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This document discusses Lagrangian and Hamiltonian dynamics for an oscillating system. It presents the Lagrangian equations of motion for a system with two oscillating angles θ1 and θ2 connected by a bar of length b. The Lagrangian is defined in terms of the kinetic and potential energy of the system. This leads to two coupled differential equations of motion, one for each oscillating angle θ1 and θ2, in terms of the angles and their derivatives with respect to time. It then considers the special case of small angle oscillations θ and derives the Lagrangian and equations of motion for this simplified case in terms of a single oscillating angle θ and bar length b.

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42 views1 page

D D L D L DX G B B DT DT DT DT D B DT L D L DT D D D DX G B B B DT DT DT DT

This document discusses Lagrangian and Hamiltonian dynamics for an oscillating system. It presents the Lagrangian equations of motion for a system with two oscillating angles θ1 and θ2 connected by a bar of length b. The Lagrangian is defined in terms of the kinetic and potential energy of the system. This leads to two coupled differential equations of motion, one for each oscillating angle θ1 and θ2, in terms of the angles and their derivatives with respect to time. It then considers the special case of small angle oscillations θ and derives the Lagrangian and equations of motion for this simplified case in terms of a single oscillating angle θ and bar length b.

Uploaded by

Cherry
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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HAMILTONS PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS 231

L d L d 2 1 d2 x d 2 2
= 2 g sin 1 = 2b + 2 cos + b cos( 1 2 )
1 dt 1
1
dt 2 dt 2 dt 2

d
2

+ b 2 sin( 1 2 )
dt
L d L
=
2 dt 2

d 2 2 d 2 x d 2 1 d
2

g sin 2 = b + cos + b cos ( 1 2 ) b 1 sin ( 1 2 )


dt 2
dt 2 2
dt 2
dt

7-41. For small angle of oscillation we have

1 2 d
2 2
1 db
T= mb + m and U = mgb cos
2 dt 2 dt
So the Lagrangian reads

1 2 d
2 2
1 db
L = T U = mb + m + mgb cos
2 dt 2 dt
from which follow 2 equations of motion

L d L d d
2
d2b
= b + g cos = 2 =
b dt b dt dt dt

L d L db d d 2 d d 2
= mgb sin = 2mb + mb 2 2 = 2mb + mb 2 2
dt dt dt dt dt dt

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