Scribd
Upload
34 views15 pages

Lectures 3+4

The document discusses dynamical systems and constraints. It defines key concepts such as: 1) A dynamical system is a system of particles, with configuration defined by particle positions. Generalized coordinates describe the configuration using minimum numbers of variables. 2) Degrees of freedom refer to the number of generalized coordinates needed. Constraints restrict motion and forces of constraint produce them. 3) Virtual displacements are displacements in the direction of possible particle velocities, with arbitrary magnitude. They must satisfy constraints unlike arbitrary displacements. 4) Constraints can be holonomic/non-holonomic and scleronomic/rheonomic based on how they relate to coordinates and time. Virtual displace

Uploaded by

Jamil
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
34 views15 pages

Lectures 3+4

The document discusses dynamical systems and constraints. It defines key concepts such as: 1) A dynamical system is a system of particles, with configuration defined by particle positions. Generalized coordinates describe the configuration using minimum numbers of variables. 2) Degrees of freedom refer to the number of generalized coordinates needed. Constraints restrict motion and forces of constraint produce them. 3) Virtual displacements are displacements in the direction of possible particle velocities, with arbitrary magnitude. They must satisfy constraints unlike arbitrary displacements. 4) Constraints can be holonomic/non-holonomic and scleronomic/rheonomic based on how they relate to coordinates and time. Virtual displace

Uploaded by

Jamil
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 15

Summary

In previous lecture we have discussed the mechanics of


system of particles.
Conservation of Momentum:
If the total external force is zero, the total linear
momentum is conserved.
Conservation of Angular Momentum:
The total linear momentum is constant in time if the
applied external torque is zero.
Conservation of Energy:
If the total work done is conserved, total energy of the
system is conserved.
Some New Definitions
Dynamical System:
A system of particles is called a dynamical system.

Configuration:
The set of positions of all the particles is known as
configuration of the dynamical system.

Generalized Coordinates:
The coordinates, minimum in number, required to
describe the configuration of the dynamical system at any
time is called the generalized coordinates of the system.
Examples:
Movement of a fly in a room.
Motion of a particle on the surface of a sphere.
Degrees of Freedom:
The number of generalized coordinates required to
describe the configuration of a system is called the
degrees of freedom.

Constraints and Forces of Constraints:


Any restriction on the motion of a system is known as
constraints and the force responsible is called the force of
constraint.
Classification of Dynamical System:

A dynamical system is called holonomic if it is possible to


give arbitrary and independent variations to the
generalized coordinates of the system without violating
constraints, otherwise it is called non-holonomic.
Example:
Let q1,q2,…,qn be n generalized coordinates of a
dynamical system. Then for a holonomic system, we can
change qr to qr+qr, r=1,2,…,n, without making any
changes in the remaining n-1 coordinates.
Classification of Constraints:

Holonomic Constraints: If the conditions of constraints


can be expressed as equations connecting the
coordinates of the particles and the time as
f(t,r1,r2,…,rn)=0, then the constraints are said to be
holonomic. If this condition is not satisfied, the
constraints are said to be non-holonomic.
Example:
A particle motion restricted to the surface of a sphere of
radius a (r2=a2) is said to be a holonomic constraint. A
particle’s motion restricted to r2≤a2 is a non-holonomic
constraint.
Scleronomic and Rheonomic Constraints: Constraints
can be further classified according as they are
independent of time (scleronomic) or contains time
explicitly (rheonomic). In other words, a scleronomic
system is one which has only ‘fixed’ constraints, whereas
a rheonomic system has ‘moving’ constraints.

Examples:
A pendulum with a fixed support is scleronomic whereas
the pendulum for which the point of support is given an
assigned motion is rheonomic.
Constraint produce two types of difficulties in the
solution of mechanical problems. First, the coordinates ri
are no longer all independent, since they are connected
by the equations of constraints. Secondly, the forces of
constraint are not furnished a priori. They are among the
unknown of the problem.
Virtual Displacement:

