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D’Alembert’s Principle
Again, since the coordinates (and the virtual variations) are not necessary
independent. This does not implies, Fi (a)
p i 0 .
Break Fi
i
(a)
p i ri 0 into two pieces:
1. F
i
i
(a)
ri (1)
ri ri q1 , q2 , , qn , t
From chain rule, we have
ri
ri qj (note:
ri
t 0 since it is a virtual disp)
j q j t
( a ) ri ( a ) ri
F i
(a)
ri Fi
j q j
q j Fi
j
qj
q j
i i i
Defining ri
Q j Fi( a ) as the “generalized forces”
i q j
i ri Q j q j
F
i
(a)
j
(1')
(Note: Qj needs not have the dimensions of force but Q j q j must have
dimensions of work.)
5
i :
Now, we look at the second piece involving p
2. p r
i
i i (2) (don’t forget the “-” sign in the original Eq)
mi
ri ri (mass is assumed to be constant)
i
ri
mi
ri qj
q
i j j
r
mi
ri i q j (2a )
j q j
i
6
Rearranging, the last term (from the previous page) can be written as,
dri r r
vi i qk i
dt k qk t
Taking the partial of above expression with respect to q j, we have
v i ri
(note: ri does not depend on q )
q j q j j
explicit check ri ri q1 , q2 , , qn , t
ri d v i v i
mi ri
mi v i mi v i
q j dt q j q j
ri
i i i
p r
j
m
i i
r
q j
q j
i
d v i v i
mi v i mi v i qj (2c)
j dt q j q j
i
(reminder: i sums over # particles and j sums over generalized coords)
10
T 1 2 1
2 i i q 2 i i i
m v m v v
q j q j i j i
1 v i v i
mi v i vi
2 i q j q j
v i
mi v i
i q j
Similarly, we can do the same manipulations on T wrt to q j ,
T 1 2 v i
i i i i i q
q j q j i 2
m v m v
j
11
d v i v i
i i i j dt i i i q
p r m v mi v i qj
q j
j i
d T T
qj
j dt q
j q j
Finally, reconstructing the two terms in the D’Alembert’s Principle, we have:
i F (a)
p i ri 0
i
d T T
j Q j dt q q j 0
j q j
12
d T T
Qj (3)
dt q j q j
There are 3N-K of these differential equations for 3N-K qj and the solution of these
equations gives the equations of motion in terms of the generalized coords
without the need to explicitly knowing the constraint forces.
Also, note the advantage of this equation as a set of scalar equations (with T)
instead of the original 2nd law which is a vector equation in terms of forces.
13
ri ri
Qj F (a)
iU
q j q j
i
i i
i ˆ ˆ
j ˆk U x ˆi y ˆj z kˆ
i i
i xi yi zi
i
q j
U xi U yi U zi
i xi q j yi q j zi q j
U
Qj
q j
14
d T T U
Qj
dt q j q j q j
d T T U
0
dt q j q j
d T U T U
0
dt q j q j
15
d L L
0
dt q j q j
d T T U d U
q
dt q j q j q j dt j
17
d T U T U
0
dt q j q j
d L L
0
dt q j q j
This is the case that applies to EM forces on moving charges q with velocity v,
1 2
And, L mv q A v and A is the vector potential
2
18
One can still write down the Lagrange’s Equation in general as,
d L L
Qj
dt q j q j
Here,
F f k x vx , k y v y , k z vz
For this case, one can define the Rayleigh’s dissipation function:
1
2 i
k xi vxi 2 k yi v yi 2 k zi vzi 2
Then, the friction force for the ith particle can be written as,
F f ,i , , v ,i
vx v yi vzi
i
20
ri v i
To see this, plug in our earlier relation : , we have
q j q j
v i
Q j F f ,i
i q j
v i
v ,i
i q j q j
21
Then, the Lagrange’ Equation for the case with dissipation becomes,
d L L
Qj
dt q j q j q j
In 3D, r = (x, y, z) and there will be three diff eqs for the EOMs.
1
The Lagrangian is given by, L T m x 2 y 2 z 2
2
d L L (Note: Qx Fi
ri
Fx )
Fx x
dt x x i
This gives,
similarly for y & z
d
mx 0 Fx rF
m
dt
23
2 y
Tranformation: x, y, z r , , z
r
x r cos x r sin r cos
y r sin y r cos r sin x
zz z z
Expressing T in Cylindrical Coords:
m 2 2 2
T (r sin 2rr sin cos r 2 cos 2
2
r 2 2 cos 2 2rr cos sin r 2 sin 2 z 2 )
24
m 2 2 2
T (r r z 2 ) (*)
2
It is constructive to consider the following alternative way to get to this expression,
zzˆ r r rˆ z zˆ
r y Taking the time derivative,
dr drˆ
Back to the v vector, r rrˆ z zˆ rθˆ rrˆ z zˆ
v
dt dt
2 m m
So, 2
v r r 2 z 2 and T v 2 (r 2 r 2 2 z 2 )
2 2
26
r:
r r
Qr F Since, r r rˆ z zˆ , we have rˆ
r r
So, Qr F rˆ Fr
:
r r rˆ θˆ
Q F r r r θˆ (recall previous page)
So, Q F rθˆ rF (this looks like torque)
z:
r
Qz F F zˆ Fz
z
27
: d T T rF
d
mr 2 rF (this is
dL
N)
dt dt dt
d T T d
z: Fz mz Fz mz Fz
dt z z dt
28
F Fr rˆ F θˆ Fz zˆ
F m
r 2 r rˆ m r 2r θˆ mzzˆ (*)
Is that the same F mr that we have gotten previously in Cartesian Coords?
r
dv d ˆ
dt dt
=
r θ rrˆ z zˆ
rr
dt
d ˆ ˆ drˆ
θ r θ r
dt
rrˆ
z zˆ
d θˆ drˆ ˆ
rˆ , θ
dt dt
r r rˆ θˆ rθˆ r θˆ
rrˆ
z zˆ
Collecting all terms in the same direction,
r r 2 rˆ r 2r θˆ
r z zˆ
r 2 r rˆ r 2r θˆ
F m z zˆ m
r