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Constrained Motion and Generalized Coordinates

The document discusses constrained motion and generalized coordinates. It introduces k constraints that reduce the number of degrees of freedom from 3N to 3N-k. Generalized coordinates are then defined as the 3N-k independent coordinates that fully specify the system's state. D'Alembert's principle states that forces of constraint do no work under virtual displacements, allowing Newton's second law to be rewritten without these forces. Lagrange's equations then reformulate D'Alembert's principle in terms of generalized coordinates, resulting in n-k equations of motion for the n-k generalized coordinates. For conservative systems, the generalized forces are given by the negatives of the potential energy gradients.

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171 views5 pages

Constrained Motion and Generalized Coordinates

The document discusses constrained motion and generalized coordinates. It introduces k constraints that reduce the number of degrees of freedom from 3N to 3N-k. Generalized coordinates are then defined as the 3N-k independent coordinates that fully specify the system's state. D'Alembert's principle states that forces of constraint do no work under virtual displacements, allowing Newton's second law to be rewritten without these forces. Lagrange's equations then reformulate D'Alembert's principle in terms of generalized coordinates, resulting in n-k equations of motion for the n-k generalized coordinates. For conservative systems, the generalized forces are given by the negatives of the potential energy gradients.

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Constrained motion and generalized coordinates

based on FW-13
Often, the motion of particles is restricted by constraints,
and we want to:
work only with
independent
degrees of freedom
(coordinates)
eliminate forces of
k=1 k=2 k = 2 (4) constraint
constraints correspond to forces

Motion of N particles, n = 3N degrees of freedom, subject to k


equations relating coordinates:

can be time dependent holonomic constraints


the system has n - k = 3N - k degrees of freedom!

65

Generalized coordinates:

cartesian coordinates any set of n - k = 3N - k independent


subject to k constraints coordinates that completely specify the system

change of a cartesian coordinate induced from changes in


generalized coordinates in dt:

partial derivatives!
(all other variables are kept constant)
or, in a compact way:

66
Virtual displacements:

i = 1, ..., n

are defined as infinitesimal, instantaneous displacements of the


coordinates consistent with the constraints.

67

DAlemberts Principle
based on FW-14
The forces of constraint do no work under a virtual displacement:

rotation about
point 1
(perpendicular
to tension)
forces of constraint are perpendicular to
the direction of motion and thus they do no work
We can rewrite Newtons 2nd law as:
or
applied force reaction force (constraint)

DAlemberts principle:

forces of constraint have disappeared!


68
Lagranges equations
based on FW-15
We want to rewrite DAlemberts principle in terms of the
generalized coordinates.

The applied force piece:

The virtual work done by


applied forces under
virtual displacement

generalized forces
can be calculated directly from this definition, or from
computing the virtual work done by applied forces for virtual
displacement along a given generalized coordinate

69

Juggling with time derivatives:

i i

only functions of q and t


function of generalized coordinates, generalized
velocities and time - all physically independent variables!
(if specified at a given time, subsequent motion of the system is determined)
useful formulas:

other variables are kept constant when taking partial derivatives

the order of partial


derivatives can be
interchanged

70
The momentum piece:

kinetic energy:

71

Now we can rewrite DAlemberts principle in terms of the generalized


coordinates:

generalized forces

kinetic energy

all q are independent and arbitrary


Lagranges equations:

n-k equations for n-k independent generalized coordinates


(equivalent to Newtons 2nd law)
72
For conservative forces (potential energy depends only on the position):

generalized forces are given by negative gradients with respect to


corresponding generalized coordinate:

Lagranges equations
for conservative forces:
Lagrangian

73

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