The displacement of a particle P proportional to its


possible velocity at a point is called its virtual
displacement at the point. Thus, a virtual displacement
has a direction of the possible velocity but an arbitrary
magnitude.
Example:
Consider a free particle P (having no constraints) moving
in the hollow of a bowl.
Note: A free particle can have arbitrary displacement
whereas a particle moving under constraints cannot have
an arbitrary displacement.
Let (x,y,z) be the coordinates of the particle P and the
equation of the surface of the bowl is
𝜑 𝑥, 𝑦, 𝑧 = 𝑐.
If the particle is constrained to move on the surface, then
the coordinates (x,y,z) of the particle P must satisfy the
equation.
Differentiating the equation of surface w.r.t. t
𝜕𝜑 𝑑𝑥 𝜕𝜑 𝑑𝑦 𝜕𝜑 𝑑𝑧
+ + = 0,
𝜕𝑥 𝑑𝑡 𝜕𝑦 𝑑𝑡 𝜕𝑧 𝑑𝑡
⟹ 𝜵𝜑. 𝒗𝟏 = 0
where
𝜕𝜑 𝜕𝜑 𝜕𝜑
𝜵𝜑 = 𝒊+ 𝒋+ 𝒌,
𝜕𝑥 𝜕𝑦 𝜕𝑧
𝑑𝑥 𝑑𝑦 𝑑𝑧
𝒗𝟏 = 𝒊+ 𝒋 + 𝒌.
𝑑𝑡 𝑑𝑡 𝑑𝑡
It is known that 𝜵𝜑 is normal to the surface and 𝒗𝟏 is the
velocity of the particle P. The equation 𝜵𝜑. 𝒗𝟏 = 0
shows that the velocity 𝒗𝟏 is tangential to the surface.
Then 𝒗𝟏 is the possible velocity of the particle. If the
constraint is relax to the extent that the particle can
move up, a velocity 𝒗𝟐 (upward normal to the surface) is
also a possible velocity.
On the other hand, a velocity directed inwards in the
direction piercing the bowl is clearly an impossible
velocity. Similarly, a displacement in this direction or in
direction of 𝒗𝟏 is an impossible displacement.
The displacement in the direction of 𝒗𝟐 is a possible
displacement or virtual displacement.
If 𝛿′𝒓 is the virtual displacement, then 𝛿′𝒓 = 𝑘𝒗𝟏 where k
is a constant.
Let 𝛿 ′ 𝒓 = 𝛿𝑥𝒊 + 𝛿𝑦𝒋 + 𝛿𝑧𝒌, then
𝑑𝑥 𝑑𝑦 𝑑𝑧
𝛿𝑥𝒊 + 𝛿𝑦𝒋 + 𝛿𝑧𝒌 = 𝑘 𝒊+ 𝒋+ 𝒌
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑥 𝑑𝑦 𝑑𝑧
𝛿𝑥 = 𝑘 , 𝛿𝑦 = 𝑘 , 𝛿𝑧 = 𝑘
𝑑𝑡 𝑑𝑡 𝑑𝑡
Substituting in
𝜕𝜑 𝑑𝑥 𝜕𝜑 𝑑𝑦 𝜕𝜑 𝑑𝑧
+ + =0
𝜕𝑥 𝑑𝑡 𝜕𝑦 𝑑𝑡 𝜕𝑧 𝑑𝑡
𝜕𝜑 𝛿𝑥 𝜕𝜑 𝛿𝑦 𝜕𝜑 𝛿𝑧
+ + =0
𝜕𝑥 𝑘 𝜕𝑦 𝑘 𝜕𝑧 𝑘
𝜕𝜑 𝜕𝜑 𝜕𝜑
𝛿𝑥 + 𝛿𝑦 + 𝛿𝑧 = 0
𝜕𝑥 𝜕𝑦 𝜕𝑧
where 𝛿𝑥, 𝛿𝑦, 𝛿𝑧 do not have to be small quantities.
Consider a system of n particles subject to k constraints
𝜑𝑗 𝑥1 , 𝑦1 , 𝑧1 , … , 𝑥𝑛 , 𝑦𝑛 , 𝑧𝑛 = 0, 𝑗 = 1,2, … , 𝑘
We define virtual displacements
(𝛿𝑥1 , 𝛿𝑦1 , 𝛿𝑧1 , … , 𝛿𝑥𝑛 , 𝛿𝑦𝑛 , 𝛿𝑧𝑛 )
of the system satisfying the relation
𝜕𝜑𝑗 𝜕𝜑𝑗 𝜕𝜑𝑗 𝜕𝜑𝑗
𝛿𝑥1 + 𝛿𝑦1 + 𝛿𝑧1 + ⋯ + 𝛿𝑥𝑛
𝜕𝑥1 𝜕𝑦1 𝜕𝑧1 𝜕𝑥𝑛
𝜕𝜑𝑗 𝜕𝜑𝑗
+ 𝛿𝑦𝑛 + 𝛿𝑧𝑛 = 0
𝜕𝑦𝑛 𝜕𝑧𝑛
Here again 𝛿𝑥1 , 𝛿𝑦1 , 𝛿𝑧1 , … , 𝛿𝑥𝑛 , 𝛿𝑦𝑛 , 𝛿𝑧𝑛 need not to
be small quantities.
Suppose we do consider an infinitesimal displacement so
that the quantities 𝛿𝑥1 , 𝛿𝑦1 , 𝛿𝑧1 , … , 𝛿𝑥𝑛 , 𝛿𝑦𝑛 , 𝛿𝑧𝑛 are so
small that their squares and higher powers can be
neglected.

We may then use the Taylor’s series


𝜑𝑗 (𝑥1 + 𝛿𝑥1 , 𝑦1 + 𝛿𝑦1 , 𝑧1 + 𝛿𝑧1 , … , 𝑥𝑛 + 𝛿𝑥𝑛 , 𝑦𝑛
𝜑𝑗 (𝑥1 + 𝛿𝑥1 , 𝑦1 + 𝛿𝑦1 , 𝑧1 + 𝛿𝑧1 , … , 𝑥𝑛 + 𝛿𝑥𝑛 , 𝑦𝑛

You might also like