Susskind Classical Mechanics Notes, Solutions and Errata,

authored by Gary S. Shea

University of St Andrews

This colour indicates an exercise This colour indicates a misprint or malapropism

Some answers to exercises I have written in my copy of the book.

Page 11, Exercise 3

There are a number of assumptions here that are needed to keep any of
these systems from being permissable. I think the authors are requiring that
states N be described as natural numbers. ”Points on a track....” as they write.
They are also silent with regard to starting conditions. All are permissable
in that they are deterministic and reversible, except (4), which would even-
tually describe states that are not natural numbers if we attempted to reverse it.

(1) and (2) are the inverse of each other, so both are permissable and
determinsitic. (3) simply is just a reversible sequnce of odd bunbers if the
starting state is odd and is a sequence of even numbers if the starting state
is even. (4) is deterministoc and reversible if the starting state is 0 or 1,
otherwise it is an increasing in a power series of even numbers if the starting
state is even or odd numbers if the starrting state is odd. It is not reversible
beyond the smallest integer in the sequence in the positive range. For example,
the sequence 3, 9, 81,... is not reversible
√ in this system because 81, 9, 3,....
leads us into non-natural numbers such 3.... (5) is permissable because the
states evolve according to a rule N (n + 1) = N (n) if any |N | is even and
N (n + 1) = −N (n) if any |N | is odd.

Page 37, Exercises 1-5

I can do all these, and did them all in the autumn of 1969. Exercise 4
is especially tedious. Otherwise I came to rely on my CRC Handbook of
derivatives and integrals.

In Exercise 1 surely it should be x(t) = sin2 (t) − cos(t).

Moving on.
Page 46, Exercise 7, from page 45 we have

[x(t) y(t)] × [vx vy ]0 = −ωR2 sin(ωt)cos(ωt) + ωR2 cos(ωt)sin(ωt).

Susskind Classical Mechanics Study Notes by GS Shea Page 2

Page 46, Exercise 8. Answers at http://www.madscitech.org/tm/slns/ are

hard to beat on this one.

Pages 54-55, Exercises 1-3. Answers at http://www.madscitech.org/tm/slns/

are hard to beat.
Susskind Classical Mechanics Study Notes by GS Shea Page 3

Pages 103, Exercise 3. Answers at http://www.madscitech.org/tm/slns/ (by

GH) are hard to beat, but the explanation about v⊥ = rθ̇ that uses the
arm-length elbow analogy does not work for me....

although I understand it now. What I think needs to be spelled is how

a local frame of reference works. Once we understand that the local co-
ordinates for a point (x0 , y0 ) translates to (r,0) in the local frame of reference,
we see that from a starting point (r0 , 0) another point (x1 , y1 ) would have co-
ordinates ( r1 cos(θ), r1 sin(θ) ) and the vertical component of a displacement
is proportional to sin(θ), where θ is the angular displacement from 0. The
time derivative of the vertical displacement is drsinθ dθ × dθ
dt = r θ̇ cos(θ). Then
we need to recall that in the local frame of reference this time derivative needs
to be evaluated at (r0 , 0) and therefore cos(θ) = 1.

The next thing I want to do is to put the derivation of ∆r̂ = ∆θ in my

own terms. The triangle described is an isoceles triangle, not a right-angle, so
sin(∆θ) is not ∆r̂
ˆ . The derivation I would do the following way.
r(θ)

In the description of the isoceles triangle, note that the two other angles besides
ˆ
r(θ)
∆θ are each 90◦ − ∆θ ∆r̂
2 . By the“rule of sines” we have sin(∆θ) = sin(90◦ − ∆θ ) .
2

ˆ sin(∆θ) ˆ sin(∆θ)

∆r̂ = r(θ)
= r(θ)
sin 90◦ − ∆θ
2 cos ∆θ
2

This is the expression which, in the limit as ∆θ → 0, becomes ∆r̂ = r(θ)∆θ. ˆ

To see this insert the two Taylor series expansions for sine and cosine to find,
2 4
" #
ˆ sin(∆θ) ˆ 1 − ∆θ
3! + ∆θ5! ... ˆ
∆r̂ = r(θ)
= r(θ)∆θ ∆θ 2 ∆θ 4
≤ r(θ)∆θ = ∆θ,
cos ∆θ
2 1 − 4×2! + 16×4! . . .

