Scribd
Upload
71 views

Classical Mechanics The Lagrange Equation Derived Via The Calculus of Variations

This document outlines a lecture on deriving the Lagrange equation via the calculus of variations. It introduces the Lagrangian and shows how minimizing an action integral subject to boundary conditions leads to the Euler-Lagrange equation. This equation gives the conditions for a physical system to follow the path that makes the action stationary. Examples are provided to demonstrate Fermat's principle, Snell's law, and Hamilton's principle of least action.

Uploaded by

abi
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
71 views

Classical Mechanics The Lagrange Equation Derived Via The Calculus of Variations

This document outlines a lecture on deriving the Lagrange equation via the calculus of variations. It introduces the Lagrangian and shows how minimizing an action integral subject to boundary conditions leads to the Euler-Lagrange equation. This equation gives the conditions for a physical system to follow the path that makes the action stationary. Examples are provided to demonstrate Fermat's principle, Snell's law, and Hamilton's principle of least action.

Uploaded by

abi
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 10

Classical Mechanics

LECTURE 25:
THE LAGRANGE EQUATION
DERIVED VIA THE
CALCULUS OF VARIATIONS
Prof. N. Harnew
University of Oxford
HT 2017
1
OUTLINE : 25. THE LAGRANGE EQUATION DERIVED
VIA THE CALCULUS OF VARIATIONS

25.1 The Lagrangian : simplest illustration

25.2 A formal derivation of the Lagrange Equation


The calculus of variations

25.3 A sanity check

25.4 Fermat’s Principle & Snell’s Law

25.5 Hamilton’s principle (Principle of Stationary Action)

2
25.1 The Lagrangian : simplest illustration
The Lagrangian : L = T − U
I In 1D : Kinetic energy T = 21 mẋ 2 No explicit dependence on x
Potential energy U = U(x) No explicit dependence on ẋ
I Define the Lagrangian in 1D : L = 21 mẋ 2 − U(x)
∂L ∂L
I
∂ ẋ
= mẋ and = − ∂U
∂x gives
∂x force F

d ∂L
I Differentiate wrt time : dt ∂ ẋ
= mẍ = F
I Hence we get
 the Euler - Lagrange equation for x :
d ∂L ∂L
dt ∂ ẋ = ∂x
I Now generalize : the Lagrangian becomes a function of 2n
variables (n is the dimension of the configuration space).
Variables are the positions and velocities
L(q1 , · · · , qn , q̇1 , · · · , q̇n )
 
d ∂L ∂L
dt ∂ q̇k
= ∂qk
Next we expand on this concept.
3
25.2 The calculus of variations
I Take 2 points A(x0 , y0 ) and B(x1 , y1 )
I Curve joining them is represented by
equation y = y(x) such that y (x)
satisfies the boundary conditions :
→ y (x0 ) = y0 , y (x1 ) = y1
I We want to find the function
y = y(x) subject to the above
conditions which makes the closest
path between the points a minimum.
(note that this differs from what we
are used to. We are not minimizing a
set of variables here but a function).

I This is the calculus of variations. A branch of mathematics


that deals with functionals as opposed to functions.

4
The calculus of variations, continued (1)
I We assume the unknown function f is a continuously
differentiable scalar function, and the functional to be minimized
depends on y (x) and at most upon its first derivative y 0 (x).
I We then wish to find the stationaryR values of the path between
x
points: an integral of the form I = x01 f (y, y 0 , x)dx
→ f (y, y 0 , x) is a function of x, y and y 0 (the first derivative of y )
I Consider a small change δy (x) in the
function y (x) subject to the conditions that
the endpoints are unchanged :
→ δy(x0 ) = 0 and δy(x1 ) = 0
I To first order, the variation in f (y, y 0 , x) is
∂f ∂f 0 2 02
δf = ∂y δy + ∂y 0 δy + O(δy , δy )
d
where δy 0 = dx δy
I Thus the variation in the integral I is
R x h ∂f ∂f d
i
δI = x01 ∂y δy + ∂y 0 dx δy dx
5
The calculus iof variations, continued (2)
R x1 h ∂f ∂f d
I δI = x0 ∂y δy + ∂y 0 dx δy dx
I Integrate the second term by parts
h ix1 R  
R 2nd ∂f x d ∂f
term = ∂y 0 δy − x01 dx ∂y 0 δy dx
x0
h i x1
∂f
The ∂y 0
δy term = 0 due to the
x0
conditions on the end points
I Hence h  i
R x ∂f d ∂f
δI = x01 ∂y − dx ∂y 0 δy dx
I For I to be stationary, δI = 0 for any
small arbitrary variation δy (x)

