~ri qk
qk +

qj qk
qk qj


n
X
2~ri
~ri
~ri
+
=
jk =
.
qj t k=1 qk
qj

d ~ri
dt qj
Proof.

~vi
qj

(2)

On one hand,

d ~ri
dt qj


n 
X
~ri qk
k=1

qk qi t

n
X
~ri
2~ri
2~ri
=
qk +
t qj
qk qi
tqj
k=1

on the other hand,

n
~vi
~ri
X
~ri
qk +
=
qj
qj k=1 qk
t

n
X
k=1

~ri q
2~ri
2~ri
k
qk +
+

qj qk
qk qj
qj t

n
X
2~ri

2~ri
=
qk +
qi qk
qj t
k=1
2~ri
2~ri
2~ri
2~ri
d ~ri
If ~ri (qj , t) is smooth, then

and

qi qk
qk qi
qj t
tqj
dt qj

~vi
qj

Alfredo Hernndez Cavieres

23rd September 2016

Derivations Sheet 1

Derivation 1.2
T =

N
X

1
mi~vi2 T2 + T1 + T0
2
i=1

N
N
N
N
N
X
X
X
1 X
1X
~ri ~ri
~ri
~ri ~ri
=
qj qk +
qj +
mi
mi
mi
2 j,k=1 i=1 qj qk
qj t
2 i=1
t
j=1 i=1

!2

(1)

Proof.
T =

N
X
1
i=1

N
X
i=1

N
X
1
i=1

mi

N
X

N
X
~ri ~ri

d~ri
dt

2

~ri
1
~ri
qj +
mi
2
q
t
j
j=1

N
X
1
i=1

mi~vi2

mi

qj qk
j,k=1

qj qk +

N
X
1
i=1

N
X
~ri

~ri
qj +
mi
2
q
t
j
j=1

N
X

~ri
~ri
qk +
q
t
k
k=1
N
X
~ri ~ri

qi t
j=1

qj +

N
X
~ri ~ri

qi t
k=1

qk +

~ri ~ri
t t



N
N
N
N
N
X
X
X
~ri ~ri
~ri ~ri
~ri 2
1X
1 X
mi
mi
mi
qj qk +
qj +
=
2 j,k=1 i=1 qj qk
qj t
2 i=1
t
j=1 i=1
!

T2 + T1 + T0


Alfredo Hernndez Cavieres

23rd September 2016

Derivations Sheet 1

Derivation 1.3
d U
U
d U
U
F~i =

Qj =

dt ~vi ~ri
dt qj
qj

(1)

Proof.
N
X

~ri
=
Qj =
F~i
qj
i=1
=

N
X
i=1

"

N 
X
d U
i=1

d U ~vi
dt ~vi qj

N
X
U ~ri
d U ~ri

=
dt ~vi
~ri qj
dt ~vi qj
i=1

U ~vi
U ~ri

~vi qj
~ri qj

"

U
d U

dt qj
qj

U d ~ri

~vi dt qj

U ~ri

~ri qj

Alfredo Hernndez Cavieres

23rd September 2016

Derivations Sheet 1

Derivation 1.4: Lorentz Force

~ F~ = q(E
~ + ~v B)
~
U = q( ~v A)

(1)

~
~ =
~ A and B
~ =
~ A.
~ Therefore, the Lorentz force can be
Proof. We know that E
t
expressed as

3
3
X
X
Ai

Am

Fi = q

+
ijk vj
klm
ri
t
rl
j,k=1
l,m=1

3
X
Ai
Am

=q
+
vj
(il jm im jl )
ri
t
r
l
j,l,m=1

= q

3
X

Ai
Ai
Aj

vj
+
vj
ri
t
r
rj
i
j=1

Now well check that this result tells us that the force emerges, indeed, from the generalised
potential:

3
3
X
X
U
d

d U

= q
v j Aj
vj Aj
Fi =

dt vi
ri
dt vi
ri
j=1
j=1

3
3

d 
X
X
v j Aj
v j Aj
= q 

dt vi vi j=1
ri ri j=1

3
3
3
3
X
X
d X
vj
Aj X
v
Aj
j
= q
Aj +
vj
+
vj

 Aj +
dt j=1 vi
vi
ri j=1 ri
ri
j=1
j=1

3
3
Ai X
Ai X
A i
Ai

Aj

Aj

+
vj

+
vj
= q
vj
= q
vj
.
ri
t
ri
vj
ri
t
ri
rj
j=1
j=1

Which is the same result we derived before.