ˆ = 1. The ratio of the two Taylor series in the brackets converges to

since r(θ)
1 from below as ∆θ goes to zero. ∆r̂ is thus a hard lower bound on ∆θ and
this is why, in the limit, ∆r̂ = ∆θ. The magnitude of ∆r̂ is also different now;
ˆ sin(∆θ) , but this magnitude plays no further role in the problem
it is now r(θ) cos( ∆θ
2 )
solution, I think. We are now back on track with GH answer to this exercise
and I have worked through it quite carefully.

The text and explanations from Pages 116 through to 119 are somewhat hard
for me to follow and short on explanation. And in this section of the text the
errata that can be found on the internet are quite important.

The text for Page 116, which is corrected in the errata, makes it first sound
like Lenny is in the centre of a stationary framework and George is at the origin
Susskind Classical Mechanics Study Notes by GS Shea Page 4

of another framework that rotates about Lenny’s. This interpretation allows

George’s Y-axis either to rotate at the rate ω radians per unit of time so that
his X-axis is always a radius that comes out of Lenny (this is how I would in-
terpret the “carousel” analogy) or it permits George’s Y-axis to remain always
parallel with Lenny’s y-axis. This would be analogous to having George on a
ferris wheel with Lenny at the centre of the ferris wheel. George’s local frame
of reference is attached to his “gondola” so that it rotates, remaining always
upright, as the ferris wheel rotates at ω radians per unit of time. I tried to work
on the relations between Lenny’s and George’s frames of reference under both
of these interpretations, but they are impossibly complex for me at this time.
(I have a feeling that they will appear in some future applications.) Of course,
there are any number of other interpretations of the Lenny-George frames of
reference that are weighted averages of the two I have given.

If you try to derive Equation 9 (Page 118) from geometric examples, you quickly
discover that you get different results depending where you place the particle
within Lenny’s and George’ frames of reference. I have produced examples
where Equation (9) is derived as
x = X cos(ωt) + Y sin(ωt); y = X sin(ωt) − Y cos(ωt)
and as
x = X cos(ωt) − Y sin(ωt); y = X sin(ωt) + Y cos(ωt).
Although different from each other and Equation (9) as presented in the book,
they all produce the same Equation (11) as it appears on Page 119. Why this is
so appears to me to be about where, in any examples, I place a particle within
the rotated axis system. If I place a particle in the positive quadrant, then the
rotation of the system appears to be in the clockwise direction. If I place the
particle in the postive-x/negative-y quadrant, the axis system appers to have
been rotated in the counter-clockwise direction.

I have scanned my rough geometric sketches into a pdf and there is a Math-
ematica notebook that checks out how these different representations lead to
Equation (11).

Page 120 (bottom):

From ∂A/∂X = 0 and ∂A/∂Y = 0, where L = T − V , but V = 0 because

Lenny does not observe any forces in his reference frame, we start with Equa-
tion (12),
d ∂L ∂L
− =0=
dt ∂ Ẋ ∂X
2
d ∂m 2 2
2 (Ẋ + Ẏ ) d ∂mω(ẊY − Ẏ X) ∂ mω (X 2 + Y 2 ) ∂ mω (ẊY − Ẏ X))
+ − 2 − 2 =
dt ∂ Ẋ dt ∂ Ẋ ∂X ∂X
d mẊ d mωY
+ −mω 2 X+mω Ẏ = mẌ+mω Ẏ −mω 2 X+mω Ẏ = mẌ+2mω Ẏ −mω 2 X = 0
dt dt
Susskind Classical Mechanics Study Notes by GS Shea Page 5

⇒ mẌ = mω 2 X − 2mω Ẏ
Likewise we would get the second equation,

mŸ = mω 2 Y − 2mω Ẋ.

This is the answer (above) to Exercise 3 Page 121, by the way.

