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PH 101: PHYSICS 1 Lecture 06

Degree’s of freedom
 Degree’s of freedom (DOF): No. of independent coordinates required to completely
specify the dynamics of particles / system of particles is known as degree’s of freedom.
Hinges
Y

O X

Fixed x Fixed Fixed Fixed

 Only one coordinate i.e. displacement or rotation is needed to describe the

position of every part of the system

 Degree’s of freedom is a measure of freeness of the system.

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PH 101: PHYSICS 1 Lecture 06
Degree’s of freedom

Y
Hinges

O X

Fixed

𝟏
𝟐 𝟐

Fixed Fixed

 Two independent coordinates are needed to describe the position of every part
of the system
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PH 101: PHYSICS 1 Lecture 06

Lecture 06
Coordinate transformation,
dynamical variables in terms
of generalized coordinates
and Lagrange’s equation
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PH 101: PHYSICS 1 Lecture 06
Generalized coordinates
Generalized coordinates: Independent coordinates required to
completely specify the dynamics (configuration at every instant) of
a system of particles are known as generalized coordinates.

In single pendulum case is the

X
generalized coordinates.

In double pendulum case and are generalized

coordinates. (Check the independence of and )
Y
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PH 101: PHYSICS 1 Lecture 06
Why Generalized?
Generalized coordinate
 Not necessarily a distance
 Not necessarily an angle.
 Not necessarily belong to a particular coordinate system
(Cartesian, Cylindrical, Polar or Spherical polar)
Let’s check an example to clarify the above mentioned points

 are the independent

generalized coordinates.
(Check the independence)
Generalized coordinates
A pendulum is attached
distance
with an linearly oscillating
Angle
particle
Not belong to any specific
coordinates system (mixed up)
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PH 101: PHYSICS 1Lecture 06
Generalized coordinates properties
To be generalized coordinates
They
 Must be independent
 Must be complete

 Meaning of Complete: Capable to describe the

system configuration at times. In other word, capable
of locating all parts at all times.

Generalized coordinates
 Not necessarily Cartesian
 Not necessarily any specific coordinate system
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Lecture 06
PH 101: PHYSICS 1

Choice of generalized coordinates: Unique choice?

Y Y

X
X

Generalized coordinate Generalized coordinate

Choice 1: ( Choice 2: (
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PH 101: PHYSICS 1 Lecture 06
Generalized coordinates of rigid body
Rigid body has six degrees of freedom
Thus six generalized coordinates are necessary to specify the
dynamics of rigid body

3 translational DOF for the center of Mass + 3 rotational degree

of freedom about the center of mass = 6 generalized coordinates

Translational
Three rotational
degree of
degree of
freedom of CM :
freedom about
CM: ( )
In case of only translation (motion of CM), a rigid body
can be accounted as point particle during estimating the
number degree of freedom
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PH 101: PHYSICS 1 Lecture 06
Coordinate transformation for generalized coordinates
Consider a system of ‘N’ particles and ‘ ’ holonomic constrains
Z Degree’s of freedom ( ) =
= no. of generalized coordinates

Let 𝟏 𝒏 are the generalized coordinate.

To write in more concise form you can also choose

𝒋 to denote generalized coordinates, ranges from 1 to

Y
X Let 𝒊 𝒊 𝒊 𝒊 denotes position
vector of ith particle, ranges from 1 to

Since 𝟏 𝒏 and represent the same physical system, thus one set of
coordinates must be function of other set.

𝒊 = 𝒊 ( 𝟏 𝒏
𝒊 𝒊( 𝟏 𝒏 Coordinate transformation for
𝒊= 𝒊( 𝟏 𝒏
generalized coordinates
Vectorial form 𝒊= 𝒊( 𝟏 𝒏

Component form
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PH 101: PHYSICS 1 Lecture 06
Example of coordinate transformation for generalized coordinates

X
X Transformation equations

Transformation
equations
1

1 1
1 1 1 1
Let 𝟏 𝟏 𝟏
Y
Let 𝟏 𝟏 𝟏 𝟏 𝟏( 1

Let
Y 𝟐 𝟐 𝟐
𝟏 𝟏( 1
𝟐 𝟐( 1 2

General form the transformation equations, 𝒊 𝒊 𝟏 𝒏 ) ;

where (DOF)

In second example: , 𝟏 𝟏 𝟐 𝟐
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PH 101: PHYSICS 1 Lecture 06
Kinetic energy in terms of generalized coordinates
Kinetic energy of a single particle system in Cartesian;

Kinetic energy of a two particles system in Cartesian

Kinetic energy of system of particles, [Note instead of 𝒊 , 𝒊 𝒊 , one can also

use the notation 𝒊𝟏 , 𝒊𝟐 𝒊𝟑
) Where 𝒊𝟏 𝒊 ; 𝒊𝟐 𝒊 ; 𝒊𝟑 𝒊

Each term corresponds to individual particle

How to convert from Cartesian to generalized coordinate?

