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Assignment 2: 1 Marion and Thornton Chapter 7

This document provides solutions to problems 7.9 and 7.34 from the textbook "Marion and Thornton". Problem 7.9 considers a disk rolling down an incline plane with a simple pendulum hanging from its axis. Lagrangian mechanics are used to derive the equations of motion for the disk and pendulum. Problem 7.34 considers a particle sliding down a circular wedge, with Lagrangian coordinates used to relate the system to Cartesian coordinates and derive the equations of motion and constraint force.

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Benjamin Mullen
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263 views7 pages

Assignment 2: 1 Marion and Thornton Chapter 7

This document provides solutions to problems 7.9 and 7.34 from the textbook "Marion and Thornton". Problem 7.9 considers a disk rolling down an incline plane with a simple pendulum hanging from its axis. Lagrangian mechanics are used to derive the equations of motion for the disk and pendulum. Problem 7.34 considers a particle sliding down a circular wedge, with Lagrangian coordinates used to relate the system to Cartesian coordinates and derive the equations of motion and constraint force.

Uploaded by

Benjamin Mullen
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Assignment 2

Tyler Shendruk
October 8, 2010

Marion and Thornton Chapter 7

Hamiltons Principle - Lagrangian and Hamiltonian dynamics.

1.1

Problem 7.9

H
 HHz '$
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Figure 1: A disk rolling down an incline plane. From the axis of the disk hangs
a simple pendulum.
Consider a disk of mass M and radius R thats rolling down a plane of angle
as shown in Fig. 1 . From the axis of this disk is a simple pendulum of length
` < R with a bob of mass m. Consider the motion of the pendulum.
Well do this in z, coordinates as shown in Fig. 1 . The Cartesian coordinates in therms of z and are
xdisk = z cos
ydisk = z sin
x disk = z cos
y disk = z sin .
The Cartesian coordinates of the bob are just that of a simple pendulum but in
the regerence frame of the disk i.e.
xbob = xdisk + ` sin = z cos + ` sin
ybob = ydisk ` cos = z sin ` cos
x bob = z cos + ` cos
y bob = z sin + ` sin
1

Also notice that the rotation angle of the disk is simply proportional to the
distance travelled i.e.
z
=
R
If we take the moment of inertia about the centre of the disk to be
M R2
2
then the energy and Lagrangian are then given to be
I=

U = Udisk + Ubob = M gydisk + mgybob


= gz (M + m) sin mg` cos

(1a)

T = Tbob + Tkin,disk + Trot,disk


 M 2
 1 2
m 2
2
2
=
x
x disk + y disk
+ y bob
+
+ I
2  bob
2
2
2 
2 
m 
z cos + ` cos + z sin + ` sin
=
2
 
 1 M R2 z 2
M 2
2
2
2
z cos + z sin +
+
2
2 2
R
2
2
z
m
(cos cos sin sin ) + M z
=
(M + m) + `2 2 + mz `
2 
4
2
z 2 3
m 2 2
cos ( + )
=
M + m + ` + mz `
(1b)
2 2
2
L=T U


m
z 2 3
cos ( + )
M + m + `2 2 + mz `
=
2 2
2
+ gz (M + m) sin + mg` cos

(1c)

Notice, since its come up multiple times the kinetic energy of the disk and the
bob are
M 2 M 2
Tdisk = Tkin,disk + Trot,disk =
z +
z
2
4
3
= M z 2
4

m 2
2
Tbob =
x bob + y bob
2
i
mh 2
(cos cos sin sin )
=
z + `2 2 + 2z `
2
i
mh 2
cos ( + )
=
z + `2 2 + 2z `
2
Lagrange Equation for z
0=

L
d L

z
dt z

 


d
3
cos ( + )
= M g sin + mg sin
z
M + m + m`
dt
2
 


3
= (M + m) g sin z
M + m + m` cos ( + ) m`2 sin ( + )
2
2


z


3
M + m + m` cos ( + ) m`2 sin ( + ) (M + m) g sin = 0
2
(2)

Lagrange Equation for


0=

L
d L

dt

h
i
sin ( + ) mg` sin d m`2 + mz`
= mz `
cos ( + )
hdt
i
sin ( + ) mg` sin m`2 + m
= mz `
z ` cos ( + ) mz`
sin ( + )

` + z cos ( + ) + g sin = 0

1.2

(3)

Problem 7.34

q R-

y
6

y
6

- u
6
%
ym

xm
xM
-

X
-

q RQ
su
Q
rQ
%
-

(b) Unconstrained Coordinates

(a) Cartesian Coordinates

Figure 2: A particle sliding down a smooth circular wedge.