Exercise 4 Page 121:

There are some ambiguities concerning θ. Is it angular displacement rela-

tive to Lenny’s x-axis or is it relative to George’s X-axis? On Page 124 reference is
made to the results of this exercise which implies that the authors intended ω = 0.
Nevertheless, in general, we can write x = R cos(θ + ωt) and y = R sin(θ + ωt).
The following time derivatives and relations are useful:

ẋ = Ṙ cos(θ + ωt) − R(θ̇ + ω) sin(θ + ωt)

ẏ = Ṙ sin(θ + ωt) + R(θ̇ + ω) cos(θ + ωt)

ẋ2 = Ṙ2 cos2 (θ + ωt)−2RṘ(θ̇+ω) sin(θ + ωt) cos(θ + ωt)+R2 (θ̇+ω)2 sin2 (θ + ωt)
ẏ 2 = Ṙ2 sin2 (θ + ωt)+2RṘ(θ̇ +ω) sin(θ + ωt) cos(θ + ωt)+R2 (θ̇ +ω)2 cos2 (θ + ωt)
It follows then ẋ2 + ẏ 2 = Ṙ2 + R2 (θ̇ + ω)2 and the Lagrangian is
L= m 2 2 m 2 2 2 2
2 (ẋ + ẏ ) = 2 (Ṙ + R [θ̇ + 2ω θ̇ + ω ]).

For the Euler-Lagrange equations we have:

∂L/∂ Ṙ = mṘ and ∂L/∂R = mR(θ̇2 + 2ω θ̇ + ω 2 ) ⇒

d
dt ∂L/∂ Ṙ − ∂L/∂R = 0 = mR̈ − mR(θ̇2 + 2ω θ̇ + ω 2 ) ⇒ R̈ = R(θ̇2 + 2ω θ̇ + ω 2 ), or
2
R̈ = Rθ̇ if ω = 0.

Finally, ∂L/∂ θ̇ = mR2 (θ̇ + ω) and ∂L/∂θ = 0 ⇒

d
dt ∂L/∂ θ̇ − ∂L/∂θ = 0 = mR2 θ̈ + 2mRṘ(θ̇ + ω) ⇒ Rθ̈ = −2Ṙ(θ̇ + ω), or
Ṙ
θ̈ = −2 R θ̇ if ω = 0.

d
Should it not be the case in l6e4.cdf and pdf that ∂L/∂ θ̇ = mR2 θ̇ ⇒ dt ∂L/∂ θ̇ =
mθ̈R2 + mθ̇(2RṘ) = mθ̈R2 + 2mRṘθ̇?
Susskind Classical Mechanics Study Notes by GS Shea Page 6

Page 125, Exercise 5. If we imagine pendulum with no potential energy, I

suppose the closest physical analogy would be a rigid rod that can be spun
in a frictionless plane. Because the rod is rigid l˙ and, of course, ¨l will be
zero. No force is applied to the pendulum, so it must be motionless, which
we can confirm with the angular motion equation from the Lagrangian. From
Equation (15) we have dt d
ml2 θ̇ = 0 = ml2 θ̈ + 2mll˙θ̇ ⇒ θ̈ = −2ml˙θ̇/l = 0.

Now add an angular force so that potential energy is at maximum at a

distance l in the +y direction and is at a minimum zero when the rod points
in the −y direction. The potential energy also has to be equal when the
rod points in either +x or −x directions. Specifying the potential energy as
being proportional to l as well, we could guess that V (θ) = mkl(1 − cos(θ)),
where θ is the angle of the pendulum from the −y axis in a counter-clockwise
direction. This would make potential energy 0 at θ = 0 and 2mkl at θ = π.
The negative gradient of potential energy − ∂V ∂θ is an angular force that
always pushes the rod towards the upright position along the −y axis, that is,
F = − ∂V∂θ = −mkl sin(θ).

Query? I wonder if this is a solution for potential energy that results

from gravity. I imagine a massive body below the pendulum that always wants
to pull the bobbin downward. There should be another force that keeps the
bobbin on the pendulum. For example, if the rod is at rest in the downward
position, gravity is still there pulling downward, yet the bobbin does not fly off
the end of the rod. Whatever force is keeping it on the end of the rod has to
be equal to the gravitational force and acting in the opposite direction. How
to characterize this force?

We now have from the Lagrangian d 2 dL

dt ml θ̇ − dθ = ml2 θ̈ + 2mll˙θ̇ + mkl sin(θ) ⇒
θ̈ = −k sin(θ)/l.

I am ok with this solution, but I do not think I have an adequate un-

derstanding yet how the angular potential energy I have specified is consistent
(or not) with a potential energy that results from gravity.

Page 127, Exercise 6.

