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Hamilton's Principle

This document discusses principles and equations for modeling dynamic systems, including Hamilton's principle and Lagrange equations. It provides examples of using these principles and equations to derive equations of motion for conservative systems. Specifically, it shows how Lagrange's equations can be used to derive the equations of motion for a bead sliding along a rotating hoop, which would be difficult to solve using Newton's second law alone. The document suggests these principles and equations provide simplified approaches for obtaining equations of equilibrium and motion compared to other analytical methods.

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letter_ashish4444
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212 views8 pages

Hamilton's Principle

This document discusses principles and equations for modeling dynamic systems, including Hamilton's principle and Lagrange equations. It provides examples of using these principles and equations to derive equations of motion for conservative systems. Specifically, it shows how Lagrange's equations can be used to derive the equations of motion for a bead sliding along a rotating hoop, which would be difficult to solve using Newton's second law alone. The document suggests these principles and equations provide simplified approaches for obtaining equations of equilibrium and motion compared to other analytical methods.

Uploaded by

letter_ashish4444
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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Hamiltons principle and Lagrange

equations
For static problems we can use the principle of
minimum potential energy to simplify obtaining
equations of equilibrium
For dynamic problems, strangely enough, it is
the difference between kinetic and potential
energy that provides the same service
This device, originally developed to simplify
derivations for analytical treatments is of great
use for numerical models
6.4 The Extended Hamilton Principle
Starting with DAlembert
We do a bit of algebra on the acceleration term
( )
1
1
0
N
i i i
i
N
i i
i
m
W m


=
=
=
=

F r r
r r

( )
1
2
i i i i i i
i i i i i i i
d
m m m
dt
m m m T


= +

= + = +


r r r r r r
r r r r r r


Derivation completed
2 2
2
1
1 1
t t
t
i i i i i
t
t t
m dt Tdt m =

r r r r
Integrating over time
How can we get rid of
the integrated term?
Summing
Get Hamiltons
extended principle
( )
2 2
2
1
1
1
1
0
t
t
t t
N
i i
i
t t
T W
m dt Tdt
dt


=

+
=
=

r r
Lagrangian (Joseph-Louis)
Can separate work to conservative
and nonconservative parts
For conservative system
L is the Lagrangian and delta refers to
kinematically admissible perturbations
c nc nc
W W W V W = + = +
2
1
0
t
t
Ldt L T V = =

6.5: Lagrange equations


For solving problems, must express Lagrangian in
terms of generalized coordinates
Similarly for perturbations
Some algebra: Euler Lagrange equations
1, , 1, , 1, ,
( , ) ( )
n n n
T T q q q q V V q q = =


1
1 1
,
n
k k
k
k k
n n
k nc k k
k k
k
T T
T q q
q q
V
V q W Q q
q


=
= =


= +


= =

k
k k k
k
k k
d T T V
Q
dt q q q
d L L
Q
dt q q


+ =





=


Problem 6.12
Use the Euler Lagrange equations to
derive the equations of motion of a bead
sliding along a rotation hoop
Why is it difficult to solve
from Newtons 2
nd
law?
Solution
Kinetic and potential energies
Lagranges equation
( )
2 2 2 2 2
1 1
sin ,
2 2
1 cos
T mR mR
V mgR

= +
=

2 2 2
2
sin cos sin 0
cos sin 0
d T T V
dt
mR mR mgR
g
R





+ =



=

+ =

Newtons law
interpretation?
Reading assignment
Sections 7.1,7.2
Source: www.library.veryhelpful.co.uk/ Page11.htm

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