Classical Mechanics: From Newtonian to Lagrangian Formulation

Prof. Debmalya Banerjee

Lecture - 01
Review of Newtonian mechanics

Hello and welcome to this course of classical mechanics. Now in this course we will be
starting from basic, Newtonian mechanics. And look into different aspects of Newtonian
mechanics starting from standard equations of motion. Then work energy resistance
motion and registry medium. Slowly and slowly we will progress to moving coordinate
systems central orbit rigid dynamics. And eventually we will go forward into lagrangian
dynamics. So, in this entire course it will be a 30 hours’ lecture, as you might already
know and you have must you have seen the syllabus.

So, I will not bother to go into the details of that, but what I will start with is giving you a
list of reference books. So, the first reference book which I would like to show you is this
one, this is sorry the classical mechanics by Herbert Goldstein. It is not a very easy I
mean it is not a very easy reading, but it is a wonderful book and I would request all of
you to have one copy of each. Now this one it is theoretical mechanics by Spiegel. And it
is a book which is which is full of problems every simple theories are also described as
assume these are some small problems. And this is also very good book and I would
request you also to have one copy of this. Then the other books which is strongly
recommend is this short note book is a very thin book which is by a very famous very
well-known reputed even in professor Amal Kumar Raychaudhuri, who has a professor
in Calcutta university. And it is a collection of his class notes essentially and this is also
very good books specially for the advanced topics.

And finally, there is this book which is classical mechanics and general properties of
matter by S S Mighty and Devi Prasad Roy Chowdhury, which is primarily used in
certain universities of West Bengal, but there are certain things which will be specially
made which I will mention specially during the lecture. For example, certain chapters
related to rocket motion and all which will be which you will find nowhere, but only in
this book. So, as the class progresses slowly and slowly we will we will see the difficulty
level will increase. And at certain times I might refer to one of these 4 books and maybe
some other books which is also mentioned in the syllabus. And slowly and slowly we
will go into the details of the subject.

Now, let us start with the review of classical mechanics review of basic Newtonian
mechanics as you can call it. So, we know all know that the fundamental equation is F
equal to m a.

(Refer Slide Time: 03:27)

So, this is the fundamental equation which comes from Newton’s second law as a
consequence of Newton’s second law. And this is the most fundamental equation of
Newtonian mechanics. Now if we break this term we know that this is nothing, but r
double dot which essentially means m d 2 r d t 2.

Now, please keep in mind that this equation is valid only for systems with constant mass.
So, this equation is valid for systems with constant mass. If the mass of the system is also
changing then this equation is not strictly valid, and we will have one additional term
which will see when will be discussing rocket motion. Now for, now let us assume that
the systems which we are considering in this class and few next few hours, where the
systems are with constant mass. And we are we have this vector equation that F equal to
m second derivative of the position vector. Now we can rearrange this equation slightly
and we can write it as m d v d t where v is equal to d r d t. And then we can slightly
rearrange it once again and we can write this as d r to d r d t.
Now, if you look at this term here this is nothing, but u v. So, this can be written as m v d
v d r. Now if we consider motion in one, one dimension one d motion then your v is
nothing, but d x d t and r is nothing, but x. And this entire equation vector equation can
be reduced to m v d v d x which can also be written as F m v d v d x is sorry, there is no
vector sign here. So, this equation is the scalar equivalent of this same equation in one
direction one dimensional motion when the motion is only allowed x direction.

Now, in this form this equation, if you compare it with the standard F equal to m d v dt,
where sorry where v is the velocity along x direction. So, this is simply arrangement of
this this equation here, but this equation in this particular form is very useful as will see
very soon. Now let us try to see let us try to review some fundamentals of classical
mechanics Newtonian mechanics by using this form. And please keep in mind that will
be using systems with constant mass. So, I will just leave this line here I am not remove
it. Now let us assume that one particle of mass m which is again a system with constant
mass is moving from point 1 to point 2. And the work done which is can be written as w
1 to is as we all know from the fundamental principles of mechanics is F dot d r.