ẋ21 + 2ẋ1 ẋ2 + ẋ22
ẋ2+ =
4
ẋ21 − 2ẋ1 ẋ2 + ẋ22
ẋ2− =
4
ẋ21 + ẋ22
ẋ2+ + ẋ2− =
2
 
ẋ1 ẋ2 2x−
ẋ+ + ẋ− = ; ẋ+ − ẋ− = ⇒ V (x1 − x2 ) = V = V (x− )
2 2 2
Susskind Classical Mechanics Study Notes by GS Shea Page 7

Page 129, Exercise 1. From Page 124 we have the Euler-Lagrange equations as

dp1 ∂L ∂(q1 − q2 )
= = −V (q1 − q2 ) × = −V (q1 − q2 )
dt ∂q1 ∂q1
and
dp2 ∂L ∂(q1 − q2 )
= = −V (q1 − q2 ) × = −V (q1 − q2 ) × (−1) = V (q1 − q2 )
dt ∂q2 ∂q2

Page 133, Exercise 3. First, the combination aq1 + bq2 remains the same under
translation since aq1 → a(q1 + bδ) = aq1 + abδ and bq2 → b(q2 − aδ) = bq2 − abδ.
Thus aq1 + bq2 → aq1 + abδ + bq2 − abδ = aq1 + bq2 .

The time-derivatives of q1 and q2 are unaffected by translation so that

d
the dt L(q̇12 + q̇22 ) portion of the Lagrangian remains the same.

Finally, the potential portions of the Lagrangians are unaffected because

∂V (aq1 + bq2 )∂qi remains unchanged since the argument aq1 + bq2 remains
unchanged under translation.

Page 140, Exercise 5. We have already done this in polar co-ordinates in

Exercise 5, Page 125.

As before, we imagine a potential energy that is V (θ) = mkl(1 − cos(θ)).

The problem wants us to express the Lagrangian withp x-y co-ordinates, so
with the following facts, x = l sin(θ); y = l cos(θ); l = x2 +p y 2 , we have a
m m
Lagrangian L = 2 (ẋ2 + ẏ 2 )−mk(l−l cos(θ)) = 2 (ẋ2 + ẏ 2 )−mk( x2 + y 2 −y).

d
The dt ∂L/∂ ẋ portion of the Lagrangian will be ẍ as before. That implies
d
dt ∂L/∂ ẏ = ÿ as well. It is the first derivatives of potential energy in x and y we
2 1
+y 2 ) 2 −y
have yet to work out. δx L = 0 = d
dt ∂L/∂ ẋ − mk ∂(x ∂x ⇒ ẍ = k √ x
x2 +y 2
2 1
+y 2 ) 2 −y
and δy L = 0 = d
dt ∂L/∂ ẏ − mk ∂(x ∂y ⇒ ÿ = k( √ y
− 1).
x2 +y 2

Derive Point 2, Pages 142-143: x1 = sin(θ); ẋ1 = θ̇ cos(θ); y1 = cos(θ);

θ̇ 2 cos2 (θ)+θ̇ 2 sin2 (θ) θ̇ 2
ẏ1 = −θ̇ sin(θ) ⇒ 12 (ẋ21 + ẏ12 ) = 2 = 2 .

x2 = sin(θ) + sin(α + θ); ẋ2 = θ̇ cos(θ) + (α̇ + θ̇) cos(α + θ);

y2 = cos(θ) + cos(α + θ); ẏ2 = −θ̇ sin(θ) − (α̇ + θ̇) sin(α + θ) ⇒

ẋ22 +ẏ22
2 = 12 [θ̇2 cos2 (θ)+(θ̇ + α̇)2 cos2 (α + θ))+ θ̇2 sin2 (θ)+(θ̇ + α̇)2 sin2 (α + θ))]+
1
2 [2θ̇(θ̇ + α̇) cos(θ) cos(α + θ) + 2θ̇(θ̇ + α̇) sin(θ) sin(α + θ)] =
Susskind Classical Mechanics Study Notes by GS Shea Page 8

θ̇ 2 +(θ̇+α̇)2
2 + θ̇(θ̇ + α̇)[sin(θ) sin(α + θ) + cos(θ) cos(α + θ)] =
θ̇ 2 +(θ̇+α̇)2
2 +θ̇(θ̇+α̇)[sin(θ) sin(α) cos(θ)+sin2 (θ) cos(α)+cos2 (θ) cos(α)−cos(θ) sin(α) cos(θ)] =
θ̇ 2 +(θ̇+α̇)2
2 +θ̇(θ̇+α̇)[(sin2 (θ)+cos2 (θ)) cos(α)+sin(α)(sin(θ) cos(θ)−sin(θ) cos(θ))] =
2 2
θ̇ +(θ̇+α̇)
2 + θ̇(θ̇ + α̇) cos(α).