First, choose your generalized coordinates,

Then write the transformation equations, 𝒊𝝁 𝒊𝝁 𝟏 𝒏
Use this relationship to convert the expression of in generalized coordinate
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PH 101: PHYSICS 1 Lecture 06
Kinetic energy in terms of generalized coordinates
Kinetic energy of a system of particles in terms of Cartesian components

Transformation equations
Use rule of partial differentiation

Hence
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PH 101: PHYSICS 1 Lecture 06
Kinetic energy in terms of generalized coordinates: example
Generalized expression for kinetic energy looks very difficult?
In fact, it is very simple
Let’s check a particular example

X In Cartesian,
Transformation equations

Transformation of kinetic energy in terms

of generalized coordinates

Y
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PH 101: PHYSICS 1 Lecture 06
Potential energy in terms of generalized coordinates
Potential energy of a system of N particles in Cartesian coordinates

Transformation equations

Transformation of potential energy in terms of generalized coordinates

An example:
Potential energy in Cartesian
X

Transformation equations;

Potential energy in terms of generalized

Y coordinates
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PH 101: PHYSICS 1 Lecture 06
Generalized coordinates
 Degree’s of freedom (DOF) = No. of Generalized coordinates

 Only one Generalized Coordinate (x,  Two Generalized

) Coordinates ,
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Lecture 06
PH 101: PHYSICS 1

What we have learned till now?: A review

 Basic rules of partial differentiation

 Different coordinate systems (Cartesian, Plane polar, Cylindrical,

Spherical polar) and mathematical form of components of
different physical quantities of a dynamical system.
 Conservative forces and potentials

 Constrained motion, degree’s of freedom and how the constraints

guide you to choose generalized coordinates.

 Expressing physical quantities in terms of generalized coordinates

using coordinate transformation relations.
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Lecture 06
PH 101: PHYSICS 1

How have you solved problems with constraint in

Newtonian approach?: : A review
• If an external force is applied on an unconstrained particle of mass ‘m’, then

the dynamics of the particle is governed by Newton’s equation

• Now if the particle is under constraint, then how to incorporate the constraint
condition in the analysis?

• Newton’s formalism takes into account constraints by incorporating an

additional force together with external force. Constraint force [ ] is the

representative of a given constraint.
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PH 101: PHYSICS 1 Lecture 06
Constraints forces: representative of constraint condition

X Motion of the given particle is constrained and the

constraint equation is

Instead of incorporating the constraint condition,

we introduce constraint force: Tension in the
string

Y
Constraint force ( ) must be incorporated in Newton’s
equation
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PH 101: PHYSICS 1 Lecture 06
Constraints forces: few more examples

Z
X
Normal force

Y
Two masses are connected by string
of length . Mass slides down the
inclined frictionless plane. A particle is sliding Too many constraint
Different sort of constraint forces down a spiral: forces and their
involved Direction of constraint components to dealt
forces changing with
continuously
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PH 101: PHYSICS 1 Lecture 06
Challenges with constraint forces in Newtonian mechanics
This vector form may makes life complicated
To solve the differential equation of Newton’s second law, one need to know
constrain force(s)
• Constraint equation is known for a problem, but constraint force(s)
is still unknown. Finding the constraint forces are not always very obvious.
• Handling too many constraint forces and their components for a system of
particles is very burdensome.

General difficulty with Newton’s law: Newton’s law has different form in
different coordinate system, thus switching from one set of coordinate system to
another set of coordinate is not very straight forward
Cartesian,
Remember Polar , m[( 𝟐

Spherical polar,
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PH 101: PHYSICS 1 Lecture 06
New recipe alternative to Newton’s law
Our life would be easier if
(1) There would exist any new recipe, alternative to Newton’s law, which does not
require to consider constrain forces.

(2) Further, it will be ideal if the new recipe does not depend on any specific
coordinate system.

Then switching from one coordinate system to another coordinate will be very
simple.

Good News
There is one new formalism alternative to Newtonian mechanics which does not
require to consider constrain forces and also independent of the choice of the
coordinate system
New recipe  Lagrangian formalism