(Refer Slide Time: 08:22)

Now, once we use the modified form of this force F, we can rearrange this to write F
sorry. So, essentially we replace F with d r dot d r. So, this will be nothing, but m v dot d
v, which is nothing, but half sorry m integration 1 to 2, d of v square sorry. There will be
a factor of 2 coming here, because of this change in notation. So, it will give us half m v
2 square minus v 1 square.

Now, if we consider at the same time, that this force field F is the conservative force
field, then what we get? Then, according to the definition of conservative force field, we
know that for any conservative force field called of F is equal to 0. I am I am sure that
you are familiar with this particular operator, it is the it is the delta operator and it is
written as del del x, i cap plus del del y j cap plus del del set k cap. So, it is essentially a
vector operator. And this particular operation is the curl operation which is a cross
product between this operator and this force filed F.

Now, this will be true if and only if force F can be written it written as gradient of some
scalar field phi. Now this is the definition of conservative force field and this
conservative this equation is valid only if F can be represented as gradient of some
potential function phi. This negative sign essentially imp implies that the force increases
in the direction where phi degrees. So, this has some other implications which will be
discussing later on this negative sign now. For now, if this is the case then curl of F is
curl of grad of phi and from our vector calculus, we know that curl of grad of something
some scalar field will always be equal to 0. So, if this is the case then this will be a valid
equation.

So, now if we go back to this work done w 1 2 which will be equal to F dot d r, we can
write this as integration or w 1 2 as integration 1 2 2 F dot d r, which will be 1 to 2 minus
grad phi dot d r. Now this d r is any arbitrary displacement, arbitrary small displacement
vector in this entire xyz coordinate system. So, d r has is general form of d r equal to d x
i cap plus d y j cap plus d z k cap. I will just write it once again it might not be.

So, d r equal to d x i cap plus d y j cap plus d z k cap. So, this equation this integration, if
you if you commute the if you complete this dot product between grad phi and d r then
we are we will essentially get integration 1 to 2, del del phi del is d x plus del phi del y d
y plus del phi del z d z. And this whole thing from the fundamentals of differential
calculus this entire term is nothing, but integration 1 to 2 d phi, phi being a function of x
and y and z.

Please remember this phi here is a function of x and y and z. So, d phi is del phi del x d x
plus del phi del x d y plus del phi del z d z. So, then this equation the integration will
essentially give us phi 2 minus phi 1. Now let us compare this 2 we do not get this. We
know now if we compare this 2 w 1 2 expressions we have got from both sides. So,
essentially we what we get is half m v 2 square minus v 1 square equal to phi 2 minus
phi 1. And rearrangement essentially gives half m v 1 square plus phi 1 equal to half m v
2 square plus phi 2.

And this is our family expression of conservation of total energy. This part is the kinetic
energy. This is the potential energy of the particle at point 1. Similarly, this is the
potential energy kinetic energy of the particle and potential energy of the particle at point
2. So, we see when we when a system with constant mass is moving we in a conservative
force field then the total mechanical energy at point 1. And point 2 remains the same
which is the very well-known principle we just derived it using this slightly different
form of the force F.

(Refer Slide Time: 16:50)

So, this is one thing I wanted to discuss, next we would like to define what is meant by
an inner inertial frame.

Now, in inertial frame is a frame of reference in which or let us say let us defined it in
this way we have 2 inertial frames. And we tried to we tried to construct the equation of
motion of a particle moving in a conservative force field or any 4 field that that is to say
in both the frames. So, we have a framework one, with coordinate systems let us say o
prime, x prime, y prime, z prime. And let us say this is the particle of our interest and this
particular coordinate system this particle has a vector position vector as r prime assuming
there is another coordinate system which is given as o x y z.

The same position same particle has position vector which is described as r in this
particular system. So, we have one frame which is x prime y prime z prime another
frame which is xyz, we have the position vector of same particle please remember the
particle remains the same, but the position the reference frames are different. So, in one
reference frame this is given as r prime in another reference frame this is given as r. And
let us assume, let us say that the origin of this 2 frames are connected by this vector
capital R. So, from the triangular law of vector addition, we can immediately write an
equation which is r prime is equal to R plus bar, small r prime is equal to capital R plus
small r.