Page 143, Point 2 and Exercise 6. Surely to be consistent with Page

142, we should have the sum of altitudes of the two bobbins be
y1 + y2 = 2 cos(θ) + cos(θ + α) and not 2 cos(θ) + cos(θ − α).

Secondly, I worry about the negative sign in front of mg. The mini-
mum potential energy that results when both θ and α are zero will be negative
potential energy. I assume that is only ok because it will not effect what we
get when differentiate the Lagrangian. But to be consistent with my answers
to Exercise 5 (Page 125) and Exercise 5 (Page 140) above, I think it would be
better if the potential energy was specified to be 3 − [2 cos(θ) + cos(θ + α)].

Exercise 6, Page 143: Let V (θ, α) = 3g − g[2 cos(θ) + cos(θ + α)] so that potential energy
is at a minimum zero when both bobbins are at rest along the negative y axis.

Our Lagrangian is

θ̇2 θ̇2 + (θ̇ + α̇)2

L= + + θ̇(θ̇ + α̇) cos(α) − 3g + 2g cos(θ) + g cos(θ + α).
2 2
∂L
pθ = = 2θ̇[3/2 + cos(α)] + α̇[1 + cos(α)] = 3θ̇ + [2θ̇ + α̇] cos(α) + α̇.
∂ θ̇
d ∂L
= θ̈[3 + 2 cos(α)] + α̈[1 + cos(α)] − α̇ sin(α)[2θ̇ + α̇].
dt ∂ θ̇
∂L
= −2g sin(θ) + g[− sin(θ) cos(α) − sin(α) cos(θ)] = −2g sin(θ) − g sin(θ + α).
∂θ
d ∂L ∂L
− = 0 = θ̈[3+2 cos(α)]+ α̈[1+cos(α)]− α̇ sin(α)[2θ̇+ α̇]+g[2 sin(θ)+sin(θ + α)].
dt ∂ θ̇ ∂θ
∂L
pα = = θ̇ + α̇ + θ̇ cos(α).
∂ α̇
d ∂L
= θ̈ + α̈ + θ̈ cos(α) − θ̇α̇ sin(α).
dt ∂ α̇
∂L
= −θ̇(θ̇ + α̇) sin(α) + g sin(θ + α).
∂α
d ∂L ∂L
− = 0 = θ̈ + α̈ + θ̈ cos(α) − θ̇α̇ sin(α) + θ̇(θ̇ + α̇) sin(α) − g sin(θ + α).
dt ∂ α̇ ∂α
Susskind Classical Mechanics Study Notes by GS Shea Page 9

Exercise 7, Page 144: From the previous exercise we already have:

∂L
pθ = = 3θ̇ + [2θ̇ + α̇] cos(α) + α̇ and
∂ θ̇
∂L
pα = = θ̇ + α̇ + θ̇ cos(α).
∂ α̇
Our Lagrangian without potential energy is

θ̇2 θ̇2 + (θ̇ + α̇)2

L= + + θ̇(θ̇ + α̇) cos(α).
2 2
If we change θ by a small amount, the Lagrangian does not change because θ
does not appear in the Lagrangian at all. Secondly, even though α appears in
the Lagrangian, it does not change as θ changes because α is only measured
with respect to θ.

Exercise 2, Page 157: I assume the authors mean p to be conjugate to q, not

x or, in other words, p 6= mẋ, but instead p = ∂L/∂ q̇ = q̇/ω. See pages 123-4.

From Equation (14) we have:

q̇ 2 ω 2 p2 ωp2
T = = =
2ω 2ω 2
and
ωq 2
V = ⇒
2
Our Hamiltonian is
ω 2
T +V = (p + q 2 ).
2

Equation 6, Page 175:

∂AB ∂C ∂AB ∂C
{AB, C} = − =
∂q ∂p ∂p ∂q
   
∂B ∂A ∂C ∂B ∂A ∂C
A +B − A +B =
∂q ∂q ∂p ∂p ∂p ∂q
   
∂B ∂C ∂B ∂C ∂A ∂C ∂A ∂C
A −A − B −B = A{B, C} + B{A, C}
∂q ∂p ∂p ∂q ∂q ∂p ∂p ∂q
Susskind Classical Mechanics Study Notes by GS Shea Page 10

Exercise 2, Page 178: It is easier to directly do this. Since

ṗ = {p, H} = − ∂H
∂q = − ∂V
∂q = Force and since we know q̇ = {q, H} =
∂H p
∂p = m ⇒ p = mq̇ ⇒ Force = ṗ = mq̈.

