Lagrangian-Hamilton’s variational Principle

(Classical Mechanics)
For B.Sc.-III year
Physics (H)
nd
2 lecture on classical mechanics

Teacher’s Name:
Dr. Dhirendra Kumar
Assistant Professor
G. J. College, Rambagh, Bihta (Patna)
Patliputra University, Patna
Email: [email protected]
Contains:

1. Generalized coordinates
2. Hamilton’s principle [Principle of least action]
3. Euler- Lagrange’s Equation
4. Theorems and symmetry properties.
5. Law of Inertia- Lagrangian of a free particle

Reference Books:
1.Classical Mechanics of Particles and Rigid Bodies by K C Gupta
2. Classical Mechanics by J. C. Upadhyaya
 Generalized Co-ordinates
Any ‘s’ quantities q1,q2,q3,---------------qs which completely define the position of a system with ‘s’
degrees of freedom are called generalized coordinates of the system and the derivatives are
called its generalized velocity. i
qi → s degree of freedom , i= 1,2,3,------s

Generalized velocity
i →

Space span by G.C. and G. V. are called configurational space.

Let us consider a system of N particles moving according to law of classical mechanics. A state of
the system is specified by means of 3N position coordinates (q1,q2,q3,---------------q3N) and 3N
momentum coordinates (p 1,p2,p3,---------------p3N). The 6N dimensional space is called the phase
space of the system. A point (q i , p i) represents a particular state of the system in phase space
called phase point. Span by
q2
G.C. (q) q1
(q1f ,q2f …)
& (q1i ,q2i ..)
Phase Span by
G.M.(p) q3
space G.C.
Configurational space & G.V.
 Hamilton’s variational principle: [Principle of least action]
According to the principle:
(i) Any mechanical system is characterized by a definite function

called Lagrangian of the system denoted by where, i=1,2,3,----------s

(ii) The motion of the system in such that,

S = called least Action of the system.

i.e. [ δS = 0 ] First variation

Where, the system occupy, at the instants ti and tf the positions of two coordinates q i & qf

Now, the principle of least action may be written as

 -----------------(1)

Now, integrating by parts of first term of equation (1),

Since, variation of the function q(t) is very small in the interval of time t 1 to t2, then, we have,

δ q(t1 )= δ q(t2) = 0 -----------------(2)

Now from equation (1),

Using from equation (2) second term will be vanish

Therefore,
Euler – Lagrangian Equation
When the system has more than one degrees of freedom for a holonomic system, the ‘s’
different function [qi(t)], therefore,
For i= 1, 2, ----,s
These equation is called
Lagrange’s equation of motion.
Some simple useful properties properties of the Lagrangian:
(i) Lagrangian does not change if we add or subtract a quantity. If we have two
Lagrangian, L and L’ then

L and L’ will describe the same system,

= f(q2,t2) – f(q1,t1)
Therefore, δ(S’ – S) = 0
 (ii) Lagrangian are additive in nature,
If A and B interact to each other then
[L= L A+L B +L AB]
And if A and B are not interacting
[L= L A + LB ]

(iii) Multiplication of the Lagrangian by an arbitray constant ‘C’ has not effect on
equation of motion. Let’s suppose, A Lagrangian ‘L’ and another Lagrangian ‘CL’
where C is constant, then ‘L’ and ‘CL’ does not change the sense of equation.

Law of Inertia- Lagrangian of a free particle :

Suppose a Lagrangian, , and if kth generalized Lagrangian is missing then,
Cyclic coordinate
Therefore, from Lagrangian equation,

Since,

Therefore, = 0 = constant
and
If q is cyclic, linear momentum is conserved
Thank you