Oneh — iy wo _ Hamilton's Principles Stakionary valuos of Fnckion, Consider ca fy, FQ.45---Gq) wide cosumed Meno though te second partial devivabives | Me Fat vantatin 1 ok ay alexa ‘ i % b i (2) to be Con) Whey 9 4otde, for Pe lion = ©: | A8Bume that by's ow andepent” and reversible iene i) =o —6 (3) | | Consider the Second Variations of He funthé, ¢ t about a Stakionasy podut Go & bic Si ‘where the k's form the element, of tha Syme [nxn matte, k. Zs a spk RB We definite, He Pl Ip oo Co. ante,Ne defi Me pint 9 roan, yen ten Go & caddie point ob a sex Fd the Stalimany vahws of thy functional, Fro, y a vain Ym cleya? eulfect “ite stn’ cot Fx, Nae Byte ~| <0. ‘ Se Green tng agumenticl function fs Fag Fe Pty 22 Te st ationary t Atatys2 1) valuo OF fos given by sre —> 22tr=0 BE = ay ~° => I+ dao \ BE =0 => &2+)20 aa a2 as =0 => 2Hyt2-1-0 © from © we get BoM 5 yey 3 22M 8. Sub @ & © we gek “My ye 7 rA=-% ce ba F He fH Fy geyasusject= aah Seah po cs eet He coneraiyts (2,2) ext +2%_y -0 (hi y,2 tee‘cori fla axqumentecd IM ge PR tg, = Bt A (eyez a4 ay (xy) [Te stationary voluo oF F for glien by 2E,, on” > 822A FY oo —o 2F od QY d+ LA, mOst cy ' oa @ peg F + BEd 1+ &z),-0 ___@ oF | =-=0 > a on Cah at YP t24=0. | BE eo = ayo. —o ar, | OXx- Oxy we, got Atay) yg are wil Mis os SE 8 i From ean ® we have wyrt2? = h Wit 272 a-8lg the Stablonnug Point ane (1,1, Ja) (141, 43) C1.) (Cl4,-0).OM eed dy Sd 4 Yo 0 Ont de eo dae -8, nN @ » Hazry =o | 148 (£59) N20 Meth Hones Pade: | The actual path i the configuration (SPI. owed by 2 helomomte dynamical Sm ath tha lagranpian b, dusing the © Mad tahgsal Kl bb ach tab | | glen by the vedow Tite ty Ung the ‘lograngedy form ot x ‘Alembert!e Prheiple a = . —_ | we have & (Fr- mii}, Sre =0 —D / whan fp B the oppled form ada oy ae te\e re particle . = We assume dhak te vbrieal isplacament {diy ora oevertie and buanchad aut, Ha, urvbanlaotou. corsbrothla whith. are wortlos. sey e Oe % mp av, Oe N Pha, = 2 mrt by —~@ = ae mem dy ) [d= Hora $8 Nie fee oa 2 virtual work ' = Emo thm be vi : Bi me Retinitis be N PG 7 | ae | at Fe. digg + ST i | 2 gw+ét — © | where dy & te vulual wok of the applied / Tolegrabing bohoeen fp Mb, , we have | Wega GL { (éttds) dt = [ 2, mete. dor] that vartabisn & zexo Since we have assume at the od pon frp =0 at E=to@ t=). by “ J (Sttfujat » —-® ° t aliseel bee YG 7 My, Be ee ge Coord erates oF the 4yptinn , transtorm te i Sus tim, to the genenaliied — wondinates thon te ke T & a fm of ¥% avd n MSo tye E4edqz s whow a7 M% fei opp lil generalised frnea. ene egn@ cn be waxslten as ey ' (S14 (2 tday) dt 0 —® Where doe ane zew ab to and E,° for constraink system, Jax murb abo Confm bm nstontensous consbraink Consfoler (41.42 gp st) as a -poik in OW dimenseonal Spam known as cailinclecl conhipur * Por voriahioan th (4,9, ---9,,4) we have He atual oth and varid pot. en Ha Space, the hus ond pote reteg 4Ecod , | Fock dy veckoy & IT to the. Ear vai oe ed Suppose, tha oppliid force oe ae detvase from a poledtat f vb, | | ie Osbg tte salahin Syed, ab aE A The eqA® bowmy fib) db -o. © &y J s(rwdk is 7¥ rom 3 | For a holonomte leg the, operation oF | | ou A | mlagrahbe. And voriatiny can bo Wnbacban ger st How we kaye ff ‘o v) dk -o | bi : | hey af. ble Of pat-v] yy? Problem: |Pracktttochone. problem : To Rd a cumye (2 between the origin ‘0! Prd $e POLE. toy 6.) Alby ° Ghat ocspahble Btavcting fren PAE G2! nk aliding lawn the ewe ufthoul fat > jsuunclest tthe ' wl seach So): Take the Staxling point ay origin ‘o' aml ox He Abachbn of the grayfhatigral foro - . CYB tho horizontal, ch the ple of motion oo Met (1,4) be te otlun qian peak ft ot Who the part?) ends fh motion. bee Ve Khe velocthy of the panbile Or me, Lb and det (ey) be cocnckdrcubes . t | Te kee & T= f my2 PE Ry =o mgm tifluence of a. usitorm grotabonal Fld, tha ond of the. ese Era minum bre 4) Ther) I TiveE, whoe € % comtane- by ta proche. of wonserative of energy is mv? mge = £ ok Sotionarsy port veo, T=0 % ‘uae a) | J ESO i oe ana. 2 vosThs leads to Yymvt= ve Jagn —- 0 gen b The length of the axe oF tha path dh $ ds, dy y? ‘aca * Js (az) ds 2 Jity® ae 2 he rence ty, ina, oqyutrod do van Ho pot | Repeal ‘ ee ° f NBs nd ads Boe a - \ : } cue oe Thue we. vane Fly, gyn) fe { deo de [age ve Now He i \ ft. sh Hi” Sage ange A Tap cuy?) oma, Culex dogprange Formule fl (aR) es se a (= uh es A \ fqn (iy ae Cc wher cB constant . Teqaxtry?) Yeo? geo ty") ye age’) = age? ye [ageet VIF agecc>| y= lla) me | | 4 1-(a&)« frat © | | Puk @ = a (1-cog@) ow a.ashPo, dr = anhode oy Miso fa-% «90 - a 96) = A(i+ ese) = & acos?og. From con @ > dy (ae | 4 fim. = fhasth2oy, i abirode ‘2 | = atangsine do. | - | = a BN 2» cago 82% OSC}, do = tsi, LU | f ohe= A-(1-08e)ole . f, we ge” yo ace to.) +c! —@ i oo ; j Ae osutgin +0" o» «5 goo sept se ali-ase) =o. ose =| G20 O= Q00)- otc! Mrbieg, | fe O~ Y =a(o~ sire) Thuy the porrarndliny eqn of he saguirnad wwe L- afi-eose) ,y = ao -sne) TH 8 a cyclo} th uve & mi-mum tin bo cyolotdGeodeste problem , - — points To find the Shortest poubh bebinean tO r wen spaw (er) vow 4 4 botinean to @Rd tw path of minim lengh! two qhoen pon on Ha too digoutonal ¥ OF the phot of rookies ‘T'. | “ol a The length o& the path & given by det. dxtdyrde® wing § flay coordthats (4,6,q) a vartables the ARpRewatlal clemant a length ‘de & giv 4 ds*z vert? sie de® R= relhmcosp <3 y= reiroshp 5 #=nAEe doo = 1 [sho (cng) dg + cas caso Ae} I dy agit [ahe(csq) de + sig cose def de = -rohade- de? -de?rdy?rde? at | Mp shig dg? + cofo asodo* -26iie singtosp se dedg + sihto.costp p++ Sn? pcoste de? + acho caspding caste ded p + sine do*] «ff [oe (a3 %p +a?) de® +os'e (as'@ ton'gde q + 3% do”)= [GF coeB) (a fF, ron) "TL si dgrt casredo* 1shodo% i [ sin’ dqt do*) ds= ¥ de Ir eho (49)* a. e , 3 2 Fes Ore | [itis g® oe | jie # = [gh de | “FB not a & ot dp uo. OL 2g ag! Eee dig | @7sch%e A 2) 5 4: (2) - G&)- deg ne [ie grtsh 20, > 4 gan q sbi Sees \2r oo Doc g Su) 16 ae| dp- cde Sloe [sity ap - | c asec’o. de Tc 2nsed ¢ sec’ = = do ! Jie c?(+cot’s) Pub ceopest ; de> -Kersec*@. de g =f = db Jo) PS (Gp) = C cobs Src® | + fyi sa Nultipyydip both sila by rojo we weet Cae , + StrpIrP, = CSS ___ oheucoce g + renoaimatrge, = CTS ee Lrg, +F obey, ~ Ee. Sirenkey \ 2G Hf ae ThE & the een of tha plana? passing vend the, axfio “Th plone Enbprsock, Bae Aphort- oleug a meat cole wR tte godess wi" Homtlcons principle Fran Illa ds ethene axe ‘mn generalised co-ordincalas eed Ye" nen -holonomic, constrain eq a! the form - | MDG OR yD <0, erty m 0 | Pet He achial path ty 9°) ant yard path ky gt). Tar we hae a6 = GF 1 hyp md Ge GF ede, —0. jwe Aum that both te ackual path wd verze pat, Jonforo to the. Consbouth given & eyo ue car | repaczent a's ty a Taytor gexds expe a a Selq,t) = agp (Gtk) + £ “ é i (38) Sy and i | He (Gy, b) = ae (Gt) 4 i ; () ) 2) Se Hing the, Regex odo ‘os * qe y t fqe 4; Ye 16%, | Sub QD @ HOD we gel 5 : ; a éln® b oe ie . B by ? ms pe | \ &, i, @ - af, x tonar) re ( lop =p of ) dap 22 (Gand to 1) & MY / 2057 n /2afc) fo,= me) Sed $44 Ne (yt hae 2 (Ze) Ae fron © >e ap Gt) af tay (Grt)=0 : Z ie (47, dae +22 (ff i_)af Se" Jel per » ai =e) Sy, =o —@) we @suma thab fy's mock te Gskantancous a5e(4, t) dqe 2 9 | | constrains | 1 Tat SIE eqn @) wr t bine and changing the | andes we get 2 as, gr) fq.t Zan (4.9 dgp -0 —©® ket whee ap, (4%,0 = = (2%) + *, fea wo HY Tet ee, + (Sh) —9 Sub @ & ®© we get (or “ . ss (asx ) re ‘ KE) a tse p ’ op, 4% B : (288) ta, + ” Ai (95,9) bq, =0 @ Se Subkaracking Q-© we pee ee t ‘ Eats at Nay -? — om general qe to pena PF the eqn B an. e- ha Past _ Bas oa; wi We (encase | co mm ay }, 2% 2 Jet bon be (ton bn pe valid for amg Ack oF 4/3 The above can supresenta tho exarknore cendihibn fon the fntogreabditty Of eqn + 1 the condibion 3 apply, then the, eonstrainb are holonomé . Thu, we've iow that tf the variecl south conform do the actual eonirainh and Ge He S's WL leonsfitint. tnstankoncous constrain ten the Aystim | must be helonemec. | Fy tantthen's prdiciB le sto only beleneni censbah fo pa al hen KS acd Gym Me van2ifl. path ia hd fale are contheaun by @ will naz be [drwctucally pomtble foth. secur lt wit rot Corhorm to O.