But now doing it the hard way, start with q̇ = {q, H} = −{H, q} =
p2
−{ 2m 1
, q} − {V (q), q} = − 2m {p2 , q} − dVdp(q) = − 2m
1
[p{p, q} + p{p, q}] =
2
1 p
− 2m (−2p) = p/m = q̇ ⇒ mq̇ = p ⇒ ṗ = mq̈ = {p, H} = −{ 2m p}−{V (q), p}=
1 dV (q)
2m [p{p, p} + p{p, p}] − dq =Force.

Exercise 3, Page 180: From Equation (6) Page 175 we can find: {C, (AB)} =
A{C, B} + B{C, A}.

{x, Lz } = {x, xpy − ypx } = {x, xpy } − {x, ypx } =

{x,p: 0 + p {x,x} : +1 − p {x,y}

 0 − y {x,p : 0 = −y (19.1)
x y}  x}
 :
 

y x

{y, Lz } = {y, xpy − ypx } = {y, xpy } − {y, ypx } =

: +1 + p {y,x} :0
: 0 − y {y,p *0
{y,p
y}  x } − px 
{y,y} = x

x 
y

 (19.2)

{z, Lz } = {z, xpy − ypx } = {z, xpy } − {z, ypx } =

: 0 + p {z,x} :0
: 0 − y {z,p *0
{z,p
y}  x } − px 
{z,y} = 0

x 
y

 (19.3)

Page 184: To show that {Lx , Ly } = Lz , it will be useful first to consider a

simplification of the following form: {qa pb , qc pd }, where a, b, c and d are not
necessarily distinct subscripts.

:0 : −δbc : δad :0
{qa pb , qc pd } = qa qc 
{p
b , pd } +qa pd 
 {p
b , qc }
 {q
+pb qc  a , pd }
 {q
+pb pd  a , qc }
 =
pb qc δad − qa pd δbc .

Now we can proceed with {Lx , Ly } = {(ypz − zpy ), (zpx − xpz )} =

= {ypz , zpx } − {zpy , zpx } − {ypz , xpz } + {zpy , xpz } =

0 1 0 0 0 0
> − ypx  > ] − [py z δzx
= [pz z 
δyx δzz  − zpx  > ] − [pz x δyz
δyz  − ypz 
δzx
  >
  >
 > ]+


1 0
> − zpz δyx
[py x
δzz  ] = xpy − ypx = Lz .
 >

Susskind Classical Mechanics Study Notes by GS Shea Page 11

Exercise 1, Page 193: By accepting the text’s definition of the Levi-Civita

notations on Pages 181-2, confirming Equation (3) is possible by inspection
of the examples at the top Pof Page 193. But those examples and proving the
expression Vi Aj − Vj Ai = k ijk (V~ × A)
~ i all come from a definition of the
cross product of two vectors as:
 
 x y z 
~ ×A ~ = kV kkAk sin(θ) =  Vx Vy Vz  .

V  
 Ax Ay Az 

It is when we re-write this equation in terms of the determinant’s first-row

co-factors that we see where the Levi-Civita function comes from:
     
~ ×A ~ =  Vy Vz  x −  Vx Vz  y +  Vx Vy  z =
     
V  Ay Az   Ax Az   Ax Ay 
     
 Vy Vz 
 xyzx +  Vx Vz  yxzy +  Vx Vy  zxyz .
   