Consider a particle of mass m sliding down a smooth circular wedge of mass
M . The particle (denoted by subscript m) slides - not rolls. The wedge (denoted
by subscript M ) slides on a smooth horizontal surface.
Of course, you can always chose whatever coordinates you want but some
are more judicious than others. We will use X, r, from Fig. 2b . We can related
these unconstrained coordinates to the (perhaps more intuitive) cartesian coordinates of Fig. 2a .
Wedge:
xM = X
yM = 0
Particle:
xm = X + r cos
ym = r sin
3

x m = X + r cos r sin
y m = r sin r cos
Now this is really great because we can set up the energy in cartesian and then
talk about the unconstrained coordinates after their set up i.e.
U = mgym
= mgr sin

1
1 
2
T = M x 2M + m x 2m + y m
|2 {z } |2
{z
}
wedge

(4a)

particle

1
1 h
sin + r 2 cos2 2rr cos sin
= M X 2 + m X 2 + 2X r cos 2Xr
2
2
i
+r2 2 sin2 + r 2 sin2 + 2rr
sin cos + r2 2 cos2
=


1 
1
(M + m) X 2 + m r 2 cos2 + sin2
2
2
i

2 2
2
sin
+r cos + sin2 + 2X r cos 2X r

1
(M + m) X 2 +
2
L=T U
1
= (M + m) X 2 +
2
+ mgr sin
=

i
1 h 2
sin
m r + r2 2 + 2X r cos 2X r
2

(4b)

i
1 h 2
sin
m r + r2 2 + 2X r cos 2X r
2
(4c)

Now we can get the Lagrange equations for each of the two or three variables.
When we recognize that r = R right off the bat then there is no need for a
Lagrange multiplier and so we can completely solve the problem by the two
Lagrange equations for and X.
However, if we leave r as a variable and consider a third Lagrange equation
then we require a that connects them. By doing this we will learn about the
physical process that ensures r = R.
Since r = R is what we wish to ensure by including , the function f is
f (X, , r) = r R = 0 .

(5)

Notice,
f
= 0,
X

f
= 0,

f
=1
r

Lagrange Equation for X


L
d L
f

+
=0

X
dt X
X
L
d L

=0
X
dt X

(6a)

Lagrange Equation for


L
d L
f

=0
+

dt

L
d L
=0

X
dt X

(6b)

Lagrange Equation for r


L
d L
f

+
=0
r
dt r
r
L
d L

+=0
r
dt r

(6c)

We see that the equations for X and are no different than if we hadnt used
the multiplier but we have the extra equation for r which will give us the force
of constraint that ensures r = R i.e. the force of the wedge and the particle on
each other.
So now lets find the equations of motion from Eq. (6a) and Eq. (6b) (later
well find the force of constraint from Eq. (6c) ).
Lagrange Equation for X
d L
L

X
dt

 X

d
1 

=0
(M + m) X + m 0 + 0 + 2r cos 2r sin + 0
dt
2
h
i
sin r sin r2 cos
+ m r cos r sin r
= (M + m) X
h

i
+ m r cos 2r sin r sin + 2 cos .
= (M + m) X

0=

Applying the constraint r = R gives r = 0 = r so that we can see




mR sin + 2 cos
0 = (M + m) X
=
X



m
R sin + 2 cos
M +m

Lagrange Equation for


L
d L

dt
i
1 h
cos + mgr cos
= 0 + m 0 + 0 2X r sin 2X r
2 


d
1 
sin + 0

0 + m 0 + 2r2 + 0 2Xr
dt
2
h
i
cos + gr cos d r2 Xr
sin
= X r sin X r
dt
cos + gr cos
= X r sin X r
sin + X r sin Xr
cos
2rr r2 + Xr
h
i
h
i
sin .
= r X sin 2r + X sin + r g cos r + X

0=

(7)

Again r is constant so this reduces to


h
i
sin
0 = 0 + R g cos R + X
sin + g cos
R = X
sin + g cos
X
=
R

(8)

i.e. X and are given by two second order coupled ODEs.


Since we kept r as a variable in Eq. (4c) we are already in the perfect
position to find the Lagrange multiplier from Eq. (6c) .
L
d L

+
r
dt r
h
i
1
= 0 + m 0 + 2r2 + 0 2X sin + mg sin
2 


d
1 

0 + m 2r + 0 + 2X cos 0 + 0 +
dt
2


cos X sin +
= r2 X sin + g sin r + X
m

0=

cos
= r2 g sin + r + X
m
Now using that r = R and r = 0 = r we can say


cos
= m r2 + g sin X

(9)

= Fr
where we have explicitly put a minus sign in to remind us that this constraining
force, normal to the circular surface is centripetal and has a direction inward.
to get Fr in terms of and only by
We can use our solutions for and X

solving Eq. (7) and Eq. (8) for X.




m
R sin + 2 cos
M +m

m 
=
X sin2 + g cos sin + R2 cos
M +m

m 
m
2

X sin =
g cos sin + R2 cos
X
M +m
M +m




m
m 
1
X
1 cos2
=
g cos sin + R2 cos
M +m
M +m



M
m
m 

X
+
cos2 =
g cos sin + R2 cos
M +m M +m
M +m



M + m cos2 = m g cos sin + R2 cos
X
=
X

2
= m g cos sin + R cos
X
M + m cos2

(10)

we can give Fr to be
)
With X(,


cos
Fr = m R2 + g sin X
g sin cos2 + R2 cos2
= m R2 + g sin m
M + m cos2

M R2 + M g sin + Rm2 cos2 + gm sin cos2


M + m cos2
!
g sin cos2 + R2 cos2
m
M + m cos2


m
2 + M g sin
=
M
R

M m cos2

= m



mM R2 + g sin
Fr =

M m cos2

(11)

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