Which comes from the triangular law of vector addition, now if you take time derivative
by the way time derivative this operator is equivalent of placing a dot. Let us say if d a d
t then is equivalent to saying a dot. So, if you take time derivative of this equation we get
d t equal to d r d t plus d r d t. Now assume that this frame is fixed and this frame is
moving. So, this is the frame which is fixed in space. And this is the frame which is
moving with respect to this frame. So, the velocity of this frame the movement of this
frame is given by or I will just write it as capital V is equal to r dot right. Going back to
this equation we can write r prime equal to v plus r dot.

Now, if we take the second derivative, then we have r double dot sorry r double dot
prime is equal to v dot plus r double dot double dot is equivalent to take taking 2 time
derivatives. Now this equation if we just remembered the fundamental form of
Newtonian equation which is m d 2 r or rather m r double dot is equal to F. Now if we
recall this is the fundamental form of Newtonian fundamental equation ah force equation
of Newtonian mechanics. Then if we have a velocity v which is not a constant then
definitely, we have r double prime dot sorry r prime double dot is not equal to r double
dot.

But if you have a situation where this velocity is a constant, then we immediately see this
term cancels out and we have equal to so; that means, if this frame this particular frame
is moving with a constant velocity with respect to this frame then the equation of motion
of this particular particle whether we construct it is a con construct this equation with
reference to this frame or that frame, it will remain invariant because in the second
derivative of the position vector it remains the same, but if the velocity is not a constant
then what will have is an additional term which is v dot the velocity dot. So, this happens
if and only if v is a constant. So, by definition and inertial frame is a frame which is
either at rest like this one rest as in rest with respect to the rest of the universe.

We are assuming that everything is static and we have a frame, which is also static with
respect to the surrounding and this is called an inertial frame. Now if the frame is moving
with a constant velocity with respect to a fixed frame that is also can be called an inertial
frame because as we have already seen the equation of motions with respect to that
particular frame will also b invariant. So, so far we have learnt 2 things one is the slightly
different form of the Newtonian equation and from there we have derived the
fundamental principle of conservation of energy conservation of total mechanical energy
it secondary. We have learnt what is an inertial frame and we have seen that the equation
of motion of a particle remains in variant in an inertial frame, irrespective of the velocity
of the frame if the velocity is a constant does not matter, how faster. Or how slow it is
moving inertial frame remains an inertial frame.

But if the velocity is not constant, then we have something called a non-inertial frame of
more. And then we have to reconstruct the equation of motion we will be taking that up
in a later chapter. So, what will do now, we will give you some examples of examples of
different types of forces one is F equal to constant.
(Refer Slide Time: 25:17)

So, this is called a constant force, constant force field. So, there is no specific example
given, but for example, gravitational pull you can assume near to the earth gravitational
acceleration is constant an object that is an example of a constant force, then we have F
equal to F of t and example is let us say F is equal to F 0 cos omega t.

So, that this is a periodic force with changes the magnitude of the force changes with
time. Thirdly we can have something like F of r for example, F is equal to r cubed sorry r
by r cubed. So, this is a central force. So, we will have separate chapter all central forces.
And we will discuss this force field in a would details. And finally, we can also have a
force which is proportional to the velocity and example of this is the viscous drag force.
So, this is an example of and this particular force is the registry force. For example, if
partically if I throw this chock through the air in this room this will have instead of so
alongside the gravitational pull it will also have a force field due to the presence of air in
this room. And that force will be proportional to the velocity of this particular object.

So, this is called the viscous drag force. So, all these types of forces we will have. So,
this one we will not immediately discuss this type of forces constant forces, we will take
examples of constant forces in in different for different context. This particular force
field the periodic force will keep it for the end, if we have time and we can discuss the
details of small oscillation we will go into that this one is a central force, as I fed there is
a separate chapter dedicated to this type of forces. And this is the viscous drag force
which will be discussing in the very next chapter and also there are some other examples
other mathematical examples, but I think that can be done towards the end of this chapter
of review of Newtonian mechanics which will have one more classes or I think 2 more
classes on this. And after that we can have a detailed discussion on the examples.

Thank you.