Solution.

equation
givenby Example The Solution.
Beample Herce q
givenby
Hamiltonian

of
L=T- Referringmotion 5.2.2.
5.2.3.
H
function
H isFind
V=;0+ for
(Compound = the
to Hamiltonian
the
a only
p-(F+V .P-F p#- the
compound H
G Dx, is generalised
L=p: given
Mgl 4.1.7
pendulum): =
pendulum.
cos F|P)o-
=- Gp-F
by G
and when
0 F’ +
co-ordinate.
-L
;M(K* Fig. L(g, #,
t)
What -G #
4.6. Deduce =

+ The is (p- G
2G
Thus =
)
the the G(q,
Lagrangian value F}'
+ Haniltonian the
V.
+ t)
A/gl F+V "
) conjugate
of V
cos the +F(q, t)
. of
periodic
the function momenta
4V(g, t).
systen
time?
and is
is
 5.2.5. Deternine the Hamiltonian for the Lagrangian L, given by
1
-(.+ sin o) +(+ dcos 0)" - mgl cos 8.
L=

Write doun the Hamilton's equatioTLS of motion. What are integrals of motion ?
 TEXT BOOK OF
MECIIANICS 203
Solution. Here, 0, 0, arc taken ns
gencraliscd co-ordinatcs. Therefore.
Pe = = h0; Po = OL
= lh¢ sin"0+ 13y cos 0+ l3¢
cos0
Py =I3() +ocos 0).
The Hamiltonian function
M His
given by
H = ) Pk 0k - L= pg® +pÍ +Py
k h-L
1 2
=
(8 +sin o) +4(+ jcose) +
+ mgl cos@
2
PB,po-Py
+
cose) + mgl cos .
211 211 sin 8 213
Since the Lagrangian L does not contain ¢, b, so they are cyclic/ignorable co-ordinates.
Hence the corresponding momenta p and py are constants of motion.
 So the co-ordinates are linear functions of time.

tÆkample 5.3.3. The Hamiltonian of adynamical system is given by H= qp-gp+bp,

where b is a constant. Solve the problem.
Solution. Hamilton canonical equations of motion give

!= = (2p - 1)g +band pj = =-+p.

From the last equation, we have,
dp 1
=-dt
p²-p
log p-1 =t+k; integrating
eltk
p=
eltk 1
 ATEXT BoOK OF MECHANICS
Fromthefrst rqualion, we have,

/=coth
-q coth ( ) -

comch()-bco() a+e
-2beoth() +o
9=c sinh? -2b costh ( ) sinh ().
Kample 5.3.4. The Hamiltonian of a dymamical system of two degrees of fredom is
givenb

H=q1P1 - 2P2 - aqi +bq

here a,b are a constants. (i) Solve the problen. (iü) Also show that the quantities Fi =
P and F2= 192 are còrstants of the motion. Are there any other independent
algebraic constants of the motion?

Solution. (i) The Hamilton canonical cquations of motion give

OH
#i = and p; = i=1,2.
Op,
+ / = q1;2 -2:) =-(P1 - 2aq1);2 =2- 2bq2.

The irst two equations give,

dq, = dt a =etei and dz -dt ’ (2 = e t ,
42

where c and cz are constants. Also,

n = -(p, - 2uq1 ) + dp1

dt
+ p) = 2a¬ten
 HAMIITONIAN MECHANICN
302

Similarly, using jz = 2 - 2hq2, we got

d 2 =-2hq2= -2beltcg

solution of the dynamical problem-of two

1hus the Cxpressions for q1,g2, P1,P2 giye the,
degrees of frecdom.
(ii) Using the Hamilton's canonical equation of motion, we have
2(1 a#i)- (2(p1- aq1)

as q2.F 2
42
-D1 + Zag1 - ag1 +pi- aqi
q2

’F = constant.
92

Similarly, it can be shown that is also, constant of mnotion. Also

q1
#1g2 t 2q1 = q1g2 - q1q2 =0
d
q1g2) = 0 ’ = 12 =constant.

Now,

P1
P1 - 2aq1
q2 #0.
1 q2

Thus Fj and Fz are independent integrals of motion.

5.3.5. The Hamiltonian of a dynamical system is given by H = 2(p1g1 -
Slample
P22) -aqf - bqs - 2cq142, where a, b, c are 'constants. Solve the
problem.
Solution. The Hamilton canonical equations of motion give
= 2413 (2 = = -242

OH
= 2c2 + 2uq1 - 2pi; = 22 +2bq2 + 2cq1.
A TEXT BooR OF MCIUANICS
B03

The frst to quations give,

dqn dera
eteseyrss

92
where C and G Are COmstants, Also,
dp1
+2p1 =2q + 2aq1’p e Cie"e dt +C
dt 2cCe.
PI= + 2cC2 t e+Ce-0.

hre C is a constant. Similarly, using 2 =2p2+ 2bg + 2cq1, we get

dt 2p2 = 2bq2 + 2cqi

1
P2 = e-+2c C1 te + De.

Thus the expressions for q1,9,P1,P2 give the solution of the dynamical problem of two
degrees of freedom.
 ample 5.3.11. (Motion of a particle sliding on a parabolic wire ):A particle
of mass m, acted upon by gravity only, is sliding on a wire bent in the form of a parabola
y= /2 (Fig. 5.3). Construct the Haniltonian and hence urite doun Hamilton
equations of motions.
Solution. Consider the sliding of a particle on a wire bent to a form of aparabola.
Ignoring the friction, we see that, the particle is acted upon by gravity only. Let r be
the generalised co-ordinate and the parabola be given in the form u= 2. Thus.

mg

X
Figure5.3: Particld on a parabolic wire
1 1 mg 2
L=;n(+)- mgy =;m(1+) 2
 ATENT BoOK OF MRCIIANICS
309
The onjugnte momontn p is given by,
0L
p= m(1 + )tt= m

m(1 + )
This rolation shows that # mi. Menco the llamniltonian Il is given by,

m(1 + ) ;m(1 + )+22

mg
2rn(1 + z) +"-T+V.
2

The Hamilton's canonical cquation of

notion gives,

+ mgl: i=
'm(1+ z2) =m1 +)
Pt'=-2m'gz(1
da +)
p =-mgr" + ce
1+g?
m
J-m²gaate-dt
ce +A.
Example 5.3.12. (Projectile): Obtain Hamilton's
 R&XProjectile : Obtain the Lagrangian, llamiltonian and equations of motion for a paojectile near the
surfacc of the carth.
Solution:Let'and l'axes bc fixed on the earth surfaceand Zraxis be in th¹ upwardvertical direction. If the
projectile (body if mass m) has coordinates (x, y z) at an 4, then its kinetic energy is given by
T-;m(+j²+)
2
The potential encrgy at a heightz is Ve mgz

Now, Lagragian LT-V=m(+j +)-mgz

Also, P. =dr =mi, whence = m : Similarly jý = and |=P m

Therefore, H-}ee-L
Here,

Therefore, H- p|+p, Ý+p, |-m(+j +#)+ mgz 2

2
Py + + mgz
m m' m? m
2 2
ie., H= Pr + mgz
2m 2m 2m
Equations of motion are
OH OH
and Pt =

P oH
Here, aHP m öpy m ax
=0=
aH aH
ay 0z
= mg

Therefore,
m m

whence Þ, mi 0, , = m÷ 0, , = më -mg
or 0, j 0and #=-g
which are the equations of motion. This shows the acceleration is along negative z
downward equal toucceleration due to gruvity in magnitude. direction i.e., vertically