| . ; of Hamill on introduchaon « Lagrange @oyna ane ‘n? Betwnd) orolor eat | dtvjoxentZal ean th G/8 And &. Sask 0 (gy Prey £) we obkauhet a neu Panckib ( [EC @, qt asa & eallad Hanfiecn's fan which wBl | Col Seb of San’ dimension . PEs orden dftreonts i) fg. cans Jot Gorn H are known as Hambiton oF motion. | canonical eqns @) Handlben eqyucdiion 1 ee eee whith has Conidae oc holonomic. system lagrange 4/0: 8K a9, Tote 7 ($8) Foe tra. qowtal ed momankium ~2 conjugate 2 oe © a2 by Pre 5, blr) % -e~s Bey Fal bo. Fra Detre Homilkon funcbion , H (a, Pt) a 8 Hq Pt? 2. Pde L (y, 6b) —@New PEF meplq. Gy tar (Gib) a) -f by ( Pp -as) — -@ what tpl % an elimont oF te mab >b consfelenthg the vasiakion BW ue hie - 2 on Se oge “44+ A 3k dae oe Se —o Pe te i Eade 2 2 dy, a ae + ehh 2 4 Yr Sep - z Frdy » = Tha variations Ipr, bgp jhe cue rat thdepenclont- fom © © @ we gek ( % Sh and ff =-2H 2Pp 1 2g, —-®@ OL . 3 Bae ae at 2 ey from © ® QM wr colled — Hamalton $ | cononteal equation of mation,e whic ave not oleriable Prom potential fn. | | | a Uran Systom , Dauppose there ate gonevaltsod “force Te these force are gp , the lagrange can an $,( $8) - bos -o Tet ton : Pra! te +o} The Harfiton's eqn of motton ona U7 a andl: i= — 2H +e, jf) ton. ou D Considey a non-holonomfe eysben having “m' constraints . gabifying ‘tne Cys . | a : ° HU + MO Jel ten Pres learnt: ea 5 fa thi, apton oe ™ 4 (%,)- % eae tie Agee t & fey r= Be teat gy; | | Then 0 hawilton’s eqng ea i ' y= DHL Ba tS b= OF and - Pp se nn tp Pore thab the Hamfitonfan #7 & a constant \gor a conservalive eystem Proof : v ghow H~H ley, Pi b) 7eee Pe ne ——— | we fave to AME ne above ayn 0-7 lo time ae at 2 ne W* = & ou ae i Ger OH aH -@ 4 loa rt ee lt 3t | fox a Standard holonomic system the tamilloe'g canonical can arg. | 2 on A We op 3 PF Fe iy ou ar i 24 om an Y > 2 [ese OPP OP 04t =f QE =o f 2H | ar ' | on - ol pcRe: "ae : ap padeR yg Soha eT epee ont | H does not epnkain 't exepltciby . | Sho FH = - ab ab ae | we have 2H =o. at pend GH 5 dle ‘HG a constank . Hence HGg,p) % a constant Por a” conservative holovw mic Syston. ' ‘ r ® for a non holono ma cpraervaliie cysten i fer 11a aystan antllen & eqpiatin 2 | i ai - 38 4D Ap BP Ow" ope” omg emerateeal enn Tho. constraint, for tne ® \ tan ee expresserl 8 2 age; tsgot? ea ae “pM Aw =o (y®). yop case abo B(OnP) ja yb” constant tena. every conser valve constank , thus f07 pam holonem® ©) non -holonorle. HQ) he x quadsalte Prove thak the Hani torian io 6 fi & PS. Fa qewaliied quan momar fr & Umar db Gp - bet ree 8 (4,095 tazly,)—® fol wo To= & 2209 4 4p Ma = 225 Vy 2 ent es \ 1, = ead Te Tt Ti tTTat Ti4T, -V Now He 2 rie Liq. g © OTT, = (tet het) “We t-totvy —@, Keb by be the Guowe oF the madnize ng using mabis notahion we have. ot s > bY 4, whee 4 ~ b (pa) = Ya (P-9)' 6 mw olP-a) mn! I ple P at=q = ky (p-a)™ bTm m-p-a) r | = Ky (P-9)" b ipa) =I P'bP-y, pT bay ath p+ 4a%bq = bP'be- yrtea- Aor 4 aba | = Plop- p™ba +yatba | | 5 Bh 2 bee Pp Pp ~ Sabi % PF os n-k2e > | ? jet Sat | Ke Eaby Wary tv. | ae we group tha tems the tlarpelk ont wuz. ‘Pp’ we can accordih 4 fo tharZ deqreo Me Hy thy) ty where He o£ bse Pepe| Hye — Seb GATS Hy © SE big At Up Ty enc tha Hantitontan f Ba quodrali® | fn tn p's. |Hormoni._ oscillator Given a mass Sng bed a. Waa spring of gtipfnos : FAA the eg F motion , using te Harel Puomdur: Assume tha the cbisplaces tal a ehswed. Gon) Pe anstreusedl OF ta Spring- pdear momentum p= a =a => &= Plm t= m(%) = 5 P%m Bee Pp op “Ag, pt) = 4rm + tw ay the Hamilton agp f MO ton Mec, p) = P(F{m) - J, p'lm + Jp k™ee op” hm =) oe Po- 2H - te) eee O®> md =P om oq moat. = P Moe =~ ms tho 28 rene oy of motion, eae a Sia qort?| Kepler's _ Problem ; A partic of mass ‘tm & ° ia Priad pole ‘0! “by an Frvese Squrord fown Fe - Km what 4 tie. qraifabionol cook fician'. polan evo las (1,6). fod He Hedy sos eve ee & molion. ‘ ei set F & a m | Using polos coordinatas Kee ye m(e 4 1 7) —-O and Pe ve Mme rar 9 ude = TH = hm te 7%6*) + jar jam ° une ent Tha qerwtalSedl mov at ° = ioe - Qe aemra> Te Ter 33 > 2 Py - 2b morte > ook yr? <> & & lfm? oF oe ofin > y? Fo. om Tr mF + hm me wert12 | - i f+ 4 Fo. ae | m a thi & natwral system He TH 2 Bro e pt, fe --- es . 7 ) am pm’ 7+ SL. fe —® . ahi Pos - ab at = oH - oP ye - Bt fe, oe ie Py prom ag? © tm q wt. pe Be | ror? a m¥- p> p Bm we the lhantltonian Canonical eqns 07° Hm & Pr» fo) m 2 =P. Ma -=@ rm Te fe mi. 20,42 From ayn ® Pe -0 = comtant = g = Pe fee et eg y? mS =O. ha & voqpsied en of molion. 7fl eaelh Lduville’s theoren:; oe | the. volume of any olomatn th phase space xe | wih remains conitank a8 that volume & cariod along tha Phase Fluid moving un accordance ufth canoe eqns. 6D PT the phage Fluid & Groomprerstde Consider a holonomic cyston represented ny 9 unckipere! GS: Buppase we follow a qroup oF Phase, poin as Hey [devcribe trajectories Sh phase, space oF 90- ciinenatbrs | he Petots witht a Stal] volume. dink Wi, fle fet Aga Can be consftored a pel ge roving porkiles oF flu&d called phase Aud | i ; | The phase velodly of a Flutd particle ae Components (an, Be). Those can be exeprarced bo tom F FS ad PIs and by canorZcal cans. Ge ee and B= - BH ae AS fhe Volum@ elomont of phase Plaid moved aL will changes shape oh genwol but net ghbe “ng Particle wil somah clase tp cach otlsfs Hen viTa 2 950, of tS 9q9 Opp n 2. (2 _ ay.) = Per \aqu opp opp qq v. V =o Tha shows that the phase fltol @ oat fw mre. frenca the yo lume F ea J Aeintnt 2 Contant Krorpturorde Ibe ration - — ee 7"P foment & constant throughoub the molian « ath & called Louvidlle's’ theo7 e - , poiah the OrbiL fox Kepler's problem utr sacobt's form oF tha prthcipla oF least action. oe . for the Keppler protlem 7 = Ip. m (44 76") ; fe Nev cb, Th % a natal system having & constant Fetal enesrgy - ley Trveh Xm 4262) - bo cars Facob?'s form Be the. poonciple ct jeak cckon glia 4S Fath de =o. we, J [alort#) ds=o —® yt ja vids at (an™ fla T= hm (8 r%6*) dy? (ds)? = amie Pe? dy)? = (be)? (Sef jo? [ = m (di)? + 7 de)? jasy* Ei . Geel” = ge) sls+ om(aert J] . ds = [rm (1? 