Classical Mechanics
LECTURE 26:
THE LAGRANGE EQUATION
EXAMPLES
Prof. N. Harnew
University of Oxford
HT 2017
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OUTLINE : 26. THE LAGRANGE EQUATION :
EXAMPLES
26.1 Conjugate momentum and cyclic coordinates
26.2 Example : rotating bead
26.3 Example : simple pendulum
26.3.1 Dealing with forces of constraint
26.3.2 The Lagrange multiplier method
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26.1 Conjugate momentum and cyclic coordinates
d ∂L ∂L
I The E-L equation is dt ∂ q̇k
= ∂qk with L = T − U
∂L
I Define conjugate (generalized) momentum : pk = ∂ q̇k
Note this is not necessarily linear momentum !
→ eg. simple pendulum L = 12 m`2 θ̇2 + mg` cos θ
∂L
→ ∂ θ̇
= m`2 θ̇ : which is angular momentum
∂L
I Following on, E-L equation reads ṗk = ∂qk
I If the Lagrangian L does not explicitly depend on qk , the
coordinate qk is called cyclic or ignorable
I With no qk dependence :
∂L ∂L
∂qk = 0 and pk = ∂ q̇k
= constant
The momentum conjugate to a cyclic coordinate is
a constant of motion
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26.2 Example : rotating bead
A bead slides on a wire rotating at constant angular speed ω in
a horizontal plane
I Polar coordinates v = ṙ r̂ + r θ̇θ̂
I L = T − U with U = 0
I L = 12 mṙ 2 + 12 mr 2 ω 2
I Single variable qk → r
d ∂L
I E-L dt ∂ ṙ
= ∂L
∂ ṙ
∂L d ∂L
∂ ṙ
= mṙ → dt ∂ ṙ
= mr̈
∂L
∂r = mr ω 2
I E-L → mr̈ − mr ω 2 = 0
Central force Fcentral = mω 2 r
I r = Aeωt + Be−ωt
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Example : rotating bead continued
What happens if the angular speed is now a free coordinate ?
I L = 12 mṙ 2 + 12 mr 2 θ̇2
I Two variables qk → r , θ
I r variable: as before
→ mr̈ − mr θ̇2 = 0
d ∂L ∂L
I θ variable: dt ∂ θ̇
= ∂θ
∂L
I
∂ θ̇
= mr 2 θ̇
∂L
I
∂θ =0
d
I E-L : mr 2 θ̈ = dt mr 2 θ̇ = 0
→ Conservation of angular
momentum
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26.3 Example : simple pendulum
Evaluate simple pendulum using Euler-Lagrange equation
I Single variable qk → θ
I v = ` θ̇
I T = 12 m`2 θ̇2
I U = −mg` cos θ
I L = T − U = 12 m`2 θ̇2 + mg` cos θ
∂L
m` 2 θ̇ → d ∂L 2
= dt ∂ θ̇ = m` θ̈
I
∂ θ̇
∂L
I
∂θ = −mg` sin θ
I E-L → m`2 θ̈ + mg` sin θ = 0
g
→ θ̈ + ` sin θ = 0
This is great, but note that the method
does not get the tension in the string
since
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` is a constraint (see next slide).
26.3.1 Dealing with forces of constraint
For the simple pendulum using Euler-Lagrange equation. The
method did not get the tension in the string since ` was constrained.
If we need to find the string tension, we need to include the radial
term into the Lagrangian and to include a potential function to
represent the tension:
I ` → r , add 12 mṙ 2 , add V (r )
I L = 12 mṙ 2 + 12 mr 2 θ̇2 + mgr cos θ − V (r )
∂L
= mṙ → dtd ∂L
I
∂ ṙ ∂ ṙ
= mr̈
∂L 2 ∂V (r )
∂r = mr θ̇ + mg cos θ − ∂r
I
∂V (r )
I −
∂r = (−T ) with T in the −r̂ dirn .
I E-L → mr̈ = mr θ̇2 + mg cos θ − T
I Reintroduce r̈ = 0 and r = `; v = r θ̇
mv 2
T − mg cos θ
= |{z} as expected from NII
r } | {z }
| {z Tension Weight
Centripetal force
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26.3.2 The Lagrange multiplier method
An alternative method of dealing with constraints.
Back to the simple pendulum using Euler-Lagrange equation · · ·
Before : single variable qk → θ. This time take TWO variables x, y but
introduce a constraint into the equation. L=T −U
I L0 = 12 m(ẋ 2 + ẏ 2 )+mgy + 12 λ(x 2 +y 2 −`2 )
λ is the Lagrange multiplier
0 0
d ∂L
I
dt ∂ q̇ = ∂L
∂qi (including λ)
i
x coord. → mẍ = λx (1)
y coord. → mÿ = mg + λy (2)
λ coord. → x2 + y2 − `2 = 0 (3)
(which reproduces the constraint)
Comparing with Newton II : mẍ = − Tx ` ; mÿ = mg − Ty` .
We see from the NII approach the Lagrange multiplier λ is
proportional to the string tension λ = − T` and introduces force
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