I This is only possible if the integrand vanishes identically


I Hence we get out the Euler-Lagrange Equation
 
∂f d ∂f
∂y
− dx ∂y 0
=0
6
The calculus of variations, continued (3)
I So far we have used x as the independent
variable with a functional f which is a
function of (y (x), y 0 , x)
I Throughout we could have used other
variables, in particular time t and
generalized coordinates q1 , · · · , qn and
derivatives q̇1 , · · · , q̇n . The principles would
have been the same.
I The integral
Rt
I = t01 f [q1 (t), · · · , qn (t), q̇1 (t), · · · , q̇n (t)] dt
must be stationary wrt variations in any one
& all of the variables q1 (t), · · · , qn (t) subject
to the conditions δqi (t0 ) = δqi (t1 ) = 0
I We get the n Euler-Lagrange equations for i = 1, · · · , n
 
∂f d ∂f
∂qi
− dt ∂ q̇i
=0
The E-L equations give the conditions for the closest path between points
7
25.3 A sanity check
The shortest distance between 2 points.
I Consider 2 neighboring points on the curve y (x) subject to
boundary conditions y(x0 ) = y0 , y (x1 ) = y1
p
I Distance between the points d` = dx 2 + dy 2
p p
I d` = 1 + y 02 dx f ≡ 1 + y 02
 
∂f d ∂f
I The Euler-Lagrange Equation ∂y − dx ∂y 0 = 0
 
∂f ∂f √ y0 d ∂f
I
∂y = 0 , ∂y 0 = 02
, dx ∂y 0 = 0
1+y
0
I Hence √y = constant, hence y 0 is constant
1+y 02
→ y = mx + c
I We have proved that the shortest distance between 2
points is a straight line !

8
25.4 Fermat’s Principle & Snell’s Law
Fermat : The actual path that a light ray propagating between one
point to another will take is the one that makes the time travelled
between the two points stationary.
Question: at which point (x, 0) will the ray hit the interface between
the two media to propagate from A to B?

I Time taken from A to B :


1
1 1
1
(x − x1 )2 + y12 2 + (x2 − x)2 + y22 2
 
t(x) = v1 v2

I The Euler-Lagrange Equation


 
∂t d ∂t
∂x
− dy ∂x 0
=0 (where the second term = 0)
∂t 1 x−x1 1 x2 −x
I
∂x
=0= v1 1 − v2 1
[(x−x1 )2 +y12 ] 2 [(x2 −x)2 +y22 ] 2
sin θ1 sin θ2
I
v1 − v2 =0

n1 sin θ1 = n2 sin θ2 Snell’s Law


9
25.5 Hamilton’s principle (Principle of Stationary Action)

I Consider for example a particle of mass m at point (xA , yA )


moving under the influence of a force in the x − y plane.
We want to find the path that the particle will follow to
reach a point (xB , yB ).
I Hamilton’s principle: the path that the particle will take from
A to B is the one that makes the following functional
stationary :
RB
I = A L (q1 (t), · · · , qn (t), q̇1 (t), · · · , q̇n (t)) dt
where L is the Lagrangian, I is called the action integral
I Hence the action integral I is stationary under arbitrary
variations q1 (t), q2 (t) · · · which vanish at the limits of
integration ie. A and B.

10

You might also like