442) “do ss ego ® becomes ye sd. [am (ne ta) (re) de <0 © ° mt whS & oF tHe form od (asm) Bore whee fine) _ Jam (he um.) (xr) OD shee # BR not on explicdk fu F &, we got the cnorgy entegrad by er-f.c 2 a tina [fem ago @ ao = filam (nt) E er | i 4 [am (ne) (1) [oq © becomes Tam (bt BR) foment Kp) (vr) <0 (Tew (or 2 % ERB) oe Lam (ne wm) ( » —am (ht Be) J am( he ba) (sEPy > - ]&m (n+ Ha) 72 E T ne - al aede [* Bom © 2 Mp mit re) sh Te] : pede “76 am lem (74 Pe) | a = See i k Ce it Mh @ = -7%mé --® = Or In2ge equroning eqn @ wx get am (oe HB) v attr Paphagona” | ant me BE ete ee Me A tye cr = gon (ae HB) Ta 1 syle anat (a+ bm). ? | e | 2 ary? ant (4 = ot (697+ tomy —c# c oa) . de) Seen" 1 for pmr ac © an——_— nw ee £, dha cdx Jam x [ he? pero o | a aie at | tary J a bet pum C2 om position ot | | lek & be measured from the maimum .). | | 12, When t< rmink = % | O = p= (ab Te dy dae -qy du. te, uel, at 7 Pa: a dun J [amb geet — [yam tion Epo) (oe ai “en alu “| (3 rie er | )-(u Hoot 2 ¢ | u- bin" oOo 7 0S jaan aera. § [amr pion [14 Io eH| ° grant | whew A w con vp cu por 0 yy see { Jano"? @ = cos ¢ | siete pete -@ i 7 Jamnc? + pimt i 2 ops pe0, 0° % 1 whed@ Tre% 5 O28 =O a ° C2 = mete,” (From Y con O become b= Ym be wm poe eqn @ becomes me orcas! Srnbnd af — nerd Sear e eng 0 | am (mx, ~ Eo pe + wm’. vo (am m= 'g2/pwstee > 4 06 (hme O67 - Mm | runt To! int cos”! (4 6? —4) thOo = ayy 4 6 > OFA * APO eqn ® bewmes ete = C7 habe 1 Pam? peoah mr cose = C7 pony [Boho Tmt (rah 442 vat feo oF} = 2? = pm? : Meta 2 vf ye fambe ‘Jao -— my? Ln : me! i a ® [ve FES Teese. ee Ca” Mn?y |e 8 an eqn & a omic 4 eiecwo ; where Loe and ercentrPely @ = f ahe? pms land supsusenk an exbte hawiig the — toiok jenengy hb, an angulay mementinm © and 27 jeecenbiecty.| ge [Modified Hamilton Princip los . the actual path is uch that the integral Ld (maya b stab foncay tor arbiraxy vartation ot tha path th phase Space. with the vestrichion phak the dq/'3 Vanish, oF Ha |e Niland The dp's neal not be 200 at there end pehh . Proof ; Consider a holononuk system hawing n- trepondan| YS and the hamiiten!s funchidn- 1% deRPedl by He = Pre -b * MOoliPeel foam of hamilton's Principle os if de = sf (Ea -t)dt =o —@ o 9 we an we the relakon & , dys a 4. (Sy,) —~® k, os) oe a ot Spy ]db = | EL oy + ander - 4 ’ LO bo Co The tin, + fi holed constant dwuhg cach Vows} ke, fk =o , t poe Now, Q Pr dy, dt = Dnt)’ Pedy, de bobapenlis vata adslquia ” “aul focuse