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TUTORIAL 2 (MPHA021) MEMO 2021: A R A A V A V

The document provides details on deriving the Lagrangian and Hamiltonian formulations for two pendulum systems. For the first system using generalized coordinates θ and φ, it derives the kinetic energy T, potential energy U, and Lagrange's equations for θ and φ. For the second system using generalized coordinates θ and angular velocity ω, it similarly derives T, U, and the Lagrangian L. It then finds the generalized momenta p, Hamiltonian H, and Hamilton's equations of motion.

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Tshiamo Motaung
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34 views3 pages

TUTORIAL 2 (MPHA021) MEMO 2021: A R A A V A V

The document provides details on deriving the Lagrangian and Hamiltonian formulations for two pendulum systems. For the first system using generalized coordinates θ and φ, it derives the kinetic energy T, potential energy U, and Lagrange's equations for θ and φ. For the second system using generalized coordinates θ and angular velocity ω, it similarly derives T, U, and the Lagrangian L. It then finds the generalized momenta p, Hamiltonian H, and Hamilton's equations of motion.

Uploaded by

Tshiamo Motaung
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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TUTORIAL 2 (MPHA021) MEMO 2021

1. The generalised coordinates for the system are  and  . The positions and velocities of the
pendulum are given by

r  a sin   a cos and r  a sin


v  a cos  a sin and v  a sin 
Kinetic energy is therefore
T
1
2
  
m a 2 2 cos2   sin 2   a 2 sin 2  2 
1

 m a 2 2  a 2 sin 2  2
2

1

 ma 2  2  sin 2  2
2

The Potential energy is given by
U   mga cos
The Lagrange’s equation for  is given by
d  T  T U
   

dt     
Therefore
T T U
 ma 2  ma 2 2 sin  cos  mga sin 
  
Hence,
d
dt
 
ma 2  ma 2 2 sin  cos   mga sin 

The Lagrange’s equation for  is given by


d  T  T U
   
dt     
Therefore
T T U
 ma 2 sin 2  0 0
  
Hence,
d
dt
 
ma 2 sin 2   0

(20)
2. The position and velocity of the pendulum are given by

r  R sin   R cos
v  R cos   R sin   R sin 
Kinetic energy is therefore
m  R 2 2  cos 2   sin 2    R 2 sin 2  
1
T
2
1
 m  R 2 2  R 2 sin 2  
2
1
 mR 2  2   sin 2  
2
The Potential energy is given by
U   mgR cos 
Therefore the Lagrangian is
L  T U
1
 mR 2  2   sin 2    mgR cos 
2
Hence, the generalised momenta are:
L
p  mR 2

Solving for  and  , we get

p

mR 2
Therefore, Hamiltonian is given by
H  p  L
2
 p  1  p  1
 p 2 
 mR 2  2 
 mR 2 2 sin 2   mgR cos 
 mR  2  mR  2
p 1
 2
 mR 2 2 sin 2   mgR cos 
2mR 2

Thus, Hamilton’s equations are

H p
  and
p mR 2
H
p  mR 2 2 sin  cos   mgR sin 

(15)

TOTAL [35]

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