 Ay Az   Ax Az   Ax Ay 

Page 194: The curl of A ~ ×A

~ is ∇ ~=
     
 ∇y ∇z 
 xyzx +  ∇x ∇z  yxzy +  ∇x ∇y 
  
z .
Ay  xyz

 Ay Az   Ax Az   Ax

The divergence of the curl of A~ is therefore

     
 ∇y ∇z   ∇x ∇z   ∇ ∇y
~ ~ ~ y +∇z  x

∇·[∇×A] = ∇x  x +∇y   zxyz =
Ay Az  yzx Ax Az  xzy
   
Ax Ay 
     
∂ ∂Az ∂Ay ∂ ∂Az ∂Ax ∂ ∂Ay ∂Ax
= − − − + − =
∂x ∂y ∂z ∂y ∂x ∂z ∂z ∂x ∂y
∂ 2 Az ∂ 2 Ay ∂ 2 Az ∂ 2 Ax ∂ 2 Ay ∂ 2 Ax
= − − + + − =0
∂x∂y ∂x∂z ∂x∂y ∂y∂z ∂x∂z ∂y∂z
Exercise 2, Page 194: ∇~ · V (x) = [∂V /∂x, ∂V /∂y, ∂V /∂z]0 ⇒ ∇ ~ ×∇ ~ · V (x)=
 
 x y z 
 ∂ ∂ ∂ 
∂z  =
 ∂x ∂y
 ∂V ∂V ∂V 

∂x ∂y ∂z

∂2V ∂2V
 2
∂2V
 2
∂2V
   
∂ V ∂ V
− x− − y+ − z=0
∂y∂z ∂y∂z ∂x∂z ∂x∂z ∂x∂y ∂x∂y

To get Equation (24), Page 207:

From Equation (22):

X m e X m e
H= {pi ẋi − [ (ẋi )2 + ẋi Ai (x)]} = {pi − ẋi − Ai (x)}ẋi =
i
2 c i
2 c
Susskind Classical Mechanics Study Notes by GS Shea Page 12

X : mẋi m
 Xm 1 X
{ −
[pi A
i (x)] − ẋi }ẋi = (ẋi )2 = [pi − Ai (x)]2 ⇒ (24).
i
2 i
2 2m i

Exercise 4, Page 207: From Equation (12), Page 155 we have

X 1 e
ṗj = −∂H/∂xj = −∂ [pi − Ai (x)]2 /∂xj =
i
2m c
 
2 X e e eX
− [pi − Ai (x)][− ∂Ai (x)/∂xj ] = ẋi ∂Ai (x)/∂xj .
2m i
c c c i
dA (x)
From Equation (23) we have mẋj = pj − ec Aj (x) ⇒ mẍj = ṗj − ec dtj
. It
follows that
" #
eX e dAj (x) e X dAj (x)
mẍj = ẋi ∂Ai (x)/∂xj − = ẋi ∂Ai (x)/∂xj − .
c i c dt c i dt

Now the total time derivative of Aj (x) can be written out as

dAj (x) X
= ẋi ∂Aj (x)/∂xi ,
dt i

so that from the equation above we can write

"  #
e X ∂Ai (x) ∂Aj (x)
mẍj = ẋi − .
c i ∂xj ∂xi

The term in brackets is the dot product of the velocity vector into the curl of
~ or, in other words, B
A ~ so that we have in the end m~ẍ = e ~ẋB, ~ the Newton-
c
Lorenz equation of motion. If this is not clear at first, note that when i = j in
the summation above, the result is zero.

Exercise 5, Page 210: The authors want us to notice that Equations (25) and
(26) are the same as Equations (16) on page 158; velocity and acceleration
form a phase space and our system moves through this space with an angular
eb
velocity (constant) of mc = ω with a radius of constant length from the origin
zero. We know that energy is conserved and now we need to put the system
into (x,y)-co-ordinates.

Since the energy is conserved and we know from Page 208 and √ Equatio
2 +v 2
vx
1 2 2 2 2 y
(15) Page 157 that H = 2 mv . In the (x,y)-plane v = vx + vy ⇒ r = ω ,
where it is understood that x = r cos(ωt) and y = r sin(ωt).

Equation 5, Page 218: It should be r̈ = rθ̇2 − GM

r 2 , as it effectively is in Equation
(9), next page.
Susskind Classical Mechanics Study Notes by GS Shea Page 13

p2θ GM m
Equation (14), Page 223: Given V = 2mr 2 − r , then ∂V /∂r = 0 =
p2θ dr −1 −1 p2θ −3
2m dr − GM m drdr = 2m (−2r ) − GM m(−r−2 ) = 0 ⇒
r −1
p2θ p2θ
−2
(−r
GM m ) =
 r−3
2m (−2
*
 ) ⇒ GM m2 r = p2θ ⇒ r = GM m2 .