Constraints 1
Constraints 1
Introduction:
Definition of Constraints:
A constraint is a condition which some how limits the motion of a system. For
example, a particle may be considered to remain on a given surface or line or two
particles may br constrained such that the distance between them remains constant. In
such cases the constraints arise from the physical problem being analyzed.
Similarly, when a solid body is observed to roll over a surface, the rolling
condition may be inserted as a constraint instead of introducing assumptions about the
forces which act at the point of contact between the body and the surface. Thus it can be
seen that constraints are often introduced in order to simplify the analysis by specifying
the effect of forces which need not then be considered. However it should be understand
that there are always forces associated with any constraint. These are referred to as the
forces of constraint.
Constraints of motion:
Where i=1,2,.....N
(In fact, there are 3N equations to be solved, if we remember the vector nature of the
equations)
However,this is a simplified view. We should always take into account the
constraints. If any of the system.
Thus, the term constraint is defined as the presence of certain restriction on the
motion of the system. These constraints can be expressed by mathematical equations
involving the position and/or velocities of the particles. The equations of constraints
reduce the degrees of freedom to value less then 3N.
Classification of constraints:
A non-holonomic system is one which has at least one constraint which cannot be
written in the above form. Thus, non-holonomic constraints have been defined to include
every type of constraints which cannot be used to reduce the number of parameters of
the system.
Thus all types of inequality constraints are clearly non-holonomic. However, the
most frequently quoted examples of non-holonomic constraints are rolling conditions. It
is given by
r2 - a2 ≥ 0
constraints of this type are usually expressed in terms of relationships between the
derivatives of the parameters which describe the system.
Simple rolling conditions are represented as linear equations in the derivatives or
velocities, but the co-efficient are generally functions of the parameters. Normally, such
equations cannot be integrated. Of course, if they could be integrated this would give a
relation between the parameters and the constraints would be holonomic. Thus all non-
integrable constraints which relate the parameters and their derivatives are necessarily
non-holonomic.
Example:
For holonomic constraints.
In a rigid body the distance between any two particles remains constant during the
motion of the body. This can be expressed as
│ ri – aj│=c, a constant.
Or ( ri – aj )-c2 =0
Example:
For Non-holonomic constraints.
Proposition:
The dimension of the space describing the configurations of a system is reduced
by the introduction of holonomic constraints but not by non-holonomic constraints.
It can also seen that, since the forces of constraints which act on the two particles
are equal and opposite, the total work done by these forces is zero in any motion of the
particle which satisfies the constraint.
Rheonomic constraints, on the other hand, always introduce an explicit time
dependent in to the motion of a system, and the forces associated with then necessarily
do work. They are therefore some times referred to as 'moving constraints'. For example,
the constraints that the distance between two particles is a given function of time is
holonomic and rheonomic. In this case it can clearly be seen that the forces of
constraints must do work, and since work is done and the energy of the system is altered.
It can therefore be seen that in rheonomic systems the total energy cannot be constant.
Example:
Rhenomous and Scleronomous constraints:
If the particle constrained by the inside instead of out side of the spherical surface,
then the constraining force must point inward. A common example of this kind of
constraint is a pendulum consisting of a bob supported by a massless flexible string. On
the other hand, for a pendulum consisting of a bob supported by a massless rigid rod, the
containing force may be either inward or outward.
Constraints of this kind, which do not allow the particle to leave the surface of
constraint, are called bilateral. Constraints which confine a particle to one side of a
surface are called unilateral.
If the total mechanical energy of the system is conserved while performing the
constrained motion and the constrained motion and the constrained forces do not do any
work, then such a constraints are termed as conservative.In contrary, constraint forces do
work and total mechanical energy is not conserved then it is termed as dissipative
constraints.
Problems in Constraints:
i.e., r=r1(q1,q2,.......q3N-K,t)
.
.
.
.
.
rN=rN(q1,q2,.......q3N-K,t)
these are transformation equations from the set of (rl) variables to the (ql) set. It is
assumed that we can also transform from (ql) to (rl) set and these equations combined
with K equations of constraints can be inverted to obtain any (ql) as a function of the (rl)
variable and time.
In the case of non-holonomic constraints, the equations expressing the constraint
can not be used to eliminate the dependent co-ordinates. An oft-quoted example of a
non-holonomic constraints is that of an object rolling on a rough surface without
slipping.
A simple case will illustrate the above point. Consider a disk rolling on the
hoprizontal xy plane constrained to move so that the plane of the disk is always vertical.
The co-ordinates used to describe the motion might be the x,y co-ordinates of the centre
of the disk, an angle of rotation Ø about the axis of the disk and the angle a between the
the axis of the disk and say x axis. Then we have two differential equations of
constraints.
dx-a sinθ dØ = 0,
dy+a cosθ dØ = 0.
Neither of the above equations can be integrated with out in fact solving the problem,
and hence the constraints cannot be reduced to form of equations f( r1,r2,...................... t) = 0
and therefor non-holonomic.
Proposition:
Non-integrable differential constraints of the form of equations are of course not
the only type of non-holonommic constraints, the constraints conditions may involve
higher order derivatives or may appeared in the form of inequalities, as we have seen.
Table:1
Classification of constraints:
Text books:
5. Dynamics
-M.Narayanamurthi
N.Nagarathinam
Published by: The National book house
Web sites:
1. en.wikipedia/constraints//
2. http://www,physicsforums.com
3. http://physics.org
4. www.ncsu.edu/imse/1/physics.htm
SCHOOL OF PHYSICS
BHARATHIDASAN UNIVERSITY
TIRUCHIRAPPALI-24
ASSIGNMENT
ASSIGNMENT NO: 01
SUBJECT: Constraints
NAME: P.A.Praveen
ROLL.No: 16