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Constraints 1

Constraints limit the motion of a system. Holonomic constraints can be expressed as relationships between parameters including time, while non-holonomic constraints cannot. Scleronomic constraints do not depend on time, while rheonomous constraints do. Bilateral constraints confine a particle to one side of a surface, while unilateral constraints allow a particle to leave a surface. Conservative constraints conserve energy, while dissipative constraints do not. Constraints reduce the degrees of freedom of a system and introduce forces of constraint.

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100% found this document useful (2 votes)
2K views9 pages

Constraints 1

Constraints limit the motion of a system. Holonomic constraints can be expressed as relationships between parameters including time, while non-holonomic constraints cannot. Scleronomic constraints do not depend on time, while rheonomous constraints do. Bilateral constraints confine a particle to one side of a surface, while unilateral constraints allow a particle to leave a surface. Conservative constraints conserve energy, while dissipative constraints do not. Constraints reduce the degrees of freedom of a system and introduce forces of constraint.

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© Attribution Non-Commercial (BY-NC)
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Constraints

Introduction:

When considering applications of the theory of systems of several particles, it is


not usual for the individual particles to be permitted to move perfectly freely. For
example, when analyzing the motion of a body in terms of component particles , it is
usually assumed that each particle must remain at a fixed point of the body. In such a
cases it is necessary to impose certain conditions are referred to as constraints.

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.

They are introduced in an attempt to simplify the theoretical analysis by


specifying an aaspect of the motion that is already known. For example, the constraints
that a particle remains on a surface may be introduced instead of a set of assumptions
about the forces which act in order to keep the particle on the surface.

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:

Let us consider a system of N particles. It seems that we can analyses the


mechanical system by solving N second order differential equations of the type

d2 /dt2 (miri) = Fi (e) + ∑ Fji


j

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:

The constraints of the mechanical system can be broadly classified as follows:

1. Holonomic and Non-Holonomic constraints


2. Rhenoums ancd Scleronomus constraints
3. Bilateral and Unilateral constraints
4. Conservative and Dissipative constraints

1.Holonomic and Non-Holonomic constraints:

A constraint which can be expressed as a functional relationship between the


parameters of a system including, possibly, time is described as being holonomic. A
constraint which cannot be expressed in this way is described as being non-holonomic.

If the parameters of the system are denoted by r1,r2,.......................rn, then a holonomic


constraint is one which can be expressed in the form
f( r1,r2,.......................t) = 0

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.

A particle sliding on a smooth sphere. The equation of constraint is r2 - a2 ≥ 0.


where, r is the distance of the particle from the center of the sphere and a is the radius of
the sphere.

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.

2.Rhenomous and Scleronomous constraints:

In addition to the above classification it is convenient to introduce another


distinction between different types of constraints. This second classification is based on
the question as to whether or not a constraint is time dependent.The constraint which do
not explicitly depend on time are described as Scleronoimic. Time dependent constraints
are described as Rhenomic.

Scleronomic constraints are some times alternatively described as 'fixed' or 'work


less', since the forces associated with these constraints do not net work in an arbitrary
displacement of the system. For example, the constraints that two particles move in such
a way that their distance apart is constant is clearly both holonomic and scleronomic.

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:

A bead sliding on a rigid curved wire fixed in space is obviously subject to


scleronomous constraint: if the wire is moving in some prescribed fashion, the constraint
is rheonomous. Note that if the wire moves, say, as a reaction to bead's motion, then the
time dependence of the constraint enters in the equation of the constraint only through
the co-ordinates of the curved wire. (which are now part of the system co-ordinates).
The overall constraint is then scleronomous.

3.Bilateral and Unilateral 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.

(Co-ordinate curves and tangent vectors on a surface constraint)


4.Conservative and Dissipative constraints:

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:

Constraints introduce two types of difficulties in the solution of mechanical


problems. First, the co-ordinates ri are no longer all independent, since they are
connected by the equations of constraint: hence the equations of motion are not all
independent. Second, the forces of constraints, e.g., the force that the wire exerts on the
bead, is not furnished a priori. They are among the unknowns of the problem and must
be obtained from the solution we seek.
In case of holonomic constraints, the first difficulty is solved by the introduction
of generalized co-ordinates. So far we have been thinking implicitly in terms of cartesian
co-ordinates.
A system of N particles, free from constraints, has 3N independent co-ordinates or
degrees of freedom. If there exist holonomic constraints, expressed in K equations in the
form
f( r1,r2,...................... t) = 0
then we may use these equations to eliminate K of the 3N co-ordinates and we are left
with 3N-K independent co-ordinates and the system is said to have 3N-K degrees of
freedom.
The elimination can be done by in another way by introducing 3N-K independent
variables q1,q2,.......q3N-K

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.

The constraints of rolling connects two sets of co-ordinates-orientation of the


body and location of the point of contact on the surface and they are not independent. A
change in position means (or associated) with a change in orientation. So, we cannot
reduce the number of co-ordinates to the form
f( r1,r2,...................... t) = 0. Also, it is a condition on velocities (i.e., the point of contact is
stationary), a differential condition that can be given in an integrated form only after the
problem is solved.

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:

S.No Type of constraint Description


1. Holonomic Constraint relations are or can be
made independently velocities. (x,y,z)

2. Non-Holonomic Constraints relations are not


holonomic.

3. Scleronomic Constraint relations are do not


explicitly depend on time.

4. Rheonomic Constraint relations depend explicitly


on time.

5. Bilateral At any point on the constraint surface


both the forward and backward
motions are possible. Constraint
relations are not in the form of
inequalities but are in the form of
equalities.

6. Unilateral At some points no forward motion is


possible. Constraint relations are
expressed in the form of inequalities.

7. Conservative Total mechanical energy of the system


is conserved and constraints relations
are expressed in the form of
inequalities.
8. Dissipative
Constraint forces do work and total
mechanical energy is not conserved.
References:

Text books:

1. Classical mechanics (3rd edition)


- Herbert Goldstein
Charles Poole
John Safko
Published by: Pearson education

2. Classical mechanics (2nd edition)


-Herbert Goldstein
Published by: Pearson education

3. New foundations for classical mechanics


-Davi Hestenes
Published by: D.Reidel Publishing company

4. Theory of classical mechanics


-J.B.Griffiths
Published by: Cambridge university press

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

DATE: 05 August, 2009

NAME: P.A.Praveen

ROLL.No: 16

PROGRAMME: 1ST M.Sc.,

COURSE: Classical mechanics

Signature of Course Teacher

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